vio/GPU_version/vio/out.txt

[ INFO] [1629992501.976395971]: Found parameter: vio/cam_width, value: 640
[ INFO] [1629992501.978338200]: Found parameter: vio/cam_height, value: 480
[ INFO] [1629992501.978985162]: Found parameter: vio/cam_model, value: ATAN
[ INFO] [1629992501.979580652]: Found parameter: vio/cam_width, value: 640
[ INFO] [1629992501.980094458]: Found parameter: vio/cam_height, value: 480
[ INFO] [1629992501.980657399]: Found parameter: vio/cam_fx, value: 0.490202
[ INFO] [1629992501.981187217]: Found parameter: vio/cam_fy, value: 0.866527
[ INFO] [1629992501.981690039]: Found parameter: vio/cam_cx, value: 0.485102
[ INFO] [1629992501.982181533]: Found parameter: vio/cam_cy, value: 0.508577
[ INFO] [1629992501.982669692]: Found parameter: vio/cam_d0, value: 1.03345
[ INFO] [1629992501.982755615]: SVO initialized
[ INFO] [1629992501.986235101]: Found parameter: svo/grid_size, value: 30
[ INFO] [1629992501.986756501]: Found parameter: svo/init_min_disparity, value: 80
[ INFO] [1629992501.987226350]: Found parameter: svo/init_min_tracked, value: 100
[ INFO] [1629992501.987691079]: Found parameter: svo/init_min_inliers, value: 40
[ INFO] [1629992501.990372896]: Found parameter: svo/poseoptim_thresh, value: 4
[ INFO] [1629992501.991424259]: Found parameter: svo/structureoptim_max_pts, value: 50
[ INFO] [1629992501.993870878]: Found parameter: svo/loba_num_iter, value: 0
[ INFO] [1629992501.994511813]: Found parameter: svo/kfselect_mindist, value: 0.01
[ INFO] [1629992501.997137605]: Found parameter: svo/max_n_kfs, value: 20
[ INFO] [1629992501.999017729]: Found parameter: svo/quality_min_fts, value: 10
[ INFO] [1629992501.999626079]: Found parameter: svo/quality_max_drop_fts, value: 90
[ INFO] [1629992502.003381169]: Found parameter: svo/ACC_noise, value: 0.5
[ INFO] [1629992502.004019862]: Found parameter: svo/GYO_noise, value: 0.001
[ INFO] [1629992502.004670180]: Found parameter: svo/svo_ekf, value: 1.5
[ INFO] [1629992502.007594896]: Found parameter: svo/Cmd_Cov, value: 0.1
Find platform number:Intel(R) CPU Runtime for OpenCL(TM) Applications
Find platform number:Intel(R) OpenCL HD Graphics
CL_DEVICE_NAME: Intel(R) UHD Graphics 620 [0x5917]
CL_DRIVER_VERSION: 21.15.19533
CL_DEVICE_OPENCL_C_VERSION: OpenCL C 3.0
CL_DEVICE_COMPILER_AVAILABLE: 1
CL_DEVICE_LOCAL_MEM_SIZE: 65536
CL_DEVICE_GLOBAL_MEM_SIZE: 9867214848
CL_DEVICE_EXECUTION_CAPABILITIES: 1
CL_DEVICE_EXTENSIONS: cl_khr_byte_addressable_store cl_khr_fp16 cl_khr_global_int32_base_atomics cl_khr_global_int32_extended_atomics cl_khr_icd cl_khr_local_int32_base_atomics cl_khr_local_int32_extended_atomics cl_intel_command_queue_families cl_intel_subgroups cl_intel_required_subgroup_size cl_intel_subgroups_short cl_khr_spir cl_intel_accelerator cl_intel_driver_diagnostics cl_khr_priority_hints cl_khr_throttle_hints cl_khr_create_command_queue cl_intel_subgroups_char cl_intel_subgroups_long cl_khr_il_program cl_intel_mem_force_host_memory cl_khr_subgroup_extended_types cl_khr_subgroup_non_uniform_vote cl_khr_subgroup_ballot cl_khr_subgroup_non_uniform_arithmetic cl_khr_subgroup_shuffle cl_khr_subgroup_shuffle_relative cl_khr_subgroup_clustered_reduce cl_khr_fp64 cl_khr_subgroups cl_intel_spirv_device_side_avc_motion_estimation cl_intel_spirv_media_block_io cl_intel_spirv_subgroups cl_khr_spirv_no_integer_wrap_decoration cl_intel_unified_shared_memory_preview cl_khr_mipmap_image cl_khr_mipmap_image_writes cl_intel_planar_yuv cl_intel_packed_yuv cl_intel_motion_estimation cl_intel_device_side_avc_motion_estimation cl_intel_advanced_motion_estimation cl_khr_int64_base_atomics cl_khr_int64_extended_atomics cl_khr_image2d_from_buffer cl_khr_depth_images cl_khr_3d_image_writes cl_intel_media_block_io cl_intel_va_api_media_sharing
[ INFO] [1629992504.327817116]: Found parameter: vio/start, value: /vio/start
[ INFO] [1629992504.329301610]: Found parameter: vio/stop, value: /vio/stop
[ INFO] [1629992504.330792968]: Found parameter: vio/odom, value: /vio/getOdom
[ INFO] [1629992504.361156265]: Found parameter: vio/cam_topic, value: /CoreNode/grey_img
[ INFO] [1629992505.532818998]: Found parameter: vio/imu_topic, value: /SensorNode/imu
[ INFO] [1629992505.540859251]: Found parameter: vio/cmd_topic, value: /cmd_vel
[ INFO] [1629992505.574727303]: RESET
[ INFO] [1629992506.072208125]: Init: Selected first frame.
[ INFO] [1629992506.177652153]: Init: px average disparity is: 3.29974 While: 80 minimum required. KLT tracked : 101
[ INFO] [1629992506.378359122]: Init: px average disparity is: 4.31392 While: 80 minimum required. KLT tracked : 101
[ INFO] [1629992506.687001967]: Init: px average disparity is: 7.94894 While: 80 minimum required. KLT tracked : 101
[ INFO] [1629992506.775668120]: Init: px average disparity is: 9.37561 While: 80 minimum required. KLT tracked : 101
[ INFO] [1629992506.915292930]: Init: px average disparity is: 11.2351 While: 80 minimum required. KLT tracked : 101
[ INFO] [1629992506.983849390]: Init: px average disparity is: 12.34 While: 80 minimum required. KLT tracked : 98
[ INFO] [1629992507.190400701]: Init: px average disparity is: 13.7714 While: 80 minimum required. KLT tracked : 98
[ INFO] [1629992512.909757091]: Init Homography RANSAC (inlier) is: 10 While: 40 inliers minimum required.
Init: px average disparity is: 89.379 While: 80 minimum required.
[ INFO] [1629992512.992640445]: Init Homography RANSAC (inlier) is: 4 While: 40 inliers minimum required.
Init: px average disparity is: 106.98 While: 80 minimum required.
[ INFO] [1629992513.094315717]: Init Homography RANSAC (inlier) is: 5 While: 40 inliers minimum required.
Init: px average disparity is: 98.7201 While: 80 minimum required.
[ INFO] [1629992513.193530960]: Init Homography RANSAC (inlier) is: 7 While: 40 inliers minimum required.
Init: px average disparity is: 95.1698 While: 80 minimum required.
[ INFO] [1629992513.289358535]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 95.1921 While: 80 minimum required.
[ INFO] [1629992513.388667990]: Init Homography RANSAC (inlier) is: 9 While: 40 inliers minimum required.
Init: px average disparity is: 95.2044 While: 80 minimum required.
[ INFO] [1629992513.502306239]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 97.562 While: 80 minimum required.
[ INFO] [1629992513.608643961]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 95.18 While: 80 minimum required.
[ INFO] [1629992513.687532365]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 96.0204 While: 80 minimum required.
[ INFO] [1629992513.784754203]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 97.1607 While: 80 minimum required.
[ INFO] [1629992513.887969401]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 96.5052 While: 80 minimum required.
[ INFO] [1629992514.003374236]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 96.2368 While: 80 minimum required.
[ INFO] [1629992514.086593687]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 96.7417 While: 80 minimum required.
[ INFO] [1629992514.184347221]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 97.2976 While: 80 minimum required.
[ INFO] [1629992514.286550215]: Init Homography RANSAC (inlier) is: 5 While: 40 inliers minimum required.
Init: px average disparity is: 97.4329 While: 80 minimum required.
[ INFO] [1629992514.388325106]: Init Homography RANSAC (inlier) is: 0 While: 40 inliers minimum required.
Init: px average disparity is: 113.512 While: 80 minimum required.
[ INFO] [1629992514.501776556]: Init Homography RANSAC (inlier) is: 5 While: 40 inliers minimum required.
Init: px average disparity is: 116.998 While: 80 minimum required.
[ INFO] [1629992514.589807960]: Init Homography RANSAC (inlier) is: 12 While: 40 inliers minimum required.
Init: px average disparity is: 121.108 While: 80 minimum required.
[ INFO] [1629992514.688357945]: Init Homography RANSAC (inlier) is: 10 While: 40 inliers minimum required.
Init: px average disparity is: 124.89 While: 80 minimum required.
[ INFO] [1629992514.794360619]: Init Homography RANSAC (inlier) is: 4 While: 40 inliers minimum required.
Init: px average disparity is: 126.658 While: 80 minimum required.
[ INFO] [1629992514.865110718]: Init Homography RANSAC (inlier) is: 1 While: 40 inliers minimum required.
Init: px average disparity is: 127.452 While: 80 minimum required.
[ INFO] [1629992514.971070651]: Init Homography RANSAC (inlier) is: 2 While: 40 inliers minimum required.
Init: px average disparity is: 131.975 While: 80 minimum required.
[ INFO] [1629992515.066854111]: Init Homography RANSAC (inlier) is: 8 While: 40 inliers minimum required.
Init: px average disparity is: 133.575 While: 80 minimum required.
[ INFO] [1629992515.184915192]: Init Homography RANSAC (inlier) is: 14 While: 40 inliers minimum required.
Init: px average disparity is: 141.417 While: 80 minimum required.
[ INFO] [1629992515.286331864]: Init Homography RANSAC (inlier) is: 7 While: 40 inliers minimum required.
Init: px average disparity is: 143.93 While: 80 minimum required.
[ INFO] [1629992515.388769241]: Init Homography RANSAC (inlier) is: 4 While: 40 inliers minimum required.
Init: px average disparity is: 149.462 While: 80 minimum required.
[ INFO] [1629992515.484614444]: Init Homography RANSAC (inlier) is: 1 While: 40 inliers minimum required.
Init: px average disparity is: 159.404 While: 80 minimum required. Reinitialized
[ INFO] [1629992515.523743894]: Init: Selected first frame.
[ INFO] [1629992515.622692234]: Init: px average disparity is: 13.3074 While: 80 minimum required. KLT tracked : 194
[ INFO] [1629992515.719474693]: Init: px average disparity is: 27.6244 While: 80 minimum required. KLT tracked : 194
[ INFO] [1629992515.823766245]: Init: px average disparity is: 40.4245 While: 80 minimum required. KLT tracked : 194
[ INFO] [1629992515.921032603]: Init: px average disparity is: 51.4033 While: 80 minimum required. KLT tracked : 194
[ INFO] [1629992516.018409105]: Init: px average disparity is: 63.3285 While: 80 minimum required. KLT tracked : 194
[ INFO] [1629992516.119229681]: Init: px average disparity is: 77.1557 While: 80 minimum required. KLT tracked : 194
[ INFO] [1629992516.220507601]: Init Homography RANSAC (inlier) is: 68
KLT disparity is: 89.3776 px average disparity.
The number of feature: 57
[ INFO] [1629992516.222888840]: Init: triangulated initial map. Vio is starting ...
It. 0 Success new_chi2 = 1.70773e+06 x_norm = 5.38022
It. 1 Success new_chi2 = 13774.1 x_norm = 5.44462
It. 2 Failure new_chi2 = 14690.5 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16194.6 x_norm = 5.31203
It. 1 Success new_chi2 = 14969.2 x_norm = 5.59382
It. 2 Success new_chi2 = 14844.4 x_norm = 5.50307
It. 3 Failure new_chi2 = 15625.6 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 18251.1 x_norm = 16.5642
It. 1 Success new_chi2 = 16100.3 x_norm = 16.0916
It. 2 Failure new_chi2 = 17945.8 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 59.9621
It. 0 Success new_chi2 = 1.72367e+06 x_norm = 6.45762
It. 1 Success new_chi2 = 12497.5 x_norm = 6.63542
It. 2 Failure new_chi2 = 12547.5 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15231.8 x_norm = 6.52714
It. 1 Failure new_chi2 = 16102.9 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 17481.7 x_norm = 17.379
It. 1 Success new_chi2 = 16805.1 x_norm = 14.6946
It. 2 Failure new_chi2 = 18275.3 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 51.7446
It. 0 Success new_chi2 = 1.69984e+06 x_norm = 6.27533
It. 1 Success new_chi2 = 12435.2 x_norm = 6.45326
It. 2 Failure new_chi2 = 12595.7 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15328.1 x_norm = 5.3895
It. 1 Success new_chi2 = 14421.2 x_norm = 4.76398
It. 2 Failure new_chi2 = 14712 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16714.9 x_norm = 12.8268
It. 1 Failure new_chi2 = 18656.8 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 35.8068
It. 0 Success new_chi2 = 1.6475e+06 x_norm = 6.36964
It. 1 Success new_chi2 = 11716.3 x_norm = 6.25417
It. 2 Failure new_chi2 = 12133.4 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14700.2 x_norm = 5.6158
It. 1 Success new_chi2 = 14423.8 x_norm = 5.62933
It. 2 Failure new_chi2 = 14641.7 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 17152.2 x_norm = 13.9714
It. 1 Success new_chi2 = 16066.1 x_norm = 16.5957
It. 2 Failure new_chi2 = 16257.7 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 54.5126
It. 0 Success new_chi2 = 1.55806e+06 x_norm = 6.04898
It. 1 Success new_chi2 = 11421.4 x_norm = 6.08545
It. 2 Failure new_chi2 = 11826.4 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14525.8 x_norm = 5.07227
It. 1 Success new_chi2 = 14159.5 x_norm = 4.64762
It. 2 Success new_chi2 = 13977.6 x_norm = 4.6849
It. 3 Failure new_chi2 = 14338.7 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16129.6 x_norm = 14.7966
It. 1 Success new_chi2 = 15815.5 x_norm = 15.8056
It. 2 Failure new_chi2 = 15933.2 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 57.2139
It. 0 Success new_chi2 = 1.54169e+06 x_norm = 5.79118
It. 1 Success new_chi2 = 11400.6 x_norm = 6.02606
It. 2 Success new_chi2 = 11367.9 x_norm = 6.0754
It. 3 Failure new_chi2 = 11514.7 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14115.6 x_norm = 4.42611
It. 1 Success new_chi2 = 14056.4 x_norm = 4.39992
It. 2 Failure new_chi2 = 14302.1 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16479.6 x_norm = 12.8451
It. 1 Success new_chi2 = 15342.4 x_norm = 13.3627
It. 2 Failure new_chi2 = 15764.7 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 52.9697
It. 0 Success new_chi2 = 1.60636e+06 x_norm = 6.19923
It. 1 Success new_chi2 = 11724.5 x_norm = 6.10313
It. 2 Success new_chi2 = 11714 x_norm = 6.12859
It. 3 Success new_chi2 = 11580.5 x_norm = 6.05549
It. 4 Success new_chi2 = 11536.7 x_norm = 6.0652
It. 5 Failure new_chi2 = 11642.2 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14420.1 x_norm = 3.8483
It. 1 Success new_chi2 = 14218.8 x_norm = 3.18583
It. 2 Failure new_chi2 = 14369.5 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16640.1 x_norm = 12.4069
It. 1 Success new_chi2 = 15659.9 x_norm = 13.758
It. 2 Success new_chi2 = 15392.6 x_norm = 13.257
It. 3 Success new_chi2 = 15191 x_norm = 14.9468
It. 4 Failure new_chi2 = 15523.9 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 91.9811
It. 0 Success new_chi2 = 1.57507e+06 x_norm = 6.23934
It. 1 Success new_chi2 = 11486.2 x_norm = 6.10039
It. 2 Failure new_chi2 = 11684.7 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14772.9 x_norm = 3.48537
It. 1 Success new_chi2 = 14435.2 x_norm = 3.26785
It. 2 Success new_chi2 = 14390.8 x_norm = 3.01223
It. 3 Failure new_chi2 = 14516.2 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16647.5 x_norm = 12.2468
It. 1 Success new_chi2 = 16274.4 x_norm = 10.4945
It. 2 Failure new_chi2 = 16404.2 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 44.8717
It. 0 Success new_chi2 = 1.57472e+06 x_norm = 5.8525
It. 1 Success new_chi2 = 11607.3 x_norm = 6.20614
It. 2 Failure new_chi2 = 11610.8 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14565.7 x_norm = 6.00035
It. 1 Failure new_chi2 = 14889.1 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 17735.5 x_norm = 12.1045
It. 1 Success new_chi2 = 16637 x_norm = 11.1534
It. 2 Success new_chi2 = 16631.7 x_norm = 11.051
It. 3 Success new_chi2 = 16250.4 x_norm = 10.2178
It. 4 Success new_chi2 = 15294.6 x_norm = 11.9801
It. 5 Failure new_chi2 = 15994.1 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 74.5789
It. 0 Success new_chi2 = 1.58935e+06 x_norm = 6.08986
It. 1 Success new_chi2 = 11369.2 x_norm = 6.16298
It. 2 Success new_chi2 = 11232.3 x_norm = 6.18072
It. 3 Success new_chi2 = 11122 x_norm = 6.16999
It. 4 Failure new_chi2 = 11712.2 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14737.4 x_norm = 4.59212
It. 1 Failure new_chi2 = 14956.7 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 17500.8 x_norm = 10.3863
It. 1 Success new_chi2 = 16621.9 x_norm = 11.8898
It. 2 Success new_chi2 = 16088.5 x_norm = 13.5786
It. 3 Success new_chi2 = 15460.1 x_norm = 12.6182
It. 4 Failure new_chi2 = 15471.1 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 77.6706
It. 0 Success new_chi2 = 1.62894e+06 x_norm = 6.0985
It. 1 Success new_chi2 = 11508.1 x_norm = 6.15231
It. 2 Success new_chi2 = 11379.6 x_norm = 6.00135
It. 3 Success new_chi2 = 11354.6 x_norm = 6.06481
It. 4 Failure new_chi2 = 11444.8 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14880.9 x_norm = 5.47573
It. 1 Failure new_chi2 = 15034 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 17221.6 x_norm = 14.8518
It. 1 Failure new_chi2 = 17246.9 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 44.7159
It. 0 Success new_chi2 = 1.58243e+06 x_norm = 5.82987
It. 1 Success new_chi2 = 11667.4 x_norm = 6.05141
It. 2 Success new_chi2 = 11626.8 x_norm = 6.09914
It. 3 Failure new_chi2 = 11709.9 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14815.9 x_norm = 5.61524
It. 1 Failure new_chi2 = 15685.8 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 18097.1 x_norm = 18.5395
It. 1 Success new_chi2 = 16266.3 x_norm = 16.6856
It. 2 Failure new_chi2 = 17313.7 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 58.838
It. 0 Success new_chi2 = 1.65108e+06 x_norm = 5.98208
It. 1 Success new_chi2 = 11459.7 x_norm = 6.15102
It. 2 Failure new_chi2 = 11685.4 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14580.4 x_norm = 5.72532
It. 1 Success new_chi2 = 14494.6 x_norm = 5.27909
It. 2 Failure new_chi2 = 15104.2 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16703.4 x_norm = 16.6771
It. 1 Failure new_chi2 = 16930.1 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 39.8645
It. 0 Success new_chi2 = 1.60319e+06 x_norm = 6.11569
It. 1 Success new_chi2 = 11841.5 x_norm = 6.15297
It. 2 Success new_chi2 = 11722.1 x_norm = 6.39639
It. 3 Success new_chi2 = 11715 x_norm = 6.73876
It. 4 Failure new_chi2 = 12425 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14219.9 x_norm = 5.09865
It. 1 Success new_chi2 = 14202.7 x_norm = 4.66633
It. 2 Success new_chi2 = 14201.7 x_norm = 4.7045
It. 3 Failure new_chi2 = 14463.1 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 17485.5 x_norm = 16.8459
It. 1 Success new_chi2 = 16741.4 x_norm = 18.055
It. 2 Success new_chi2 = 16636.4 x_norm = 17.5848
It. 3 Failure new_chi2 = 18489.1 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 92.3958
It. 0 Success new_chi2 = 1.56429e+06 x_norm = 6.68241
It. 1 Success new_chi2 = 11970.1 x_norm = 6.3415
It. 2 Success new_chi2 = 11177.7 x_norm = 5.92734
It. 3 Failure new_chi2 = 11406.4 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 13699.2 x_norm = 4.31887
It. 1 Failure new_chi2 = 14931.3 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16997.6 x_norm = 17.4888
It. 1 Success new_chi2 = 16968.2 x_norm = 19.5987
It. 2 Success new_chi2 = 16053.7 x_norm = 17.8331
It. 3 Failure new_chi2 = 17734.3 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 78.1986
It. 0 Success new_chi2 = 1.63504e+06 x_norm = 5.92005
It. 1 Success new_chi2 = 11532.1 x_norm = 5.55711
It. 2 Failure new_chi2 = 11638.4 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14353.3 x_norm = 4.83337
It. 1 Success new_chi2 = 13927.8 x_norm = 4.69303
It. 2 Failure new_chi2 = 13952.9 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16017.8 x_norm = 15.1555
It. 1 Success new_chi2 = 15589.3 x_norm = 13.7815
It. 2 Failure new_chi2 = 16664.8 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 49.9634
It. 0 Success new_chi2 = 1.652e+06 x_norm = 5.66051
It. 1 Success new_chi2 = 11872.9 x_norm = 5.6046
It. 2 Success new_chi2 = 11555.5 x_norm = 5.62409
It. 3 Failure new_chi2 = 12345.5 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14658.4 x_norm = 5.78839
It. 1 Success new_chi2 = 14083.9 x_norm = 5.45859
It. 2 Failure new_chi2 = 14708.9 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15934.4 x_norm = 14.5922
It. 1 Failure new_chi2 = 16968.5 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 42.7909
It. 0 Success new_chi2 = 1.65648e+06 x_norm = 5.1756
It. 1 Success new_chi2 = 12169.9 x_norm = 5.46305
It. 2 Success new_chi2 = 11828.1 x_norm = 5.61327
It. 3 Failure new_chi2 = 12450 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14964.1 x_norm = 5.2026
It. 1 Success new_chi2 = 14230.3 x_norm = 4.84865
It. 2 Failure new_chi2 = 14403.9 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16876.6 x_norm = 15.3492
It. 1 Success new_chi2 = 16499.3 x_norm = 19.4492
It. 2 Success new_chi2 = 16372.9 x_norm = 17.6589
It. 3 Failure new_chi2 = 18865.5 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 78.778
It. 0 Success new_chi2 = 1.71221e+06 x_norm = 5.26512
It. 1 Success new_chi2 = 11927.5 x_norm = 5.49811
It. 2 Failure new_chi2 = 12164.4 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 13949.9 x_norm = 4.81994
It. 1 Failure new_chi2 = 14399.3 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15944.6 x_norm = 12.3923
It. 1 Success new_chi2 = 15385.5 x_norm = 12.048
It. 2 Failure new_chi2 = 16056.9 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 40.0307
It. 0 Success new_chi2 = 1.72208e+06 x_norm = 5.83833
It. 1 Success new_chi2 = 12060.3 x_norm = 5.9529
It. 2 Success new_chi2 = 11795.3 x_norm = 5.97401
It. 3 Success new_chi2 = 11607 x_norm = 6.01864
It. 4 Success new_chi2 = 11498.3 x_norm = 6.00729
It. 5 Failure new_chi2 = 12681.9 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14770.1 x_norm = 5.68903
It. 1 Success new_chi2 = 14472.8 x_norm = 5.4006
It. 2 Failure new_chi2 = 14511.8 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16708.3 x_norm = 18.7661
It. 1 Success new_chi2 = 15918.7 x_norm = 18.3478
It. 2 Failure new_chi2 = 16692.3 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 78.0538
It. 0 Success new_chi2 = 1.6668e+06 x_norm = 5.96191
It. 1 Success new_chi2 = 11830.2 x_norm = 6.03657
It. 2 Success new_chi2 = 11500.9 x_norm = 6.03524
It. 3 Failure new_chi2 = 11603.9 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14358.4 x_norm = 5.27412
It. 1 Failure new_chi2 = 14969 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16876.5 x_norm = 13.6261
It. 1 Success new_chi2 = 15632.7 x_norm = 14.9488
It. 2 Success new_chi2 = 15001.3 x_norm = 14.7658
It. 3 Failure new_chi2 = 16543.8 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 66.6502
It. 0 Success new_chi2 = 1.60617e+06 x_norm = 6.00261
It. 1 Success new_chi2 = 11412.3 x_norm = 5.97397
It. 2 Failure new_chi2 = 11891.5 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14528 x_norm = 5.082
It. 1 Failure new_chi2 = 14846.2 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16808.8 x_norm = 13.2315
It. 1 Success new_chi2 = 15432.9 x_norm = 13.8559
It. 2 Failure new_chi2 = 15495 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 44.1505
It. 0 Success new_chi2 = 1.53389e+06 x_norm = 6.08545
It. 1 Success new_chi2 = 11611 x_norm = 6.21009
It. 2 Failure new_chi2 = 13210.5 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14235.1 x_norm = 4.05712
It. 1 Success new_chi2 = 13887.4 x_norm = 3.95894
It. 2 Failure new_chi2 = 14154.3 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16355.7 x_norm = 12.9044
It. 1 Success new_chi2 = 15260 x_norm = 13.78
It. 2 Failure new_chi2 = 15921.4 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 47.0127
It. 0 Success new_chi2 = 1.54304e+06 x_norm = 6.07236
It. 1 Success new_chi2 = 13354.9 x_norm = 5.44031
It. 2 Success new_chi2 = 12676.3 x_norm = 5.62947
It. 3 Success new_chi2 = 12500.2 x_norm = 5.55079
It. 4 Success new_chi2 = 12195.8 x_norm = 5.72126
It. 5 Success new_chi2 = 11848.3 x_norm = 5.72609
It. 6 Success new_chi2 = 11371.1 x_norm = 5.95045
It. 7 Success new_chi2 = 11192.2 x_norm = 6.06834
It. 8 Failure new_chi2 = 11433.4 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14427.7 x_norm = 4.7226
It. 1 Success new_chi2 = 14192.3 x_norm = 5.27729
It. 2 Failure new_chi2 = 14341.5 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16563.8 x_norm = 15.0899
It. 1 Success new_chi2 = 15834.4 x_norm = 14.8928
It. 2 Failure new_chi2 = 16939.3 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 86.2718
It. 0 Success new_chi2 = 1.76049e+06 x_norm = 5.40192
It. 1 Success new_chi2 = 12671 x_norm = 5.47935
It. 2 Success new_chi2 = 12245.8 x_norm = 5.61056
It. 3 Success new_chi2 = 11844.9 x_norm = 5.68447
It. 4 Success new_chi2 = 11496.3 x_norm = 5.67241
It. 5 Success new_chi2 = 11241 x_norm = 5.73657
It. 6 Failure new_chi2 = 11387.9 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14588.1 x_norm = 4.25026
It. 1 Success new_chi2 = 14082.4 x_norm = 4.82105
It. 2 Success new_chi2 = 13498.3 x_norm = 4.87265
It. 3 Success new_chi2 = 13269.5 x_norm = 4.50165
It. 4 Failure new_chi2 = 14198.6 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16007.9 x_norm = 12.6183
It. 1 Failure new_chi2 = 16548 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 64.848
It. 0 Success new_chi2 = 1.78593e+06 x_norm = 5.71554
It. 1 Success new_chi2 = 12320.1 x_norm = 5.58124
It. 2 Success new_chi2 = 12052 x_norm = 5.64973
It. 3 Success new_chi2 = 11561.5 x_norm = 5.55185
It. 4 Success new_chi2 = 11401.8 x_norm = 5.60928
It. 5 Success new_chi2 = 11289.7 x_norm = 5.62402
It. 6 Failure new_chi2 = 11382.6 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14553.1 x_norm = 4.22537
It. 1 Success new_chi2 = 13852.2 x_norm = 4.41694
It. 2 Success new_chi2 = 13514.5 x_norm = 4.16295
It. 3 Success new_chi2 = 13383.8 x_norm = 4.64854
It. 4 Failure new_chi2 = 14490.6 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16236.4 x_norm = 13.6012
It. 1 Success new_chi2 = 15877.2 x_norm = 15.1115
It. 2 Failure new_chi2 = 17361.9 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 80.0192
It. 0 Success new_chi2 = 1.7441e+06 x_norm = 5.75274
It. 1 Success new_chi2 = 11997.5 x_norm = 5.73204
It. 2 Success new_chi2 = 11629.7 x_norm = 5.70998
It. 3 Success new_chi2 = 11408 x_norm = 5.74094
It. 4 Success new_chi2 = 11359.9 x_norm = 5.63445
It. 5 Failure new_chi2 = 11675.2 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14742 x_norm = 4.09706
It. 1 Success new_chi2 = 13872.5 x_norm = 4.1017
It. 2 Success new_chi2 = 13572.1 x_norm = 4.39198
It. 3 Success new_chi2 = 13498.2 x_norm = 4.69274
It. 4 Failure new_chi2 = 14506.7 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16041.8 x_norm = 13.5602
It. 1 Success new_chi2 = 15125.8 x_norm = 15.5005
It. 2 Failure new_chi2 = 16289.7 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 75.0117
It. 0 Success new_chi2 = 1.60476e+06 x_norm = 5.74345
It. 1 Success new_chi2 = 11379.1 x_norm = 5.76266
It. 2 Failure new_chi2 = 11415.5 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14878.5 x_norm = 4.50237
It. 1 Success new_chi2 = 14319.9 x_norm = 4.31677
It. 2 Success new_chi2 = 13957.1 x_norm = 4.24774
It. 3 Success new_chi2 = 13638.2 x_norm = 4.55674
It. 4 Failure new_chi2 = 13884.9 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16017.7 x_norm = 13.6287
It. 1 Success new_chi2 = 14994.4 x_norm = 13.4116
It. 2 Failure new_chi2 = 15342.7 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 56.2141
It. 0 Success new_chi2 = 1.56637e+06 x_norm = 5.74772
It. 1 Success new_chi2 = 11779.7 x_norm = 5.76756
It. 2 Success new_chi2 = 11501.1 x_norm = 5.71654
It. 3 Success new_chi2 = 11458.3 x_norm = 5.89228
It. 4 Failure new_chi2 = 11987.5 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 13988.3 x_norm = 5.14792
It. 1 Failure new_chi2 = 14370.3 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15910.6 x_norm = 13.8912
It. 1 Success new_chi2 = 14846.1 x_norm = 13.6729
It. 2 Failure new_chi2 = 15355.5 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 55.8593
It. 0 Success new_chi2 = 1.57679e+06 x_norm = 5.87717
It. 1 Success new_chi2 = 11920.7 x_norm = 5.67148
It. 2 Success new_chi2 = 11744.4 x_norm = 5.65273
It. 3 Success new_chi2 = 11530.5 x_norm = 5.71638
It. 4 Failure new_chi2 = 11551.7 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14193.5 x_norm = 5.06814
It. 1 Success new_chi2 = 13939.9 x_norm = 5.05376
It. 2 Failure new_chi2 = 13942.4 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15369.4 x_norm = 13.5394
It. 1 Success new_chi2 = 14848.6 x_norm = 13.3098
It. 2 Failure new_chi2 = 15042.1 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 59.9227
It. 0 Success new_chi2 = 1.65411e+06 x_norm = 5.86631
It. 1 Success new_chi2 = 11953.9 x_norm = 5.83203
It. 2 Success new_chi2 = 11703.2 x_norm = 5.84258
It. 3 Failure new_chi2 = 11983.6 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14445.4 x_norm = 5.04077
It. 1 Success new_chi2 = 13929.4 x_norm = 4.83784
It. 2 Failure new_chi2 = 13955.2 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15659.3 x_norm = 13.2703
It. 1 Success new_chi2 = 15033.3 x_norm = 13.2217
It. 2 Failure new_chi2 = 15085.6 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 53.9263
It. 0 Success new_chi2 = 1.61615e+06 x_norm = 6.49878
It. 1 Success new_chi2 = 11873.6 x_norm = 6.00193
It. 2 Failure new_chi2 = 11930.1 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14133 x_norm = 5.16785
It. 1 Failure new_chi2 = 14512.6 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16072.6 x_norm = 13.8596
It. 1 Success new_chi2 = 15043.4 x_norm = 13.7158
It. 2 Success new_chi2 = 14981.3 x_norm = 13.073
It. 3 Failure new_chi2 = 15068.8 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 58.3178
It. 0 Success new_chi2 = 1.64125e+06 x_norm = 6.53556
It. 1 Success new_chi2 = 12248.5 x_norm = 6.28866
It. 2 Success new_chi2 = 11850.9 x_norm = 6.27464
It. 3 Success new_chi2 = 11679.4 x_norm = 6.18887
It. 4 Success new_chi2 = 11625.7 x_norm = 6.07041
It. 5 Failure new_chi2 = 11735.8 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14020.6 x_norm = 5.19595
It. 1 Failure new_chi2 = 14201.4 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15973.9 x_norm = 13.5637
It. 1 Success new_chi2 = 14888.5 x_norm = 14.4863
It. 2 Failure new_chi2 = 15226 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 64.6439
It. 0 Success new_chi2 = 1.64183e+06 x_norm = 6.45123
It. 1 Success new_chi2 = 11846.6 x_norm = 6.19502
It. 2 Success new_chi2 = 11627.7 x_norm = 6.16209
It. 3 Success new_chi2 = 11557.1 x_norm = 6.04281
It. 4 Failure new_chi2 = 11839.6 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 13745.9 x_norm = 5.19636
It. 1 Failure new_chi2 = 14018.5 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16007 x_norm = 13.9111
It. 1 Success new_chi2 = 15123 x_norm = 14.3948
It. 2 Failure new_chi2 = 15273.1 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 58.3731
It. 0 Success new_chi2 = 1.59358e+06 x_norm = 6.34658
It. 1 Success new_chi2 = 11633.7 x_norm = 6.21156
It. 2 Failure new_chi2 = 11705.1 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 13920.9 x_norm = 5.0558
It. 1 Failure new_chi2 = 13954.7 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15879.2 x_norm = 15.1127
It. 1 Success new_chi2 = 15133.1 x_norm = 13.9934
It. 2 Failure new_chi2 = 15263.6 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 46.7208
It. 0 Success new_chi2 = 1.59586e+06 x_norm = 6.19422
It. 1 Success new_chi2 = 11510.1 x_norm = 6.13037
It. 2 Failure new_chi2 = 11697.5 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 13746.6 x_norm = 5.26142
It. 1 Failure new_chi2 = 14075.4 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16201 x_norm = 16.2798
It. 1 Success new_chi2 = 14782.1 x_norm = 15.1055
It. 2 Failure new_chi2 = 15088.9 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 48.9726
It. 0 Success new_chi2 = 1.56355e+06 x_norm = 5.9619
It. 1 Success new_chi2 = 11699.4 x_norm = 6.23562
It. 2 Success new_chi2 = 11647.4 x_norm = 6.12247
It. 3 Failure new_chi2 = 11657.2 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14303.7 x_norm = 6.37181
It. 1 Success new_chi2 = 14112.2 x_norm = 5.65349
It. 2 Success new_chi2 = 13741.1 x_norm = 5.17502
It. 3 Failure new_chi2 = 13780.6 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15609.4 x_norm = 14.7327
It. 1 Success new_chi2 = 15053.6 x_norm = 14.336
It. 2 Failure new_chi2 = 15075.8 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 64.6137
It. 0 Success new_chi2 = 1.56244e+06 x_norm = 6.21161
It. 1 Success new_chi2 = 11440.7 x_norm = 6.1686
It. 2 Success new_chi2 = 11391.4 x_norm = 6.15913
It. 3 Success new_chi2 = 11279 x_norm = 6.0938
It. 4 Failure new_chi2 = 11414.6 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 13903.3 x_norm = 5.06645
It. 1 Failure new_chi2 = 13961.8 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15543.2 x_norm = 15.116
It. 1 Success new_chi2 = 14770.5 x_norm = 12.5884
It. 2 Failure new_chi2 = 14944.7 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 57.4173
It. 0 Success new_chi2 = 1.54122e+06 x_norm = 6.13
It. 1 Success new_chi2 = 11500.7 x_norm = 6.24494
It. 2 Failure new_chi2 = 11519 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14204.5 x_norm = 5.97173
It. 1 Success new_chi2 = 14144.4 x_norm = 5.45197
It. 2 Success new_chi2 = 13999.3 x_norm = 5.23305
It. 3 Success new_chi2 = 13731.3 x_norm = 4.89248
It. 4 Success new_chi2 = 13557.4 x_norm = 4.77782
It. 5 Failure new_chi2 = 13637.1 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15433.4 x_norm = 13.9589
It. 1 Success new_chi2 = 14944.1 x_norm = 13.8629
It. 2 Success new_chi2 = 14456.5 x_norm = 13.8118
It. 3 Failure new_chi2 = 15343.9 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 80.354
It. 0 Success new_chi2 = 1.55999e+06 x_norm = 5.94669
It. 1 Success new_chi2 = 11648.4 x_norm = 5.86979
It. 2 Success new_chi2 = 11551.2 x_norm = 5.87821
It. 3 Failure new_chi2 = 11614 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 13829.4 x_norm = 4.58548
It. 1 Success new_chi2 = 13621.3 x_norm = 4.64375
It. 2 Failure new_chi2 = 13844.4 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15619.2 x_norm = 13.058
It. 1 Success new_chi2 = 14925.2 x_norm = 13.6535
It. 2 Success new_chi2 = 14659.6 x_norm = 13.1125
It. 3 Failure new_chi2 = 15009.3 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 66.7527
It. 0 Success new_chi2 = 1.55184e+06 x_norm = 5.96538
It. 1 Success new_chi2 = 11489.3 x_norm = 5.95583
It. 2 Failure new_chi2 = 11580.9 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 13845.2 x_norm = 5.28075
It. 1 Success new_chi2 = 13809.9 x_norm = 5.04833
It. 2 Failure new_chi2 = 13839.7 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15522.3 x_norm = 12.9253
It. 1 Success new_chi2 = 14751.7 x_norm = 13.1322
It. 2 Failure new_chi2 = 14894.4 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 48.3157
It. 0 Success new_chi2 = 1.54542e+06 x_norm = 6.06049
It. 1 Success new_chi2 = 11412.1 x_norm = 6.01791
It. 2 Success new_chi2 = 11340.5 x_norm = 5.97476
It. 3 Success new_chi2 = 11332.5 x_norm = 5.99045
It. 4 Success new_chi2 = 11315.8 x_norm = 6.00672
It. 5 Success new_chi2 = 11294.3 x_norm = 5.81592
It. 6 Failure new_chi2 = 11356.3 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 13800.9 x_norm = 4.64497
It. 1 Success new_chi2 = 13623.8 x_norm = 4.70202
It. 2 Success new_chi2 = 13495.8 x_norm = 4.63202
It. 3 Success new_chi2 = 13472.4 x_norm = 4.47012
It. 4 Failure new_chi2 = 13789.1 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15581.2 x_norm = 13.6043
It. 1 Success new_chi2 = 14771.2 x_norm = 13.0456
It. 2 Success new_chi2 = 14755.9 x_norm = 12.8738
It. 3 Failure new_chi2 = 14789.6 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 93.9018
It. 0 Success new_chi2 = 1.49697e+06 x_norm = 6.16899
It. 1 Success new_chi2 = 11234.3 x_norm = 6.21422
It. 2 Failure new_chi2 = 11240.4 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 13790.1 x_norm = 5.2844
It. 1 Success new_chi2 = 13628.2 x_norm = 4.96819
It. 2 Success new_chi2 = 13547.3 x_norm = 4.82715
It. 3 Failure new_chi2 = 13890.7 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15685 x_norm = 13.64
It. 1 Success new_chi2 = 14646.1 x_norm = 13.6596
It. 2 Failure new_chi2 = 14775.5 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 54.7862
It. 0 Success new_chi2 = 1.51914e+06 x_norm = 6.13571
It. 1 Success new_chi2 = 11405.1 x_norm = 6.11446
It. 2 Failure new_chi2 = 11601.2 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 13937.9 x_norm = 5.26255
It. 1 Success new_chi2 = 13730.9 x_norm = 5.15898
It. 2 Failure new_chi2 = 13771.6 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15744.3 x_norm = 15.0423
It. 1 Success new_chi2 = 14896.9 x_norm = 14.511
It. 2 Success new_chi2 = 14881.2 x_norm = 14.8245
It. 3 Success new_chi2 = 14721.2 x_norm = 13.945
It. 4 Success new_chi2 = 14607.5 x_norm = 13.3202
It. 5 Failure new_chi2 = 14968.9 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 94.3154
It. 0 Success new_chi2 = 1.53786e+06 x_norm = 6.0389
It. 1 Success new_chi2 = 11482.1 x_norm = 6.05025
It. 2 Success new_chi2 = 11445.9 x_norm = 6.03247
It. 3 Success new_chi2 = 11396.6 x_norm = 6.00013
It. 4 Success new_chi2 = 11371.4 x_norm = 5.99225
It. 5 Success new_chi2 = 11367.6 x_norm = 5.94328
It. 6 Success new_chi2 = 11316.8 x_norm = 5.91229
It. 7 Success new_chi2 = 11275.7 x_norm = 5.88157
It. 8 Success new_chi2 = 11234.1 x_norm = 5.85121
It. 9 Success new_chi2 = 11192 x_norm = 5.82076
It. 10 Success new_chi2 = 11149.4 x_norm = 5.79029
It. 11 Success new_chi2 = 11106.4 x_norm = 5.76027
It. 12 Success new_chi2 = 11091.7 x_norm = 5.75046
It. 13 Failure new_chi2 = 11162.3 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 13726.6 x_norm = 4.66692
It. 1 Success new_chi2 = 13527.8 x_norm = 4.70831
It. 2 Success new_chi2 = 13429.3 x_norm = 4.62452
It. 3 Failure new_chi2 = 13453.6 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15462 x_norm = 13.7719
It. 1 Success new_chi2 = 14851.8 x_norm = 13.3189
It. 2 Success new_chi2 = 14824.7 x_norm = 13.2206
It. 3 Failure new_chi2 = 14834.6 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 131.326
It. 0 Success new_chi2 = 1.48913e+06 x_norm = 5.83193
It. 1 Success new_chi2 = 11256.2 x_norm = 5.87318
It. 2 Success new_chi2 = 11207.8 x_norm = 5.84515
It. 3 Failure new_chi2 = 11260.5 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 13983.8 x_norm = 5.28913
It. 1 Success new_chi2 = 13802.8 x_norm = 5.29581
It. 2 Success new_chi2 = 13678.6 x_norm = 5.22499
It. 3 Success new_chi2 = 13590.9 x_norm = 5.14849
It. 4 Success new_chi2 = 13552.1 x_norm = 5.18852
It. 5 Success new_chi2 = 13508.1 x_norm = 5.28478
It. 6 Failure new_chi2 = 13553.1 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15582.4 x_norm = 14.1797
It. 1 Success new_chi2 = 14960.9 x_norm = 14.6083
It. 2 Success new_chi2 = 14860.3 x_norm = 13.8107
It. 3 Failure new_chi2 = 15002.6 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 91.6183
It. 0 Success new_chi2 = 1.54373e+06 x_norm = 5.97671
It. 1 Success new_chi2 = 11564.3 x_norm = 6.02755
It. 2 Success new_chi2 = 11514.2 x_norm = 6.00717
It. 3 Failure new_chi2 = 11527.3 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 13864.5 x_norm = 4.9689
It. 1 Success new_chi2 = 13707 x_norm = 4.89997
It. 2 Success new_chi2 = 13658.8 x_norm = 4.92546
It. 3 Success new_chi2 = 13656 x_norm = 4.97337
It. 4 Success new_chi2 = 13610 x_norm = 4.98603
It. 5 Failure new_chi2 = 13618.9 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15551.8 x_norm = 13.5972
It. 1 Success new_chi2 = 14973.8 x_norm = 13.2398
It. 2 Failure new_chi2 = 14999.5 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 69.6568
It. 0 Success new_chi2 = 1.48024e+06 x_norm = 5.72284
It. 1 Success new_chi2 = 11176.7 x_norm = 5.7069
It. 2 Success new_chi2 = 11148.5 x_norm = 5.69046
It. 3 Failure new_chi2 = 11149.4 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 13951.5 x_norm = 4.78982
It. 1 Success new_chi2 = 13670.4 x_norm = 4.77087
It. 2 Success new_chi2 = 13610.1 x_norm = 4.72371
It. 3 Success new_chi2 = 13584 x_norm = 4.80285
It. 4 Success new_chi2 = 13534.7 x_norm = 4.78336
It. 5 Failure new_chi2 = 13547.4 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15557.1 x_norm = 13.2472
It. 1 Success new_chi2 = 14802.7 x_norm = 13.0039
It. 2 Success new_chi2 = 14743.8 x_norm = 12.6599
It. 3 Failure new_chi2 = 14976 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 79.9336
It. 0 Success new_chi2 = 1.44319e+06 x_norm = 5.60433
It. 1 Success new_chi2 = 11010.7 x_norm = 5.59577
It. 2 Failure new_chi2 = 11065.3 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 13666.8 x_norm = 5.27517
It. 1 Success new_chi2 = 13489.9 x_norm = 5.1125
It. 2 Success new_chi2 = 13455.7 x_norm = 5.11849
It. 3 Failure new_chi2 = 13467.9 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15511.5 x_norm = 13.7288
It. 1 Success new_chi2 = 14704.1 x_norm = 13.9534
It. 2 Success new_chi2 = 14655.2 x_norm = 13.8443
It. 3 Success new_chi2 = 14561.9 x_norm = 13.6981
It. 4 Failure new_chi2 = 14670.4 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 81.9308
It. 0 Success new_chi2 = 1.49526e+06 x_norm = 5.52175
It. 1 Success new_chi2 = 11299.1 x_norm = 5.51841
It. 2 Success new_chi2 = 11278.5 x_norm = 5.51422
It. 3 Success new_chi2 = 11263.7 x_norm = 5.5098
It. 4 Failure new_chi2 = 11283.6 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 13398 x_norm = 4.36233
It. 1 Failure new_chi2 = 13462.4 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15546.8 x_norm = 14.377
It. 1 Success new_chi2 = 14736.8 x_norm = 14.2718
It. 2 Success new_chi2 = 14709.4 x_norm = 14.2468
It. 3 Failure new_chi2 = 14726.6 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 69.3284
It. 0 Success new_chi2 = 1.48767e+06 x_norm = 5.26765
It. 1 Success new_chi2 = 11309.1 x_norm = 5.26948
It. 2 Success new_chi2 = 11289.4 x_norm = 5.27149
It. 3 Success new_chi2 = 11269.5 x_norm = 5.27333
It. 4 Success new_chi2 = 11249.5 x_norm = 5.27493
It. 5 Success new_chi2 = 11229.3 x_norm = 5.27631
It. 6 Success new_chi2 = 11209.1 x_norm = 5.27823
It. 7 Failure new_chi2 = 11290.2 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 13652.2 x_norm = 4.24443
It. 1 Success new_chi2 = 13488.3 x_norm = 4.30843
It. 2 Success new_chi2 = 13412.8 x_norm = 4.30006
It. 3 Success new_chi2 = 13388.3 x_norm = 4.29554
It. 4 Success new_chi2 = 13361.3 x_norm = 4.28814
It. 5 Success new_chi2 = 13334.3 x_norm = 4.28083
It. 6 Success new_chi2 = 13329.4 x_norm = 4.31205
It. 7 Failure new_chi2 = 13368.5 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15387.5 x_norm = 13.3512
It. 1 Success new_chi2 = 14680 x_norm = 13.3287
It. 2 Failure new_chi2 = 14687.1 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 93.82
It. 0 Success new_chi2 = 1.56614e+06 x_norm = 4.50369
It. 1 Success new_chi2 = 12207.9 x_norm = 4.55575
It. 2 Failure new_chi2 = 12235.1 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14311.7 x_norm = 2.98317
It. 1 Failure new_chi2 = 14433.3 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16393.7 x_norm = 12.3212
It. 1 Success new_chi2 = 15582.9 x_norm = 12.3173
It. 2 Failure new_chi2 = 15587.2 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 36.6852
It. 0 Success new_chi2 = 1.86363e+06 x_norm = 5.10289
It. 1 Success new_chi2 = 13285.2 x_norm = 5.10283
It. 2 Failure new_chi2 = 13286.2 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16256.2 x_norm = 2.16257
It. 1 Success new_chi2 = 15922.7 x_norm = 2.15149
It. 2 Failure new_chi2 = 16265.6 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 17663.4 x_norm = 12.2848
It. 1 Success new_chi2 = 16904 x_norm = 12.788
It. 2 Failure new_chi2 = 17197.4 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 39.5995
It. 0 Success new_chi2 = 1.72715e+06 x_norm = 5.64447
It. 1 Success new_chi2 = 12643.2 x_norm = 5.92168
It. 2 Success new_chi2 = 12450.2 x_norm = 5.88538
It. 3 Success new_chi2 = 12441 x_norm = 6.13184
It. 4 Success new_chi2 = 12233.9 x_norm = 6.08346
It. 5 Failure new_chi2 = 12257.4 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15144.9 x_norm = 4.45313
It. 1 Success new_chi2 = 14357.5 x_norm = 4.29343
It. 2 Success new_chi2 = 14098.5 x_norm = 4.13534
It. 3 Failure new_chi2 = 14849 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 16821.9 x_norm = 12.8786
It. 1 Success new_chi2 = 16066.1 x_norm = 14.1432
It. 2 Failure new_chi2 = 16404.8 Error increased. Stop optimizing.
Reprojection Map nPoint: 57 nCell: 2 nMatches: 1 distance between two frames: 69.6358
It. 0 Success new_chi2 = -0.134036 x_norm = 316.009
It. 1 Failure new_chi2 = 156226 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 1544.24 x_norm = 62366.7
It. 1 Failure new_chi2 = 3636.32 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 3467.77 x_norm = 150455
It. 1 Success new_chi2 = 2357.31 x_norm = 44329.2
It. 2 Success new_chi2 = 2294.93 x_norm = 25177.4
It. 3 Failure new_chi2 = 2376.33 Error increased. Stop optimizing.
Reprojection Map nPoint: 57 nCell: 57 nMatches: 0 distance between two frames: 187437
It. 0 Success new_chi2 = -0.234668 x_norm = 420.39
It. 1 Failure new_chi2 = 3.08686 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 29.5042 x_norm = 4811.36
It. 1 Failure new_chi2 = 18673.3 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 2717.03 x_norm = 31770.6
It. 1 Success new_chi2 = 0.771171 x_norm = 5900.73
It. 2 Failure new_chi2 = 9.49464 Error increased. Stop optimizing.
Reprojection Map nPoint: 57 nCell: 57 nMatches: 0 distance between two frames: 31510.9
It. 0 Success new_chi2 = 444.878 x_norm = 2317.83
It. 1 Success new_chi2 = 0.771615 x_norm = 554.682
It. 2 Failure new_chi2 = 265.714 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 1.43975 x_norm = 3711.35
It. 1 Failure new_chi2 = 4718 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 1279.46 x_norm = 42370.2
It. 1 Failure new_chi2 = 5433.61 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 58381.9
It. 0 Success new_chi2 = 51.4891 x_norm = 8710.17
It. 1 Success new_chi2 = 7.04157 x_norm = 894.001
It. 2 Failure new_chi2 = 17.928 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 9.29935 x_norm = 5303.48
It. 1 Failure new_chi2 = 3404.71 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 906.608 x_norm = 18587.5
It. 1 Success new_chi2 = 2.19935 x_norm = 3569.24
It. 2 Failure new_chi2 = 19.5352 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 21524.6
It. 0 Success new_chi2 = -226.353 x_norm = 3173.77
It. 1 Failure new_chi2 = 7248.5 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 68.7381 x_norm = 17891.3
It. 1 Failure new_chi2 = 767.659 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 1052.56 x_norm = 36913.2
It. 1 Success new_chi2 = 968.083 x_norm = 57823.8
It. 2 Success new_chi2 = 21.527 x_norm = 58492.4
It. 3 Failure new_chi2 = 2418.11 Error increased. Stop optimizing.
Reprojection Map nPoint: 57 nCell: 31 nMatches: 1 distance between two frames: 53556
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 57 nCell: 5 nMatches: 1 distance between two frames: 644919
It. 0 Success new_chi2 = 116.538 x_norm = 134.805
It. 1 Failure new_chi2 = 154.192 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 11.9081 x_norm = 21.8684
It. 1 Failure new_chi2 = 48.717 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 24.577 x_norm = 17304.8
It. 1 Failure new_chi2 = 13552.6 Error increased. Stop optimizing.
Reprojection Map nPoint: 57 nCell: 2 nMatches: 1 distance between two frames: 18002.4
It. 0 Success new_chi2 = 119.556 x_norm = 50790.6
Matrix is close to singular! Stop Optimizing.
It. 1 Failure new_chi2 = 9492.43 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 108.063 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 22462.1 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 85219.3
It. 0 Success new_chi2 = -1738.18 x_norm = 17204.6
Matrix is close to singular! Stop Optimizing.
It. 1 Failure new_chi2 = 13853.4 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 2002.3 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 5246.92 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 40365.5
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 133766 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 2756.55 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 2688.28 Error increased. Stop optimizing.
Reprojection Map nPoint: 57 nCell: 5 nMatches: 1 distance between two frames: 18002.4
It. 0 Success new_chi2 = 317.647 x_norm = 641.424
It. 1 Failure new_chi2 = 16095.6 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 998.638 x_norm = 5348.1
It. 1 Success new_chi2 = 92.8674 x_norm = 142.614
It. 2 Failure new_chi2 = 294.128 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 15968.1 x_norm = 39194.6
It. 1 Success new_chi2 = 1225.89 x_norm = 32434
It. 2 Failure new_chi2 = 1310.8 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 68675.5
It. 0 Success new_chi2 = 425.817 x_norm = 566.023
It. 1 Failure new_chi2 = 5663.4 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 412.666 x_norm = 291.17
It. 1 Success new_chi2 = -5.76369 x_norm = 183.55
It. 2 Failure new_chi2 = 157.248 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 18.8189 x_norm = 3209.02
It. 1 Failure new_chi2 = 376.042 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 3380.48
It. 0 Success new_chi2 = 354.059 x_norm = 33.2789
It. 1 Failure new_chi2 = 7419.04 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 626.561 x_norm = 1674.38
It. 1 Failure new_chi2 = 6970.79 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 3858.4 x_norm = 100187
It. 1 Success new_chi2 = 693.59 x_norm = 23684.3
It. 2 Failure new_chi2 = 885.016 Error increased. Stop optimizing.
Reprojection Map nPoint: 57 nCell: 1 nMatches: 1 distance between two frames: 105448
It. 0 Success new_chi2 = 4926.93 x_norm = 36469.3
Matrix is close to singular! Stop Optimizing.
It. 1 Failure new_chi2 = 10475.4 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 1346.12 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 4060.24 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 149952
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 657279 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 4271.73 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 9913.33 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 512973 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 3237.38 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 11779.9 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 219971 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 1053.59 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 20189.6 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 176703 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 15074.6 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 7538.31 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 148126 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 14169.6 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 8062.76 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 133133 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 13395.3 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 8311.31 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 112681 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 12658.7 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 8548.23 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 99440.2 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 12034.9 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 9014.32 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 81234.5 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 11113.8 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 9197.27 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 67789.9 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 10593.3 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 9782.88 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 56080.9 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 9902.75 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 10242.9 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 45778.8 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 9499.26 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 11380 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 35913.3 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 8714.96 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 12056.4 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 105448
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 31660.2 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 8553.17 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 12627.5 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 105448
It. 0 Success new_chi2 = 23704.8 x_norm = 30285
Matrix is close to singular! Stop Optimizing.
It. 1 Failure new_chi2 = 7976.35 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 1735.45 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 4851.71 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 142860
It. 0 Success new_chi2 = 18707.9 x_norm = 80243.9
Matrix is close to singular! Stop Optimizing.
It. 1 Failure new_chi2 = 3746.57 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 6760.7 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 4344.23 Error increased. Stop optimizing.
Reprojection Map nPoint: 57 nCell: 1 nMatches: 1 distance between two frames: 15018.2
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 14322.2 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 6960.99 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 3928.17 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 99919.4
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 11829 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 6487.1 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 4143.39 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 99919.4
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 9715.6 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 5873.43 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 4061.12 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 99919.4
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 7821.47 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 5309.22 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 4180.85 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 99919.4
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 6085.59 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 4778.59 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 4278.67 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 99919.4
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 4673.49 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 4254.9 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 4469.63 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 99919.4
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 3528.36 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 3773.33 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 4430.3 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 99919.4
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 2561.73 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 3461.99 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 7417.01 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 99919.4
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 1898.72 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 3067.59 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 7891.76 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 99919.4
It. 0 Success new_chi2 = 1169.21 x_norm = 76417.9
Matrix is close to singular! Stop Optimizing.
It. 1 Failure new_chi2 = 349.332 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 598.522 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 327.753 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 206152
It. 0 Success new_chi2 = 761.814 x_norm = 38210.1
Matrix is close to singular! Stop Optimizing.
It. 1 Failure new_chi2 = 9054.7 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 1113.23 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 2038.18 Error increased. Stop optimizing.
Reprojection Map nPoint: 57 nCell: 15 nMatches: 1 distance between two frames: 47774.6
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 55 nCell: 5 nMatches: 1 distance between two frames: 1.17666e+07
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 3.8147e-06
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
Reprojection Map nPoint: 0 nCell: 0 nMatches: 0 distance between two frames: 0.0550146
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
Reprojection Map nPoint: 55 nCell: 2 nMatches: 1 distance between two frames: 0.0550148
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
Reprojection Map nPoint: 57 nCell: 5 nMatches: 1 distance between two frames: 0.05501
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
Reprojection Map nPoint: 44 nCell: 5 nMatches: 1 distance between two frames: 7.8642e-06
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
Reprojection Map nPoint: 57 nCell: 5 nMatches: 1 distance between two frames: 0.0550116
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
Reprojection Map nPoint: 56 nCell: 2 nMatches: 1 distance between two frames: 8.1482e-06
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
Reprojection Map nPoint: 57 nCell: 5 nMatches: 1 distance between two frames: 0.0550064
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
Reprojection Map nPoint: 56 nCell: 5 nMatches: 1 distance between two frames: 8.1482e-06
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
Reprojection Map nPoint: 56 nCell: 4 nMatches: 1 distance between two frames: 0.0550104
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
Reprojection Map nPoint: 56 nCell: 4 nMatches: 1 distance between two frames: 3.58358e-05
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
Reprojection Map nPoint: 56 nCell: 4 nMatches: 1 distance between two frames: 0.0550162
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 2493.44 x_norm = 12875.1
It. 1 Failure new_chi2 = 25658.8 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 13410.1
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 999.655 x_norm = 12127.7
It. 1 Failure new_chi2 = 26452.4 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 12214.8
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 1362.93 x_norm = 14685.3
It. 1 Failure new_chi2 = 15716.2 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 15520.6
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 991.428 x_norm = 11794.5
It. 1 Failure new_chi2 = 19262.7 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 12248
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 971.861 x_norm = 11342.5
It. 1 Failure new_chi2 = 18846.5 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 11355.9
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 753.81 x_norm = 9958.38
It. 1 Failure new_chi2 = 14937.4 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 12007.1
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 879.841 x_norm = 10023.9
It. 1 Failure new_chi2 = 11729.2 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 10133.6
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 1096.27 x_norm = 10378.2
It. 1 Failure new_chi2 = 4723.29 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 10883.5
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 1332.74 x_norm = 10260.9
It. 1 Failure new_chi2 = 4413.87 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 11632.9
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 1355.05 x_norm = 9484.9
It. 1 Failure new_chi2 = 3503.07 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 10529.8
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 1733.15 x_norm = 10482.2
It. 1 Failure new_chi2 = 6363.24 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 11219.9
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 1370.46 x_norm = 11338
It. 1 Failure new_chi2 = 4539.3 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 11337.8
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 1043.56 x_norm = 12200.4
It. 1 Failure new_chi2 = 10089.1 Error increased. Stop optimizing.
Reprojection Map nPoint: 56 nCell: 3 nMatches: 1 distance between two frames: 15487.6
It. 0 Success new_chi2 = 0 x_norm = 0
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 1739.58 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 757.834 Error increased. Stop optimizing.
Reprojection Map nPoint: 55 nCell: 1 nMatches: 1 distance between two frames: 15487.8
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 302.896 x_norm = 9016.59
It. 1 Failure new_chi2 = 9515.75 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 9650.24
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 153.424 x_norm = 3132.95
It. 1 Failure new_chi2 = 7907.7 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 3140.94
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 134.254 x_norm = 3815.03
It. 1 Failure new_chi2 = 6577.48 Error increased. Stop optimizing.
Reprojection Map nPoint: 55 nCell: 3 nMatches: 1 distance between two frames: 4318.08
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 521299 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 5518.25 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 11477 Error increased. Stop optimizing.
Reprojection Map nPoint: 54 nCell: 1 nMatches: 1 distance between two frames: 4317.98
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 5.6833 x_norm = 451.546
It. 1 Failure new_chi2 = 13477.8 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 550.252
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 16.5823 x_norm = 74.8259
It. 1 Failure new_chi2 = 89.1849 Error increased. Stop optimizing.
Reprojection Map nPoint: 54 nCell: 1 nMatches: 1 distance between two frames: 77.4468
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 6.42621 x_norm = 398.198
It. 1 Success new_chi2 = -33.2255 x_norm = 3112.17
It. 2 Failure new_chi2 = 4.70752 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 17.6202 x_norm = 3554
It. 1 Failure new_chi2 = 24922.5 Error increased. Stop optimizing.
Reprojection Map nPoint: 54 nCell: 1 nMatches: 1 distance between two frames: 3731.37
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 12491.3 Error increased. Stop optimizing.
It. 0 Failure new_chi2 = 35.8462 Error increased. Stop optimizing.
It. 0 Failure new_chi2 = 1377.17 Error increased. Stop optimizing.
Reprojection Map nPoint: 54 nCell: 1 nMatches: 1 distance between two frames: 3728.15
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 4.34039 x_norm = 860.517
It. 1 Failure new_chi2 = 128.737 Error increased. Stop optimizing.
Reprojection Map nPoint: 54 nCell: 1 nMatches: 1 distance between two frames: 906.487
It. 0 Success new_chi2 = 395807 x_norm = 4142.43
It. 1 Success new_chi2 = 85.4991 x_norm = 37.9313
It. 2 Failure new_chi2 = 413.954 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 278.222 x_norm = 821.627
It. 1 Failure new_chi2 = 291.133 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 194.443 x_norm = 69.2667
It. 1 Failure new_chi2 = 206.118 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 5718.16
It. 0 Success new_chi2 = 225281 x_norm = 1608.44
It. 1 Success new_chi2 = 444.124 x_norm = 1148.95
It. 2 Success new_chi2 = 276.874 x_norm = 25.1633
It. 3 Failure new_chi2 = 460.375 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 277.214 x_norm = 10153.8
It. 1 Success new_chi2 = 272.537 x_norm = 606.641
It. 2 Success new_chi2 = 207.735 x_norm = 514.162
It. 3 Failure new_chi2 = 318.639 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 772.419 x_norm = 1029.16
It. 1 Success new_chi2 = 195.259 x_norm = 86.7938
It. 2 Failure new_chi2 = 399.079 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 7296.81
It. 0 Success new_chi2 = 266174 x_norm = 11627.2
It. 1 Success new_chi2 = 92.7936 x_norm = 479.094
It. 2 Failure new_chi2 = 12827.2 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 2623.7 x_norm = 10463.9
It. 1 Failure new_chi2 = 2637.57 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 2412.26 x_norm = 812.28
It. 1 Success new_chi2 = 2110.22 x_norm = 12699.3
It. 2 Failure new_chi2 = 3025.59 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 34558.7
It. 0 Success new_chi2 = 226797 x_norm = 24093.6
It. 1 Success new_chi2 = 440.448 x_norm = 1868.94
It. 2 Failure new_chi2 = 1053.55 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 261.78 x_norm = 1754.5
It. 1 Failure new_chi2 = 419.913 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 174.545 x_norm = 76.1452
It. 1 Failure new_chi2 = 240.36 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 25999.2
It. 0 Success new_chi2 = 395581 x_norm = 25593.3
It. 1 Success new_chi2 = 5.13993 x_norm = 3265.59
It. 2 Success new_chi2 = -290.432 x_norm = 6056.07
It. 3 Failure new_chi2 = 24126.2 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 2956.45 x_norm = 6165.06
It. 1 Success new_chi2 = 1335.2 x_norm = 171.902
It. 2 Failure new_chi2 = 2021.69 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 3549.54 x_norm = 516.587
It. 1 Success new_chi2 = 3135.01 x_norm = 503.476
It. 2 Failure new_chi2 = 3342.72 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 37336.1
It. 0 Success new_chi2 = 268014 x_norm = 3325.33
It. 1 Success new_chi2 = -77.2182 x_norm = 1099.69
It. 2 Failure new_chi2 = 2245.56 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 211.081 x_norm = 2168.29
It. 1 Failure new_chi2 = 8084.43 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 2103.41 x_norm = 1855.82
It. 1 Success new_chi2 = 206.228 x_norm = 273.123
It. 2 Failure new_chi2 = 275.128 Error increased. Stop optimizing.
Reprojection Map nPoint: 54 nCell: 1 nMatches: 1 distance between two frames: 4136.03
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 30120.4 Error increased. Stop optimizing.
It. 0 Failure new_chi2 = 2022.87 Error increased. Stop optimizing.
It. 0 Failure new_chi2 = 1621.4 Error increased. Stop optimizing.
Reprojection Map nPoint: 54 nCell: 1 nMatches: 1 distance between two frames: 3863.13
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 68.8537 x_norm = 0.70021
It. 1 Failure new_chi2 = 297.216 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 2801 x_norm = 3985.03
It. 1 Failure new_chi2 = 3781.02 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 4095.38
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 20.3669 x_norm = 0.660298
It. 1 Failure new_chi2 = 109.7 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 2942.8 x_norm = 33799.6
It. 1 Failure new_chi2 = 3510.33 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 42215.2
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 10.6042 x_norm = 5.57851
It. 1 Success new_chi2 = 5.58436 x_norm = 0.146564
It. 2 Failure new_chi2 = 13.3271 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 5121.92 x_norm = 3884.49
It. 1 Success new_chi2 = 1675.55 x_norm = 364.4
It. 2 Success new_chi2 = 972.118 x_norm = 326.712
It. 3 Success new_chi2 = 294.071 x_norm = 231.742
It. 4 Failure new_chi2 = 314.215 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 5073.47
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 13.3046 x_norm = 0.895029
It. 1 Failure new_chi2 = 54.8853 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 3118.33 x_norm = 4497.28
It. 1 Success new_chi2 = 14.2063 x_norm = 1932.4
It. 2 Failure new_chi2 = 24580.5 Error increased. Stop optimizing.
Reprojection Map nPoint: 54 nCell: 1 nMatches: 1 distance between two frames: 4128.08
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 64480.5 Error increased. Stop optimizing.
It. 0 Failure new_chi2 = 1614.04 Error increased. Stop optimizing.
It. 0 Failure new_chi2 = 1447.63 Error increased. Stop optimizing.
Reprojection Map nPoint: 54 nCell: 1 nMatches: 1 distance between two frames: 4128.14
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 2645.74 x_norm = 296.971
It. 1 Success new_chi2 = 759.715 x_norm = 220.71
It. 2 Failure new_chi2 = 915.895 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 918.99 x_norm = 213.358
It. 1 Failure new_chi2 = 1102.09 Error increased. Stop optimizing.
Reprojection Map nPoint: 54 nCell: 6 nMatches: 1 distance between two frames: 616.717
It. 0 Success new_chi2 = 44966.6 x_norm = 104.356
It. 1 Success new_chi2 = 3599.32 x_norm = 304.474
It. 2 Success new_chi2 = 1148.09 x_norm = 865.19
It. 3 Failure new_chi2 = 2094.41 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 1790.01 x_norm = 208.869
It. 1 Failure new_chi2 = 3432.53 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 7171.78 x_norm = 51571.1
It. 1 Success new_chi2 = 943.037 x_norm = 24604.3
It. 2 Failure new_chi2 = 1667.2 Error increased. Stop optimizing.
Reprojection Map nPoint: 53 nCell: 29 nMatches: 1 distance between two frames: 60460
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 53 nCell: 1 nMatches: 1 distance between two frames: 1.62533e+07
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 2990.14 x_norm = 1420.33
It. 1 Success new_chi2 = 640.9 x_norm = 675.681
It. 2 Success new_chi2 = 508.228 x_norm = 188.062
It. 3 Failure new_chi2 = 6412.54 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 4530.62 x_norm = 113171
It. 1 Success new_chi2 = 575.68 x_norm = 11771
It. 2 Failure new_chi2 = 1094.22 Error increased. Stop optimizing.
Reprojection Map nPoint: 53 nCell: 53 nMatches: 0 distance between two frames: 137820
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 3847.12 x_norm = 944.467
It. 1 Success new_chi2 = 901.666 x_norm = 397.732
It. 2 Failure new_chi2 = 1109.8 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 1005.97 x_norm = 17695.9
It. 1 Failure new_chi2 = 1172.85 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 19017.3
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 1323.03 x_norm = 313.312
It. 1 Success new_chi2 = 892.748 x_norm = 1076.8
It. 2 Failure new_chi2 = 1278.25 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 1024.15 x_norm = 24259.3
It. 1 Failure new_chi2 = 1090.85 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 26211
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 3050.86 x_norm = 220.24
It. 1 Success new_chi2 = 421.106 x_norm = 331.426
It. 2 Failure new_chi2 = 1607.97 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 8624.1 x_norm = 29528.4
It. 1 Success new_chi2 = 546.63 x_norm = 18346.4
It. 2 Failure new_chi2 = 1108.34 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 40547.2
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 3653.88 x_norm = 400.143
It. 1 Success new_chi2 = 745.444 x_norm = 38.6476
It. 2 Failure new_chi2 = 1452.93 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 1255.35 x_norm = 24751.1
It. 1 Success new_chi2 = 1033.67 x_norm = 27461.8
It. 2 Failure new_chi2 = 1059.93 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 64251.1
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 4309 x_norm = 1637.55
It. 1 Success new_chi2 = 687.279 x_norm = 382.557
It. 2 Failure new_chi2 = 3853.94 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 5954.65 x_norm = 39364.6
It. 1 Success new_chi2 = 584.847 x_norm = 27084.7
It. 2 Failure new_chi2 = 1066.76 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 65195.8
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 2585.77 x_norm = 571.856
It. 1 Success new_chi2 = 969.622 x_norm = 297.732
It. 2 Failure new_chi2 = 1225.17 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 2227.32 x_norm = 53298.2
It. 1 Success new_chi2 = 803.214 x_norm = 14894.2
It. 2 Failure new_chi2 = 1055.28 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 80702.5
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 2786.24 x_norm = 1009.57
It. 1 Success new_chi2 = 788.911 x_norm = 85.5135
It. 2 Failure new_chi2 = 930.682 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 1100.86 x_norm = 102621
It. 1 Failure new_chi2 = 16003 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 112391
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 1176.96 x_norm = 193.946
It. 1 Success new_chi2 = 488.374 x_norm = 462.043
It. 2 Failure new_chi2 = 1476.43 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 8300.15 x_norm = 38031.7
It. 1 Success new_chi2 = 523.337 x_norm = 91497.8
It. 2 Failure new_chi2 = 1035.26 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 156407
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 1488.33 x_norm = 7700.49
It. 1 Failure new_chi2 = 1720.9 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 940.231 x_norm = 23720.2
It. 1 Failure new_chi2 = 1030.87 Error increased. Stop optimizing.
Reprojection Map nPoint: 0 nCell: 0 nMatches: 0 distance between two frames: 41587.4
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 1407.43 x_norm = 729.633
It. 1 Success new_chi2 = 1100.37 x_norm = 140.901
It. 2 Failure new_chi2 = 1344.35 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 988.471 x_norm = 163238
It. 1 Failure new_chi2 = 1030.51 Error increased. Stop optimizing.
Reprojection Map nPoint: 53 nCell: 53 nMatches: 0 distance between two frames: 214392
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 8479.31 x_norm = 310.771
It. 1 Success new_chi2 = 524.939 x_norm = 118.81
It. 2 Failure new_chi2 = 1828.63 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 1045.94 x_norm = 15236.8
It. 1 Failure new_chi2 = 2556.34 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 17657.3
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 788.226 x_norm = 184.208
It. 1 Failure new_chi2 = 1057.14 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 6775.28 x_norm = 38877.4
It. 1 Success new_chi2 = 559.827 x_norm = 6791.57
It. 2 Failure new_chi2 = 1044.71 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 49500.1
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 5885.46 x_norm = 1508.37
It. 1 Success new_chi2 = 424.005 x_norm = 253.754
It. 2 Failure new_chi2 = 6619.01 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 14662.8 x_norm = 91886.6
It. 1 Success new_chi2 = 5415.56 x_norm = 147586
It. 2 Failure new_chi2 = 5791.61 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 286411
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 3637.13 x_norm = 198.464
It. 1 Success new_chi2 = 2318.56 x_norm = 689.461
It. 2 Success new_chi2 = 683.893 x_norm = 236.376
It. 3 Failure new_chi2 = 4072.9 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 3656 x_norm = 39236.9
It. 1 Success new_chi2 = 584.774 x_norm = 431173
It. 2 Failure new_chi2 = 1027.31 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 621573
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 513.72 x_norm = 64.4913
It. 1 Failure new_chi2 = 4471.86 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 3231.72 x_norm = 135063
It. 1 Success new_chi2 = 611.233 x_norm = 9039.2
It. 2 Failure new_chi2 = 1028.17 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 157926
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 6441.71 x_norm = 272.907
It. 1 Success new_chi2 = 704.109 x_norm = 216.534
It. 2 Failure new_chi2 = 1585.57 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 1808.24 x_norm = 26766.9
It. 1 Success new_chi2 = 820.396 x_norm = 57690.4
It. 2 Failure new_chi2 = 995.205 Error increased. Stop optimizing.
Reprojection Map nPoint: 53 nCell: 31 nMatches: 1 distance between two frames: 88257.5
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 53 nCell: 1 nMatches: 1 distance between two frames: 220260
It. 0 Success new_chi2 = 46329.4 x_norm = 144.522
It. 1 Success new_chi2 = 50.3752 x_norm = 27.1514
It. 2 Failure new_chi2 = 13568.3 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 1776.85 x_norm = 4199.74
It. 1 Failure new_chi2 = 2293.2 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 914.272 x_norm = 26703.7
It. 1 Failure new_chi2 = 1088.34 Error increased. Stop optimizing.
Reprojection Map nPoint: 53 nCell: 37 nMatches: 1 distance between two frames: 37121.5
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
It. 0 Success new_chi2 = -nan x_norm = 0
Reprojection Map nPoint: 53 nCell: 1 nMatches: 1 distance between two frames: 633530
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 4067.16 x_norm = 7096.65
It. 1 Success new_chi2 = 1638.2 x_norm = 2481.11
It. 2 Success new_chi2 = 1146.6 x_norm = 14208.3
It. 3 Success new_chi2 = 968.046 x_norm = 4542.34
It. 4 Failure new_chi2 = 1057.11 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 982.944 x_norm = 24914.4
It. 1 Success new_chi2 = 964.907 x_norm = 18889.9
It. 2 Failure new_chi2 = 966.866 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 71940
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 4188.61 x_norm = 41405.5
It. 1 Success new_chi2 = 708.135 x_norm = 28318.6
It. 2 Failure new_chi2 = 1028.77 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 998.295 x_norm = 37813.4
It. 1 Success new_chi2 = 994.556 x_norm = 18957
It. 2 Success new_chi2 = 989.445 x_norm = 18717.4
It. 3 Failure new_chi2 = 999.938 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 99820.4
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 2543.2 x_norm = 6069.05
It. 1 Success new_chi2 = 1005.94 x_norm = 2652.17
It. 2 Failure new_chi2 = 3165.55 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 8602.84 x_norm = 41423.2
It. 1 Success new_chi2 = 440.275 x_norm = 18509.4
It. 2 Failure new_chi2 = 1014.01 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 74632.8
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 2352.46 x_norm = 4669.4
It. 1 Failure new_chi2 = 6253.73 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 5602.36 x_norm = 42104.5
It. 1 Success new_chi2 = 457.268 x_norm = 18049.9
It. 2 Failure new_chi2 = 1031.35 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 60599.7
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 3335.41 x_norm = 3704.75
It. 1 Success new_chi2 = 1603.07 x_norm = 16483.3
It. 2 Success new_chi2 = 951.263 x_norm = 11434.3
It. 3 Failure new_chi2 = 1152.06 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 1004.15 x_norm = 19534.5
It. 1 Failure new_chi2 = 1070.4 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 58411.1
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 2824.76 x_norm = 28511.1
It. 1 Success new_chi2 = 1062.51 x_norm = 4073.56
It. 2 Failure new_chi2 = 1227.69 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 939.82 x_norm = 28646.4
It. 1 Failure new_chi2 = 1047.73 Error increased. Stop optimizing.
Reprojection Map nPoint: 53 nCell: 53 nMatches: 0 distance between two frames: 65263.1
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 2373.38 x_norm = 13845.4
It. 1 Success new_chi2 = 1142.74 x_norm = 2145.3
It. 2 Failure new_chi2 = 1416.74 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 937.939 x_norm = 19268.7
It. 1 Failure new_chi2 = 1079.78 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 32846.7
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 1341.16 x_norm = 5200.45
It. 1 Failure new_chi2 = 8015.41 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 5027.06 x_norm = 106930
It. 1 Success new_chi2 = 484.992 x_norm = 18814.9
It. 2 Failure new_chi2 = 1043.31 Error increased. Stop optimizing.
Reprojection Map nPoint: 53 nCell: 53 nMatches: 0 distance between two frames: 126153
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 1066.89 x_norm = 1392.84
It. 1 Failure new_chi2 = 4108.95 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 1964.09 x_norm = 30102.8
It. 1 Success new_chi2 = 747.485 x_norm = 19930.6
It. 2 Failure new_chi2 = 1066.55 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 49384.9
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 893.973 x_norm = 6487.85
It. 1 Failure new_chi2 = 2272.68 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 1221.07 x_norm = 17636.6
It. 1 Success new_chi2 = 937.449 x_norm = 18992.5
It. 2 Failure new_chi2 = 1058.36 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 55000.3
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 708.995 x_norm = 48432.5
It. 1 Failure new_chi2 = 4925 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 5776.79 x_norm = 38355.4
It. 1 Success new_chi2 = 5257 x_norm = 64594.4
It. 2 Success new_chi2 = 498.061 x_norm = 17739.7
It. 3 Failure new_chi2 = 1073.85 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 60643.8
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 553.39 x_norm = 4226.11
It. 1 Failure new_chi2 = 12936.2 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 5090.35 x_norm = 42688.9
It. 1 Success new_chi2 = 516.174 x_norm = 51673.5
It. 2 Failure new_chi2 = 1047.66 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 102319
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 8331.14 x_norm = 13617.8
It. 1 Success new_chi2 = 591.591 x_norm = 2289.8
It. 2 Failure new_chi2 = 1147.13 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 1027.32 x_norm = 20228
It. 1 Failure new_chi2 = 1083.75 Error increased. Stop optimizing.
Reprojection Map nPoint: 257 nCell: 0 nMatches: 0 distance between two frames: 36902.9
It. 0 Success new_chi2 = 0 x_norm = 0
It. 0 Success new_chi2 = 7482.16 x_norm = 6443.73
It. 1 Success new_chi2 = 1104.82 x_norm = 13713.8
It. 2 Failure new_chi2 = 4167.23 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 4512.18 x_norm = 72599.4
It. 1 Success new_chi2 = 559.46 x_norm = 18232.2
It. 2 Failure new_chi2 = 1047.05 Error increased. Stop optimizing.
Reprojection Map nPoint: 53 nCell: 2 nMatches: 1 distance between two frames: 91476.5
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 66883.6 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 7830.88 Error increased. Stop optimizing.
Matrix is close to singular! Stop Optimizing.
It. 0 Failure new_chi2 = 5939.04 Error increased. Stop optimizing.
Reprojection Map nPoint: 53 nCell: 1 nMatches: 1 distance between two frames: 91476.5
It. 0 Success new_chi2 = 263486 x_norm = 15.6907
It. 1 Success new_chi2 = 4849.51 x_norm = 20.402
It. 2 Success new_chi2 = 60.8536 x_norm = 5.47307
It. 3 Failure new_chi2 = 267.575 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 1988.59 x_norm = 234.086
It. 1 Success new_chi2 = 725.775 x_norm = 208.11
It. 2 Success new_chi2 = 468.104 x_norm = 155.045
It. 3 Failure new_chi2 = 600.298 Error increased. Stop optimizing.
It. 0 Success new_chi2 = 7956.21 x_norm = 40825.8
It. 1 Success new_chi2 = 604.799 x_norm = 5946.45
It. 2 Failure new_chi2 = 1461.24 Error increased. Stop optimizing.
Reprojection Map nPoint: 53 nCell: 45 nMatches: 1 distance between two frames: 39744.9
SVO terminated.
... logging to /root/.ros/log/f8187f52-0679-11ec-84b4-8c16454ee8e8/roslaunch-gfuse-8474.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
 
started roslaunch server http://gfuse:38115/
 
SUMMARY
========
 
CLEAR PARAMETERS
* /vio/
 
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.7
* /svo/ACC_noise: 0.5
* /svo/Cmd_Cov: 0.1
* /svo/GYO_noise: 0.001
* /svo/grid_size: 30
* /svo/init_min_disparity: 80
* /svo/init_min_inliers: 40
* /svo/init_min_tracked: 100
* /svo/kfselect_mindist: 0.01
* /svo/loba_num_iter: 0
* /svo/max_n_kfs: 20
* /svo/poseoptim_thresh: 4.0
* /svo/quality_max_drop_fts: 90
* /svo/quality_min_fts: 10
* /svo/structureoptim_max_pts: 50
* /svo/svo_ekf: 1.5
* /vio/cam_cx: 0.485102
* /vio/cam_cy: 0.508577
* /vio/cam_d0: 1.03345
* /vio/cam_fx: 0.490202
* /vio/cam_fy: 0.866527
* /vio/cam_height: 480
* /vio/cam_model: ATAN
* /vio/cam_topic: /CoreNode/grey_img
* /vio/cam_width: 640
* /vio/cmd_topic: /cmd_vel
* /vio/imu_topic: /SensorNode/imu
* /vio/odom: /vio/getOdom
* /vio/start: /vio/start
* /vio/stop: /vio/stop
 
NODES
/
vio (vio/vio)
 
ROS_MASTER_URI=http://localhost:11311
 
process[vio-1]: started with pid [8490]
[vio-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done