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vio/GPU_version/vio/frame_handler_log.txt
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[01:08:09.931] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[01:08:09.951] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[01:08:09.971] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[01:08:09.992] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[01:08:10.012] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[01:08:10.032] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[01:08:10.052] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[01:08:10.073] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[01:08:10.093] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[01:08:10.113] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[01:08:10.133] Odometry x=0.000000, y=-0.000000, theta=-0.000000
[01:08:10.153] Odometry x=0.000000, y=-0.000000, theta=0.000000
[01:08:10.174] Odometry x=0.000000, y=-0.000001, theta=0.000544
[01:08:10.194] Odometry x=0.000000, y=-0.000001, theta=0.001008
[01:08:10.214] Odometry x=0.000000, y=-0.000001, theta=0.001408
[01:08:10.234] Init: frame zero: 0.000000, 0.000000 0.000000
[01:08:10.234] Init: Selected first frame.
[01:08:10.234] Odometry x=0.000000, y=-0.000002, theta=0.001998
[01:08:10.255] Odometry x=0.000000, y=-0.000002, theta=0.002509
[01:08:10.275] Odometry x=0.000000, y=-0.000003, theta=0.003067
[01:08:10.295] Odometry x=0.000000, y=-0.000004, theta=0.003729
[01:08:10.316] Odometry x=0.000001, y=-0.000004, theta=0.004230
[01:08:10.336] Odometry x=0.000001, y=-0.000005, theta=0.004821
[01:08:10.342] Init: px average disparity is:0.037014 ,While minimum is: 40.000000 KLT tracked : 208
[01:08:10.343] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:10.356] Odometry x=0.000001, y=-0.000006, theta=0.005427
[01:08:10.376] Odometry x=0.000001, y=-0.000006, theta=0.005963
[01:08:10.397] Odometry x=0.000001, y=-0.000007, theta=0.006495
[01:08:10.417] Odometry x=0.000001, y=-0.000008, theta=0.007033
[01:08:10.437] Odometry x=0.000001, y=-0.000008, theta=0.007565
[01:08:10.438] Init: px average disparity is:0.034697 ,While minimum is: 40.000000 KLT tracked : 208
[01:08:10.438] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:10.457] Odometry x=0.000001, y=-0.000009, theta=0.008094
[01:08:10.478] Odometry x=0.000001, y=-0.000009, theta=0.008555
[01:08:10.498] Odometry x=0.000001, y=-0.000010, theta=0.009131
[01:08:10.518] Odometry x=0.000001, y=-0.000011, theta=0.009718
[01:08:10.537] Init: px average disparity is:0.027820 ,While minimum is: 40.000000 KLT tracked : 208
[01:08:10.537] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:10.538] Odometry x=0.000001, y=-0.000011, theta=0.010203
[01:08:10.558] Odometry x=0.000001, y=-0.000012, theta=0.010802
[01:08:10.579] Odometry x=0.000002, y=-0.000012, theta=0.011407
[01:08:10.599] Odometry x=0.000002, y=-0.000013, theta=0.011937
[01:08:10.619] Odometry x=0.000002, y=-0.000014, theta=0.012458
[01:08:10.638] Init: px average disparity is:0.028191 ,While minimum is: 40.000000 KLT tracked : 208
[01:08:10.638] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:10.639] Odometry x=0.000002, y=-0.000014, theta=0.012978
[01:08:10.660] Odometry x=0.000002, y=-0.000015, theta=0.013494
[01:08:10.680] Odometry x=0.000002, y=-0.000016, theta=0.014029
[01:08:10.700] Odometry x=0.000002, y=-0.000016, theta=0.014570
[01:08:10.721] Odometry x=0.000002, y=-0.000017, theta=0.015103
[01:08:10.737] Init: px average disparity is:0.027771 ,While minimum is: 40.000000 KLT tracked : 208
[01:08:10.737] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:10.741] Odometry x=0.000002, y=-0.000017, theta=0.015654
[01:08:10.761] Odometry x=0.000002, y=-0.000018, theta=0.016188
[01:08:10.781] Odometry x=0.000002, y=-0.000018, theta=0.016720
[01:08:10.802] Odometry x=0.000002, y=-0.000019, theta=0.017264
[01:08:10.822] Odometry x=0.000002, y=-0.000020, theta=0.017809
[01:08:10.839] Init: px average disparity is:0.031274 ,While minimum is: 40.000000 KLT tracked : 208
[01:08:10.839] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:10.842] Odometry x=0.000002, y=-0.000020, theta=0.018353
[01:08:10.862] Odometry x=0.000002, y=-0.000021, theta=0.018885
[01:08:10.883] Odometry x=0.000002, y=-0.000021, theta=0.019409
[01:08:10.903] Odometry x=0.000003, y=-0.000022, theta=0.019930
[01:08:10.923] Odometry x=0.000003, y=-0.000022, theta=0.020457
[01:08:10.938] Init: px average disparity is:0.028016 ,While minimum is: 40.000000 KLT tracked : 208
[01:08:10.938] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:10.944] Odometry x=0.000003, y=-0.000023, theta=0.020901
[01:08:10.964] Odometry x=0.000003, y=-0.000023, theta=0.021378
[01:08:10.984] Odometry x=0.000003, y=-0.000024, theta=0.021909
[01:08:11.005] Odometry x=0.000003, y=-0.000025, theta=0.022538
[01:08:11.025] Odometry x=0.000003, y=-0.000026, theta=0.023158
[01:08:11.038] Init: px average disparity is:0.039501 ,While minimum is: 40.000000 KLT tracked : 208
[01:08:11.038] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:11.045] Odometry x=0.000003, y=-0.000026, theta=0.023652
[01:08:11.065] Odometry x=0.000003, y=-0.000027, theta=0.024151
[01:08:11.086] Odometry x=0.000003, y=-0.000027, theta=0.024679
[01:08:11.106] Odometry x=0.000003, y=-0.000028, theta=0.025206
[01:08:11.126] Odometry x=0.000003, y=-0.000028, theta=0.025652
[01:08:11.138] Init: px average disparity is:0.026378 ,While minimum is: 40.000000 KLT tracked : 208
[01:08:11.138] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:11.146] Odometry x=0.000003, y=-0.000029, theta=0.026186
[01:08:11.166] Odometry x=0.000003, y=-0.000030, theta=0.026829
[01:08:11.187] Odometry x=0.000003, y=-0.000031, theta=0.027434
[01:08:11.207] Odometry x=0.000003, y=-0.000031, theta=0.027993
[01:08:11.227] Odometry x=0.000003, y=-0.000032, theta=0.028532
[01:08:11.238] Init: px average disparity is:0.026018 ,While minimum is: 40.000000 KLT tracked : 208
[01:08:11.238] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:11.247] Odometry x=0.000004, y=-0.000032, theta=0.029071
[01:08:11.268] Odometry x=0.000004, y=-0.000033, theta=0.029607
[01:08:11.288] Odometry x=0.000004, y=-0.000033, theta=0.030059
[01:08:11.308] Odometry x=0.000004, y=-0.000034, theta=0.030549
[01:08:11.329] Odometry x=0.000004, y=-0.000034, theta=0.031085
[01:08:11.340] Init: px average disparity is:0.027507 ,While minimum is: 40.000000 KLT tracked : 208
[01:08:11.340] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:11.349] Odometry x=0.000004, y=-0.000035, theta=0.031612
[01:08:11.369] Odometry x=0.000004, y=-0.000036, theta=0.032148
[01:08:11.390] Odometry x=0.000004, y=-0.000036, theta=0.032731
[01:08:11.410] Odometry x=0.000004, y=-0.000037, theta=0.033303
[01:08:11.430] Odometry x=0.000004, y=-0.000038, theta=0.033933
[01:08:11.438] Init: px average disparity is:0.036265 ,While minimum is: 40.000000 KLT tracked : 208
[01:08:11.438] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:11.450] Odometry x=0.000004, y=-0.000039, theta=0.034525
[01:08:11.470] Odometry x=0.000004, y=-0.000039, theta=0.035067
[01:08:11.491] Odometry x=0.000004, y=-0.000040, theta=0.035597
[01:08:11.511] Odometry x=0.000004, y=-0.000040, theta=0.036131
[01:08:11.531] Odometry x=0.000004, y=-0.000041, theta=0.036666
[01:08:11.539] Init: px average disparity is:0.028122 ,While minimum is: 40.000000 KLT tracked : 208
[01:08:11.539] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:11.551] Odometry x=0.000004, y=-0.000041, theta=0.037204
[01:08:11.572] Odometry x=0.000004, y=-0.000042, theta=0.037745
[01:08:11.592] Odometry x=0.000004, y=-0.000042, theta=0.038300
[01:08:11.612] Odometry x=0.000004, y=-0.000043, theta=0.038777
[01:08:11.632] Odometry x=0.000004, y=-0.000044, theta=0.039340
[01:08:11.640] Init: px average disparity is:0.029980 ,While minimum is: 40.000000 KLT tracked : 208
[01:08:11.640] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:11.653] Odometry x=0.000005, y=-0.000044, theta=0.039839
[01:08:11.673] Odometry x=0.000005, y=-0.000045, theta=0.040319
[01:08:11.693] Odometry x=0.000005, y=-0.000045, theta=0.040885
[01:08:11.714] Odometry x=0.000005, y=-0.000046, theta=0.041432
[01:08:11.734] Odometry x=0.000005, y=-0.000047, theta=0.042053
[01:08:11.738] Init: px average disparity is:0.034267 ,While minimum is: 40.000000 KLT tracked : 208
[01:08:11.738] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:11.754] Odometry x=0.000005, y=-0.000047, theta=0.042573
[01:08:11.775] Odometry x=0.000005, y=-0.000048, theta=0.043076
[01:08:11.815] Odometry x=0.000005, y=-0.000049, theta=0.043938
[01:08:11.835] Odometry x=0.000005, y=-0.000051, theta=0.044680
[01:08:11.841] Init: px average disparity is:0.090504 ,While minimum is: 40.000000 KLT tracked : 208
[01:08:11.841] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:11.855] Odometry x=0.000005, y=-0.000051, theta=0.045210
[01:08:11.876] Odometry x=0.000015, y=0.000121, theta=0.044488
[01:08:11.896] Odometry x=0.000022, y=0.000322, theta=0.049725
[01:08:11.916] Odometry x=0.000031, y=0.000762, theta=0.054159
[01:08:11.942] Init: px average disparity is:1.479604 ,While minimum is: 40.000000 KLT tracked : 208
[01:08:11.942] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:11.956] Odometry x=0.000477, y=0.007603, theta=0.050392
[01:08:11.977] Odometry x=0.000586, y=0.008549, theta=0.046188
[01:08:11.997] Odometry x=0.000606, y=0.008631, theta=0.039873
[01:08:12.017] Odometry x=0.000613, y=0.008656, theta=0.033091
[01:08:12.042] Init: px average disparity is:6.427854 ,While minimum is: 40.000000 KLT tracked : 204
[01:08:12.042] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:12.058] Odometry x=0.000740, y=0.012600, theta=0.030531
[01:08:12.078] Odometry x=0.000741, y=0.012608, theta=0.030226
[01:08:12.098] Odometry x=0.000741, y=0.012610, theta=0.034273
[01:08:12.118] Odometry x=0.000740, y=0.012543, theta=0.039062
[01:08:12.140] Init: px average disparity is:5.381243 ,While minimum is: 40.000000 KLT tracked : 204
[01:08:12.140] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:12.159] Odometry x=0.000883, y=0.016298, theta=0.036449
[01:08:12.179] Odometry x=0.000885, y=0.016254, theta=0.031769
[01:08:12.199] Odometry x=0.000896, y=0.016250, theta=0.025373
[01:08:12.219] Odometry x=0.000907, y=0.016250, theta=0.022291
[01:08:12.242] Init: px average disparity is:8.920299 ,While minimum is: 40.000000 KLT tracked : 204
[01:08:12.242] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:12.260] Odometry x=0.000995, y=0.019900, theta=0.021221
[01:08:12.280] Odometry x=0.001000, y=0.019923, theta=0.020399
[01:08:12.300] Odometry x=0.001001, y=0.019950, theta=0.018377
[01:08:12.320] Odometry x=0.001015, y=0.019952, theta=0.016211
[01:08:12.339] Init: px average disparity is:12.989191 ,While minimum is: 40.000000 KLT tracked : 204
[01:08:12.339] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:12.361] Odometry x=0.001077, y=0.023987, theta=0.013445
[01:08:12.381] Odometry x=0.001078, y=0.023990, theta=0.010131
[01:08:12.401] Odometry x=0.001078, y=0.023973, theta=0.009201
[01:08:12.422] Odometry x=0.001078, y=0.023958, theta=0.007409
[01:08:12.440] Init: px average disparity is:19.008366 ,While minimum is: 40.000000 KLT tracked : 204
[01:08:12.440] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:12.462] Odometry x=0.001095, y=0.027753, theta=-0.001577
[01:08:12.482] Odometry x=0.001097, y=0.027713, theta=-0.008908
[01:08:12.502] Odometry x=0.001071, y=0.027694, theta=-0.011232
[01:08:12.523] Odometry x=0.001056, y=0.027680, theta=-0.010625
[01:08:12.564] Odometry x=0.001032, y=0.031364, theta=0.001831
[01:08:12.584] Odometry x=0.001026, y=0.031274, theta=0.015876
[01:08:12.604] Odometry x=0.001025, y=0.031272, theta=0.022221
[01:08:12.624] Odometry x=0.001025, y=0.031272, theta=0.023936
[01:08:12.640] Init: px average disparity is:14.679688 ,While minimum is: 40.000000 KLT tracked : 204
[01:08:12.640] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:12.665] Odometry x=0.001097, y=0.035081, theta=0.021683
[01:08:12.685] Odometry x=0.001084, y=0.035050, theta=0.018999
[01:08:12.705] Odometry x=0.001082, y=0.035051, theta=0.016777
[01:08:12.725] Odometry x=0.001082, y=0.035040, theta=0.018748
[01:08:12.766] Odometry x=0.001170, y=0.038909, theta=0.028240
[01:08:12.786] Odometry x=0.001167, y=0.038866, theta=0.039749
[01:08:12.806] Odometry x=0.001167, y=0.038863, theta=0.047926
[01:08:12.826] Odometry x=0.001168, y=0.038862, theta=0.053818
[01:08:12.867] Odometry x=0.001391, y=0.042651, theta=0.065727
[01:08:12.887] Odometry x=0.001389, y=0.042631, theta=0.076585
[01:08:12.907] Odometry x=0.001385, y=0.042629, theta=0.077660
[01:08:12.928] Odometry x=0.001380, y=0.042648, theta=0.072124
[01:08:12.942] Init: px average disparity is:16.607689 ,While minimum is: 40.000000 KLT tracked : 204
[01:08:12.942] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:12.968] Odometry x=0.000000, y=0.047896, theta=-0.002310
[01:08:12.988] Odometry x=-0.000010, y=0.047895, theta=-0.004519
[01:08:13.008] Odometry x=-0.000025, y=0.047893, theta=-0.002683
[01:08:13.028] Odometry x=-0.000022, y=0.047886, theta=0.002075
[01:08:13.042] Init: px average disparity is:20.784350 ,While minimum is: 40.000000 KLT tracked : 204
[01:08:13.042] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:13.069] Odometry x=0.000011, y=0.051709, theta=0.005103
[01:08:13.089] Odometry x=0.000035, y=0.051709, theta=0.006725
[01:08:13.109] Odometry x=0.000078, y=0.051709, theta=0.005102
[01:08:13.130] Odometry x=0.000112, y=0.051701, theta=0.002192
[01:08:13.142] Init: px average disparity is:20.551683 ,While minimum is: 40.000000 KLT tracked : 204
[01:08:13.142] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:13.170] Odometry x=0.000117, y=0.055448, theta=0.000227
[01:08:13.190] Odometry x=0.000116, y=0.055402, theta=0.000719
[01:08:13.210] Odometry x=0.000117, y=0.055398, theta=0.004023
[01:08:13.231] Odometry x=0.000118, y=0.055394, theta=0.008039
[01:08:13.243] Init: px average disparity is:24.903689 ,While minimum is: 40.000000 KLT tracked : 204
[01:08:13.243] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:13.271] Odometry x=0.000153, y=0.059207, theta=0.010828
[01:08:13.291] Odometry x=0.000152, y=0.059203, theta=0.012958
[01:08:13.312] Odometry x=0.000155, y=0.059203, theta=0.013501
[01:08:13.332] Odometry x=0.000123, y=0.059204, theta=0.014470
[01:08:13.342] Init: px average disparity is:25.987329 ,While minimum is: 40.000000 KLT tracked : 204
[01:08:13.342] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:13.372] Odometry x=0.000173, y=0.063213, theta=0.017757
[01:08:13.393] Odometry x=0.000166, y=0.063262, theta=0.023278
[01:08:13.413] Odometry x=0.000167, y=0.063293, theta=0.027584
[01:08:13.433] Odometry x=0.000167, y=0.063294, theta=0.030390
[01:08:13.444] Init: px average disparity is:26.923791 ,While minimum is: 40.000000 KLT tracked : 204
[01:08:13.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:13.473] Odometry x=0.000294, y=0.067156, theta=0.034473
[01:08:13.494] Odometry x=0.000297, y=0.067223, theta=0.037351
[01:08:13.514] Odometry x=0.000300, y=0.067281, theta=0.037920
[01:08:13.534] Odometry x=0.000296, y=0.067303, theta=0.038012
[01:08:13.545] Init: px average disparity is:28.605109 ,While minimum is: 40.000000 KLT tracked : 201
[01:08:13.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:13.574] Odometry x=0.000434, y=0.071080, theta=0.033784
[01:08:13.595] Odometry x=0.000433, y=0.071054, theta=0.028539
[01:08:13.615] Odometry x=0.000433, y=0.071048, theta=0.025025
[01:08:13.644] Init: px average disparity is:31.270717 ,While minimum is: 40.000000 KLT tracked : 199
[01:08:13.644] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:13.656] Odometry x=0.000504, y=0.074104, theta=0.020607
[01:08:13.676] Odometry x=0.000504, y=0.074100, theta=0.014648
[01:08:13.696] Odometry x=0.000503, y=0.074073, theta=0.013114
[01:08:13.716] Odometry x=0.000502, y=0.073992, theta=0.014777
[01:08:13.745] Init: px average disparity is:30.876650 ,While minimum is: 40.000000 KLT tracked : 199
[01:08:13.745] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:13.757] Odometry x=0.000575, y=0.077806, theta=0.025535
[01:08:13.777] Odometry x=0.000573, y=0.077803, theta=0.036555
[01:08:13.797] Odometry x=0.000561, y=0.077800, theta=0.040723
[01:08:13.817] Odometry x=0.000547, y=0.077799, theta=0.041238
[01:08:13.845] Init: px average disparity is:30.429134 ,While minimum is: 40.000000 KLT tracked : 197
[01:08:13.845] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:13.858] Odometry x=0.000694, y=0.081574, theta=0.033322
[01:08:13.878] Odometry x=0.000697, y=0.081541, theta=0.027414
[01:08:13.898] Odometry x=0.000712, y=0.081517, theta=0.024888
[01:08:13.918] Odometry x=0.000721, y=0.081471, theta=0.022231
[01:08:13.946] Init: px average disparity is:34.051234 ,While minimum is: 40.000000 KLT tracked : 192
[01:08:13.946] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:13.959] Odometry x=0.000776, y=0.085760, theta=0.020794
[01:08:13.979] Odometry x=0.000757, y=0.085964, theta=0.016812
[01:08:13.999] Odometry x=0.000756, y=0.085992, theta=0.012826
[01:08:14.019] Odometry x=0.000729, y=0.085981, theta=0.010891
[01:08:14.045] Init: px average disparity is:33.562953 ,While minimum is: 40.000000 KLT tracked : 191
[01:08:14.045] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:14.060] Odometry x=0.000755, y=0.089767, theta=0.013533
[01:08:14.080] Odometry x=0.000741, y=0.089644, theta=0.016650
[01:08:14.100] Odometry x=0.000744, y=0.089430, theta=0.018180
[01:08:14.120] Odometry x=0.000745, y=0.089243, theta=0.018061
[01:08:14.145] Init: px average disparity is:31.549844 ,While minimum is: 40.000000 KLT tracked : 189
[01:08:14.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:14.161] Odometry x=0.000803, y=0.093066, theta=0.007729
[01:08:14.181] Odometry x=0.000807, y=0.093068, theta=-0.001135
[01:08:14.201] Odometry x=0.000806, y=0.093069, theta=-0.005199
[01:08:14.221] Odometry x=0.000799, y=0.093071, theta=-0.007789
[01:08:14.245] Init: px average disparity is:28.567195 ,While minimum is: 40.000000 KLT tracked : 188
[01:08:14.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:14.262] Odometry x=0.000767, y=0.096903, theta=-0.007163
[01:08:14.282] Odometry x=0.000766, y=0.096885, theta=-0.003683
[01:08:14.302] Odometry x=0.000767, y=0.096872, theta=0.001417
[01:08:14.322] Odometry x=0.000785, y=0.096840, theta=0.007116
[01:08:14.345] Init: px average disparity is:33.117474 ,While minimum is: 40.000000 KLT tracked : 188
[01:08:14.345] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:14.363] Odometry x=0.000832, y=0.100474, theta=0.003550
[01:08:14.383] Odometry x=0.000848, y=0.100315, theta=-0.002511
[01:08:14.403] Odometry x=0.000841, y=0.100279, theta=-0.008999
[01:08:14.423] Odometry x=0.000833, y=0.100273, theta=-0.016442
[01:08:14.445] Init: px average disparity is:28.199869 ,While minimum is: 40.000000 KLT tracked : 188
[01:08:14.445] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:14.464] Odometry x=0.000756, y=0.104085, theta=-0.014260
[01:08:14.484] Odometry x=0.000737, y=0.104079, theta=-0.007460
[01:08:14.504] Odometry x=0.000731, y=0.104072, theta=0.001716
[01:08:14.524] Odometry x=0.000738, y=0.103973, theta=0.006834
[01:08:14.545] Init: px average disparity is:33.448428 ,While minimum is: 40.000000 KLT tracked : 188
[01:08:14.545] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000
[01:08:14.565] Odometry x=0.000825, y=0.107982, theta=0.003490
[01:08:14.585] Odometry x=0.000866, y=0.107982, theta=0.001072
[01:08:14.605] Odometry x=0.000833, y=0.107991, theta=0.004267
[01:08:14.625] Odometry x=0.000773, y=0.107999, theta=0.009717
[01:08:14.666] Odometry x=0.000824, y=0.111817, theta=0.019383
[01:08:14.686] Odometry x=0.000826, y=0.111812, theta=0.030170
[01:08:14.706] Odometry x=0.000854, y=0.111806, theta=0.036026
[01:08:14.712] homography: x=371.529591 y=-133.177829 z=0.304053 roll=0.000000 pitch=-0.002453 yaw=0.000000 ekf: x=0.000854 z=0.111806 pitch=-0.036026
[01:08:14.712] homography after fuse: x=0.000854 y=0.000000 z=0.111806 pitch=-0.036026 number of outlier: 115
[01:08:14.712] Init finished: Homography RANSAC (inlier) is:72 ,While 30 inliers minimum required. px average disparity is:40.806370 ,While minimum is: 40.000000 KLT tracked: 187
[01:08:14.712] Init: distance between the first and current frame is x:0.000854 ,z=0.111806,angle between two frames: -0.036026
[01:08:14.712] Init: Selected Second frame. The number of features: 72
[01:08:14.726] Odometry x=0.000908, y=0.111747, theta=0.038512
[01:08:14.766] Odometry x=0.001052, y=0.115564, theta=0.042893
[01:08:14.787] Odometry x=0.001044, y=0.115562, theta=0.048020
[01:08:14.797] After Reprojection Map nPoint:28 ,nCell:27 ,nMatches:7 ,distance between two frames x:-0.000165 ,z=0.000174,angle between two frames:0.000123
[01:08:14.797] n deleted obs = 5 n obs felt =2 error init =0.629001 error end=0.591898
[01:08:14.797] After pose optimization, distance between two frames x:-0.152167 ,z=-0.034000,angle between two frames:0.073312
[01:08:14.797] Update EKF and 3D points, distance between two frames x:-0.152120 ,z=-0.033988,angle between two frames:0.073294
[01:08:14.807] Odometry x=-0.093088, y=0.092233, theta=0.091007
[01:08:14.827] Odometry x=-0.093088, y=0.092233, theta=0.093880
[01:08:14.867] Odometry x=-0.092732, y=0.095956, theta=0.094387
[01:08:14.887] Odometry x=-0.092729, y=0.095955, theta=0.094404
[01:08:14.907] Odometry x=-0.092724, y=0.095958, theta=0.093464
[01:08:14.928] Odometry x=-0.092723, y=0.095959, theta=0.093423
[01:08:14.930] After Reprojection Map nPoint:7 ,nCell:6 ,nMatches:4 ,distance between two frames x:0.058177 ,z=0.014415,angle between two frames:0.015440
[01:08:14.968] Odometry x=-0.092371, y=0.099786, theta=0.097284
[01:08:14.988] Odometry x=-0.092380, y=0.099774, theta=0.104422
[01:08:15.008] Odometry x=-0.092380, y=0.099764, theta=0.109957
[01:08:15.012] After Reprojection Map nPoint:5 ,nCell:5 ,nMatches:0 ,distance between two frames x:-0.003756 ,z=0.000808,angle between two frames:0.004288
[01:08:15.024] Image Alignment failed 0
[01:08:15.028] Odometry x=-0.092375, y=0.099751, theta=0.111496
[01:08:15.063] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[01:08:15.068] Odometry x=-0.091932, y=0.103486, theta=0.113773
[01:08:15.089] Odometry x=-0.091922, y=0.103447, theta=0.116550
[01:08:15.109] Odometry x=-0.091923, y=0.103406, theta=0.116525
[01:08:15.128] Image Alignment failed 0
[01:08:15.129] Odometry x=-0.091923, y=0.103381, theta=0.115180
[01:08:15.169] Odometry x=-0.091496, y=0.107184, theta=0.110140
[01:08:15.190] Odometry x=-0.091499, y=0.107180, theta=0.106957
[01:08:15.193] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000452 ,z=0.003655,angle between two frames:0.005029
[01:08:15.210] Odometry x=-0.091496, y=0.107178, theta=0.106689
[01:08:15.227] Image Alignment failed 0
[01:08:15.230] Odometry x=-0.091494, y=0.107176, theta=0.106420
[01:08:15.270] Odometry x=-0.091044, y=0.111147, theta=0.102126
[01:08:15.290] Odometry x=-0.091016, y=0.111176, theta=0.097865
[01:08:15.292] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=-0.000001,angle between two frames:0.000268
[01:08:15.310] Odometry x=-0.091010, y=0.111175, theta=0.094371
[01:08:15.328] Image Alignment failed 0
[01:08:15.331] Odometry x=-0.091018, y=0.111176, theta=0.087415
[01:08:15.371] Odometry x=-0.090721, y=0.114956, theta=0.087920
[01:08:15.391] Odometry x=-0.090753, y=0.114956, theta=0.089098
[01:08:15.392] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=-0.000001,angle between two frames:0.003494
[01:08:15.411] Odometry x=-0.090760, y=0.114936, theta=0.092078
[01:08:15.429] Image Alignment failed 0
[01:08:15.431] Odometry x=-0.090761, y=0.114915, theta=0.097398
[01:08:15.472] Odometry x=-0.090327, y=0.118764, theta=0.095640
[01:08:15.492] Odometry x=-0.090301, y=0.118522, theta=0.089597
[01:08:15.494] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000008 ,z=-0.000020,angle between two frames:0.002980
[01:08:15.512] Odometry x=-0.090304, y=0.118386, theta=0.082938
[01:08:15.529] Image Alignment failed 0
[01:08:15.532] Odometry x=-0.090305, y=0.118384, theta=0.077381
[01:08:15.573] Odometry x=-0.090009, y=0.122276, theta=0.073160
[01:08:15.584] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=-0.000136,angle between two frames:0.006659
[01:08:15.593] Odometry x=-0.090006, y=0.122288, theta=0.071495
[01:08:15.613] Odometry x=-0.089989, y=0.122287, theta=0.074016
[01:08:15.627] Image Alignment failed 0
[01:08:15.633] Odometry x=-0.089923, y=0.122293, theta=0.076295
[01:08:15.673] Odometry x=-0.089582, y=0.126108, theta=0.072006
[01:08:15.694] Odometry x=-0.089542, y=0.126105, theta=0.066163
[01:08:15.695] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000020 ,z=0.000011,angle between two frames:0.000856
[01:08:15.714] Odometry x=-0.089538, y=0.126103, theta=0.059389
[01:08:15.724] Image Alignment failed 0
[01:08:15.754] Odometry x=-0.089364, y=0.129059, theta=0.060733
[01:08:15.763] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000002,angle between two frames:0.006774
[01:08:15.775] Odometry x=-0.089365, y=0.129060, theta=0.061029
[01:08:15.795] Odometry x=-0.089363, y=0.129064, theta=0.060257
[01:08:15.815] Odometry x=-0.089342, y=0.129065, theta=0.061711
[01:08:15.827] Image Alignment failed 0
[01:08:15.856] Odometry x=-0.089090, y=0.132893, theta=0.064647
[01:08:15.876] Odometry x=-0.089080, y=0.132892, theta=0.067260
[01:08:15.896] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000021 ,z=0.000006,angle between two frames:0.000978
[01:08:15.896] Odometry x=-0.089054, y=0.132891, theta=0.067352
[01:08:15.916] Odometry x=-0.089036, y=0.132890, theta=0.068020
[01:08:15.930] Image Alignment failed 0
[01:08:15.936] Odometry x=-0.089034, y=0.132893, theta=0.070520
[01:08:15.977] Odometry x=-0.088697, y=0.137754, theta=0.065821
[01:08:15.989] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000018 ,z=-0.000001,angle between two frames:0.000668
[01:08:15.997] Odometry x=-0.088683, y=0.137899, theta=0.059908
[01:08:16.017] Odometry x=-0.088586, y=0.137899, theta=0.054804
[01:08:16.029] Image Alignment failed 0
[01:08:16.037] Odometry x=-0.088519, y=0.137893, theta=0.051748
[01:08:16.078] Odometry x=-0.088306, y=0.141694, theta=0.062959
[01:08:16.088] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000110 ,z=0.000146,angle between two frames:0.011017
[01:08:16.098] Odometry x=-0.088320, y=0.141687, theta=0.074598
[01:08:16.118] Odometry x=-0.088329, y=0.141682, theta=0.082345
[01:08:16.124] Image Alignment failed 0
[01:08:16.158] Odometry x=-0.088064, y=0.144848, theta=0.085444
[01:08:16.165] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000023 ,z=-0.000012,angle between two frames:0.019386
[01:08:16.179] Odometry x=-0.088060, y=0.144890, theta=0.085957
[01:08:16.199] Odometry x=-0.088057, y=0.144924, theta=0.084094
[01:08:16.219] Odometry x=-0.088062, y=0.144950, theta=0.082907
[01:08:16.229] Image Alignment failed 0
[01:08:16.239] Odometry x=-0.088063, y=0.144963, theta=0.083148
[01:08:16.280] Odometry x=-0.087667, y=0.149440, theta=0.089596
[01:08:16.292] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000102,angle between two frames:0.002537
[01:08:16.300] Odometry x=-0.087673, y=0.149288, theta=0.100173
[01:08:16.320] Odometry x=-0.087675, y=0.149238, theta=0.107936
[01:08:16.324] Image Alignment failed 0
[01:08:16.360] Odometry x=-0.087335, y=0.152170, theta=0.122938
[01:08:16.363] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000009 ,z=-0.000202,angle between two frames:0.018340
[01:08:16.380] Odometry x=-0.087338, y=0.152141, theta=0.137800
[01:08:16.401] Odometry x=-0.087338, y=0.152141, theta=0.147849
[01:08:16.421] Odometry x=-0.087337, y=0.152148, theta=0.156149
[01:08:16.429] Image Alignment failed 0
[01:08:16.461] Odometry x=-0.086747, y=0.155924, theta=0.153193
[01:08:16.481] Odometry x=-0.086746, y=0.155927, theta=0.148461
[01:08:16.493] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000022,angle between two frames:0.033211
[01:08:16.501] Odometry x=-0.086747, y=0.155927, theta=0.145948
[01:08:16.522] Odometry x=-0.086747, y=0.155928, theta=0.145362
[01:08:16.528] Image Alignment failed 0
[01:08:16.562] Odometry x=-0.086162, y=0.159857, theta=0.152054
[01:08:16.582] Odometry x=-0.086154, y=0.159909, theta=0.158047
[01:08:16.592] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000001,angle between two frames:0.003100
[01:08:16.602] Odometry x=-0.086147, y=0.159943, theta=0.156587
[01:08:16.622] Odometry x=-0.086146, y=0.159944, theta=0.151228
[01:08:16.624] Image Alignment failed 0
[01:08:16.663] Odometry x=-0.085524, y=0.163724, theta=0.144342
[01:08:16.671] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=0.000035,angle between two frames:0.006820
[01:08:16.683] Odometry x=-0.085487, y=0.163720, theta=0.139034
[01:08:16.703] Odometry x=-0.085496, y=0.163697, theta=0.138360
[01:08:16.723] Odometry x=-0.085506, y=0.163680, theta=0.139583
[01:08:16.726] Image Alignment failed 0
[01:08:16.764] Odometry x=-0.084984, y=0.167541, theta=0.149266
[01:08:16.784] Odometry x=-0.084995, y=0.167624, theta=0.154992
[01:08:16.786] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000018 ,z=-0.000044,angle between two frames:0.004759
[01:08:16.805] Odometry x=-0.084987, y=0.167673, theta=0.152708
[01:08:16.824] Image Alignment failed 0
[01:08:16.825] Odometry x=-0.084986, y=0.167673, theta=0.147856
[01:08:16.865] Odometry x=-0.084438, y=0.171395, theta=0.143169
[01:08:16.871] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=0.000049,angle between two frames:0.002284
[01:08:16.885] Odometry x=-0.084434, y=0.171434, theta=0.138691
[01:08:16.905] Odometry x=-0.084435, y=0.171458, theta=0.137918
[01:08:16.926] Odometry x=-0.084446, y=0.171432, theta=0.138738
[01:08:16.929] Image Alignment failed 0
[01:08:16.966] Odometry x=-0.083852, y=0.175188, theta=0.137913
[01:08:16.986] Odometry x=-0.083803, y=0.175181, theta=0.134051
[01:08:16.992] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000008 ,z=0.000037,angle between two frames:0.004431
[01:08:17.006] Odometry x=-0.083797, y=0.175180, theta=0.127128
[01:08:17.026] Odometry x=-0.083795, y=0.175174, theta=0.121630
[01:08:17.028] Image Alignment failed 0
[01:08:17.067] Odometry x=-0.083306, y=0.179130, theta=0.123786
[01:08:17.087] Odometry x=-0.083303, y=0.179115, theta=0.127821
[01:08:17.088] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=-0.000007,angle between two frames:0.012421
[01:08:17.107] Odometry x=-0.083304, y=0.179102, theta=0.130987
[01:08:17.127] Odometry x=-0.083307, y=0.179099, theta=0.132230
[01:08:17.130] Image Alignment failed 0
[01:08:17.168] Odometry x=-0.082820, y=0.182808, theta=0.133392
[01:08:17.188] Odometry x=-0.082833, y=0.182756, theta=0.133718
[01:08:17.197] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=-0.000015,angle between two frames:0.004408
[01:08:17.208] Odometry x=-0.082805, y=0.182704, theta=0.133263
[01:08:17.228] Odometry x=-0.082785, y=0.182663, theta=0.134892
[01:08:17.229] Image Alignment failed 0
[01:08:17.268] Odometry x=-0.082281, y=0.186362, theta=0.131025
[01:08:17.289] Odometry x=-0.082284, y=0.186302, theta=0.126299
[01:08:17.296] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000048 ,z=-0.000093,angle between two frames:0.001174
[01:08:17.309] Odometry x=-0.082286, y=0.186302, theta=0.121414
[01:08:17.324] Image Alignment failed 0
[01:08:17.329] Odometry x=-0.082289, y=0.186296, theta=0.118023
[01:08:17.366] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000000,angle between two frames:0.004885
[01:08:17.369] Odometry x=-0.081809, y=0.190341, theta=0.118004
[01:08:17.389] Odometry x=-0.081808, y=0.190340, theta=0.120708
[01:08:17.409] Odometry x=-0.081804, y=0.190338, theta=0.124068
[01:08:17.429] Image Alignment failed 0
[01:08:17.429] Odometry x=-0.081801, y=0.190336, theta=0.123197
[01:08:17.470] Odometry x=-0.081339, y=0.194137, theta=0.117995
[01:08:17.490] Odometry x=-0.081343, y=0.194129, theta=0.108420
[01:08:17.493] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000485 ,z=0.004043,angle between two frames:0.006044
[01:08:17.510] Odometry x=-0.081347, y=0.194113, theta=0.097835
[01:08:17.523] Image Alignment failed 0
[01:08:17.530] Odometry x=-0.081345, y=0.194106, theta=0.092881
[01:08:17.563] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=-0.000015,angle between two frames:0.010584
[01:08:17.571] Odometry x=-0.080996, y=0.197829, theta=0.095301
[01:08:17.591] Odometry x=-0.081006, y=0.197828, theta=0.101571
[01:08:17.611] Odometry x=-0.081012, y=0.197829, theta=0.107922
[01:08:17.629] Image Alignment failed 0
[01:08:17.631] Odometry x=-0.081002, y=0.197829, theta=0.111896
[01:08:17.672] Odometry x=-0.080583, y=0.201559, theta=0.111666
[01:08:17.692] Odometry x=-0.080584, y=0.201557, theta=0.109073
[01:08:17.693] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000333 ,z=0.003723,angle between two frames:0.015041
[01:08:17.712] Odometry x=-0.080576, y=0.201551, theta=0.102090
[01:08:17.729] Image Alignment failed 0
[01:08:17.752] Odometry x=-0.080205, y=0.204696, theta=0.105387
[01:08:17.772] Odometry x=-0.080183, y=0.204623, theta=0.112842
[01:08:17.793] Odometry x=-0.080187, y=0.204583, theta=0.122295
[01:08:17.797] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000009 ,z=-0.000006,angle between two frames:0.006983
[01:08:17.813] Odometry x=-0.080189, y=0.204572, theta=0.132510
[01:08:17.824] Image Alignment failed 0
[01:08:17.834] Odometry x=-0.080190, y=0.204571, theta=0.142627
[01:08:17.866] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000012,angle between two frames:0.010215
[01:08:17.874] Odometry x=-0.079542, y=0.209132, theta=0.141246
[01:08:17.894] Odometry x=-0.079546, y=0.209139, theta=0.137931
[01:08:17.914] Odometry x=-0.079547, y=0.209139, theta=0.134009
[01:08:17.929] Image Alignment failed 0
[01:08:17.934] Odometry x=-0.079556, y=0.209110, theta=0.134121
[01:08:17.975] Odometry x=-0.079091, y=0.212344, theta=0.147073
[01:08:17.993] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000643 ,z=0.004567,angle between two frames:0.008617
[01:08:17.995] Odometry x=-0.079196, y=0.211657, theta=0.163658
[01:08:18.015] Odometry x=-0.079247, y=0.211355, theta=0.178417
[01:08:18.028] Image Alignment failed 0
[01:08:18.035] Odometry x=-0.079266, y=0.211265, theta=0.192687
[01:08:18.075] Odometry x=-0.078535, y=0.214945, theta=0.201038
[01:08:18.092] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000156 ,z=-0.000989,angle between two frames:0.031344
[01:08:18.096] Odometry x=-0.078547, y=0.214891, theta=0.208933
[01:08:18.116] Odometry x=-0.078548, y=0.214884, theta=0.210146
[01:08:18.129] Image Alignment failed 0
[01:08:18.156] Odometry x=-0.077903, y=0.217958, theta=0.200803
[01:08:18.176] Odometry x=-0.077903, y=0.217943, theta=0.192527
[01:08:18.188] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000013 ,z=-0.000061,angle between two frames:0.009109
[01:08:18.197] Odometry x=-0.077911, y=0.217898, theta=0.191310
[01:08:18.217] Odometry x=-0.077917, y=0.217869, theta=0.191719
[01:08:18.229] Image Alignment failed 0
[01:08:18.257] Odometry x=-0.077179, y=0.221678, theta=0.188696
[01:08:18.277] Odometry x=-0.077185, y=0.221639, theta=0.185575
[01:08:18.296] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000014 ,z=-0.000074,angle between two frames:0.000808
[01:08:18.297] Odometry x=-0.077201, y=0.221588, theta=0.184086
[01:08:18.318] Odometry x=-0.077217, y=0.221571, theta=0.186469
[01:08:18.328] Image Alignment failed 0
[01:08:18.358] Odometry x=-0.076511, y=0.225330, theta=0.194180
[01:08:18.378] Odometry x=-0.076520, y=0.225335, theta=0.200794
[01:08:18.384] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000032 ,z=-0.000068,angle between two frames:0.000895
[01:08:18.398] Odometry x=-0.076490, y=0.225328, theta=0.204138
[01:08:18.418] Odometry x=-0.076465, y=0.225322, theta=0.205355
[01:08:18.425] Image Alignment failed 0
[01:08:18.459] Odometry x=-0.075660, y=0.229132, theta=0.213427
[01:08:18.476] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000055 ,z=-0.000014,angle between two frames:0.004560
[01:08:18.479] Odometry x=-0.075646, y=0.229126, theta=0.221665
[01:08:18.499] Odometry x=-0.075636, y=0.229014, theta=0.224214
[01:08:18.520] Odometry x=-0.075636, y=0.228843, theta=0.223639
[01:08:18.525] Image Alignment failed 0
[01:08:18.560] Odometry x=-0.074742, y=0.232230, theta=0.221950
[01:08:18.578] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000023 ,z=-0.000290,angle between two frames:0.010212
[01:08:18.580] Odometry x=-0.074721, y=0.231947, theta=0.220294
[01:08:18.601] Odometry x=-0.074756, y=0.231769, theta=0.219334
[01:08:18.621] Odometry x=-0.074806, y=0.231533, theta=0.220572
[01:08:18.629] Image Alignment failed 0
[01:08:18.662] Odometry x=-0.073978, y=0.235187, theta=0.225950
[01:08:18.682] Odometry x=-0.073990, y=0.235126, theta=0.229241
[01:08:18.695] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000063 ,z=-0.000697,angle between two frames:0.001378
[01:08:18.702] Odometry x=-0.073974, y=0.235108, theta=0.227596
[01:08:18.722] Odometry x=-0.073960, y=0.235096, theta=0.224971
[01:08:18.725] Image Alignment failed 0
[01:08:18.763] Odometry x=-0.073133, y=0.238757, theta=0.218208
[01:08:18.764] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000029 ,z=-0.000030,angle between two frames:0.004270
[01:08:18.783] Odometry x=-0.073141, y=0.238717, theta=0.210475
[01:08:18.803] Odometry x=-0.073142, y=0.238716, theta=0.206696
[01:08:18.823] Odometry x=-0.073145, y=0.238712, theta=0.204166
[01:08:18.827] Image Alignment failed 0
[01:08:18.863] Odometry x=-0.072326, y=0.242639, theta=0.208146
[01:08:18.883] Odometry x=-0.072322, y=0.242633, theta=0.213721
[01:08:18.890] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000045,angle between two frames:0.014042
[01:08:18.903] Odometry x=-0.072314, y=0.242617, theta=0.213599
[01:08:18.924] Odometry x=-0.072311, y=0.242604, theta=0.210872
[01:08:18.930] Image Alignment failed 0
[01:08:18.964] Odometry x=-0.071525, y=0.246344, theta=0.200647
[01:08:18.984] Odometry x=-0.071523, y=0.246343, theta=0.190651
[01:08:18.990] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000011 ,z=-0.000029,angle between two frames:0.002849
[01:08:19.005] Odometry x=-0.071524, y=0.246332, theta=0.189288
[01:08:19.025] Odometry x=-0.071516, y=0.246202, theta=0.192165
[01:08:19.029] Image Alignment failed 0
[01:08:19.065] Odometry x=-0.070852, y=0.249609, theta=0.192769
[01:08:19.085] Odometry x=-0.070902, y=0.249399, theta=0.194800
[01:08:19.090] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000007 ,z=-0.000140,angle between two frames:0.001514
[01:08:19.106] Odometry x=-0.070908, y=0.249400, theta=0.198348
[01:08:19.124] Image Alignment failed 0
[01:08:19.126] Odometry x=-0.070907, y=0.249403, theta=0.198242
[01:08:19.165] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000006 ,z=0.000001,angle between two frames:0.003548
[01:08:19.166] Odometry x=-0.070160, y=0.253151, theta=0.194392
[01:08:19.186] Odometry x=-0.070160, y=0.253148, theta=0.188161
[01:08:19.206] Odometry x=-0.070161, y=0.253140, theta=0.181174
[01:08:19.227] Odometry x=-0.070159, y=0.253108, theta=0.173570
[01:08:19.228] Image Alignment failed 0
[01:08:19.267] Odometry x=-0.069518, y=0.256780, theta=0.169984
[01:08:19.268] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000748 ,z=0.003705,angle between two frames:0.024672
[01:08:19.287] Odometry x=-0.069529, y=0.256684, theta=0.166280
[01:08:19.307] Odometry x=-0.069533, y=0.256638, theta=0.163484
[01:08:19.327] Odometry x=-0.069540, y=0.256601, theta=0.159520
[01:08:19.329] Image Alignment failed 0
[01:08:19.368] Odometry x=-0.068949, y=0.260346, theta=0.157967
[01:08:19.388] Odometry x=-0.068962, y=0.260300, theta=0.157053
[01:08:19.394] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000021 ,z=-0.000179,angle between two frames:0.010464
[01:08:19.408] Odometry x=-0.068964, y=0.260270, theta=0.158708
[01:08:19.424] Image Alignment failed 0
[01:08:19.428] Odometry x=-0.068959, y=0.260256, theta=0.161464
[01:08:19.469] Odometry x=-0.068280, y=0.264143, theta=0.161444
[01:08:19.469] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000029,angle between two frames:0.001655
[01:08:19.489] Odometry x=-0.068183, y=0.264058, theta=0.160054
[01:08:19.509] Odometry x=-0.068138, y=0.264031, theta=0.158504
[01:08:19.526] Image Alignment failed 0
[01:08:19.529] Odometry x=-0.068167, y=0.264029, theta=0.158820
[01:08:19.569] Odometry x=-0.067627, y=0.267707, theta=0.164272
[01:08:19.590] Odometry x=-0.067669, y=0.267680, theta=0.168705
[01:08:19.594] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000142 ,z=-0.000112,angle between two frames:0.002940
[01:08:19.610] Odometry x=-0.067678, y=0.267625, theta=0.173207
[01:08:19.630] Image Alignment failed 0
[01:08:19.630] Odometry x=-0.067683, y=0.267557, theta=0.179613
[01:08:19.670] Odometry x=-0.067052, y=0.270226, theta=0.183107
[01:08:19.690] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000009 ,z=-0.000055,angle between two frames:0.004502
[01:08:19.690] Odometry x=-0.067100, y=0.269414, theta=0.187483
[01:08:19.711] Odometry x=-0.067099, y=0.269360, theta=0.191187
[01:08:19.730] Image Alignment failed 0
[01:08:19.731] Odometry x=-0.067101, y=0.269349, theta=0.194459
[01:08:19.771] Odometry x=-0.066364, y=0.273080, theta=0.196087
[01:08:19.791] Odometry x=-0.066365, y=0.273072, theta=0.198077
[01:08:19.796] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000047 ,z=-0.000866,angle between two frames:0.008079
[01:08:19.812] Odometry x=-0.066357, y=0.273071, theta=0.198588
[01:08:19.824] Image Alignment failed 0
[01:08:19.832] Odometry x=-0.066353, y=0.273068, theta=0.201327
[01:08:19.867] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=-0.000001,angle between two frames:0.000511
[01:08:19.872] Odometry x=-0.065578, y=0.276801, theta=0.209884
[01:08:19.892] Odometry x=-0.065577, y=0.276791, theta=0.216449
[01:08:19.913] Odometry x=-0.065570, y=0.276745, theta=0.218888
[01:08:19.928] Image Alignment failed 0
[01:08:19.933] Odometry x=-0.065578, y=0.276672, theta=0.221982
[01:08:19.974] Odometry x=-0.064754, y=0.280320, theta=0.224671
[01:08:19.992] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000783 ,z=0.003677,angle between two frames:0.017561
[01:08:19.994] Odometry x=-0.064768, y=0.280273, theta=0.227428
[01:08:20.014] Odometry x=-0.064775, y=0.280258, theta=0.231001
[01:08:20.030] Image Alignment failed 0
[01:08:20.034] Odometry x=-0.064784, y=0.280238, theta=0.238749
[01:08:20.075] Odometry x=-0.063831, y=0.284119, theta=0.242569
[01:08:20.094] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000022 ,z=-0.000063,angle between two frames:0.006329
[01:08:20.095] Odometry x=-0.063816, y=0.284110, theta=0.244276
[01:08:20.115] Odometry x=-0.063750, y=0.284093, theta=0.241338
[01:08:20.124] Image Alignment failed 0
[01:08:20.155] Odometry x=-0.062991, y=0.286858, theta=0.237180
[01:08:20.164] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000080 ,z=-0.000025,angle between two frames:0.001231
[01:08:20.176] Odometry x=-0.062942, y=0.286846, theta=0.233197
[01:08:20.196] Odometry x=-0.062940, y=0.286845, theta=0.232835
[01:08:20.217] Odometry x=-0.062940, y=0.286842, theta=0.237701
[01:08:20.227] Image Alignment failed 0
[01:08:20.257] Odometry x=-0.062038, y=0.290538, theta=0.241729
[01:08:20.277] Odometry x=-0.062045, y=0.290515, theta=0.244393
[01:08:20.296] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000051 ,z=-0.000016,angle between two frames:0.000521
[01:08:20.297] Odometry x=-0.061969, y=0.290490, theta=0.244013
[01:08:20.317] Odometry x=-0.061906, y=0.290456, theta=0.243088
[01:08:20.324] Image Alignment failed 0
[01:08:20.357] Odometry x=-0.060982, y=0.294159, theta=0.241959
[01:08:20.366] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000139 ,z=-0.000059,angle between two frames:0.001305
[01:08:20.378] Odometry x=-0.060986, y=0.294127, theta=0.241763
[01:08:20.398] Odometry x=-0.060990, y=0.294124, theta=0.244800
[01:08:20.418] Odometry x=-0.060992, y=0.294125, theta=0.249080
[01:08:20.424] Image Alignment failed 0
[01:08:20.438] Odometry x=-0.060986, y=0.294113, theta=0.252795
[01:08:20.468] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000010 ,z=-0.000035,angle between two frames:0.007121
[01:08:20.478] Odometry x=-0.059683, y=0.298681, theta=0.249842
[01:08:20.498] Odometry x=-0.059613, y=0.298643, theta=0.246513
[01:08:20.518] Odometry x=-0.059624, y=0.298635, theta=0.243120
[01:08:20.524] Image Alignment failed 0
[01:08:20.559] Odometry x=-0.058910, y=0.301520, theta=0.242025
[01:08:20.563] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001362 ,z=0.004521,angle between two frames:0.009674
[01:08:20.579] Odometry x=-0.058932, y=0.301428, theta=0.240737
[01:08:20.599] Odometry x=-0.058913, y=0.301369, theta=0.240532
[01:08:20.619] Odometry x=-0.058888, y=0.301308, theta=0.241126
[01:08:20.630] Image Alignment failed 0
[01:08:20.659] Odometry x=-0.058022, y=0.304832, theta=0.241963
[01:08:20.673] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000021 ,z=-0.000212,angle between two frames:0.000900
[01:08:20.679] Odometry x=-0.058036, y=0.304776, theta=0.242507
[01:08:20.699] Odometry x=-0.058047, y=0.304732, theta=0.240733
[01:08:20.720] Odometry x=-0.058054, y=0.304708, theta=0.234263
[01:08:20.723] Image Alignment failed 0
[01:08:20.760] Odometry x=-0.057285, y=0.307975, theta=0.228600
[01:08:20.763] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000032 ,z=-0.000124,angle between two frames:0.007700
[01:08:20.780] Odometry x=-0.057292, y=0.307948, theta=0.225272
[01:08:20.800] Odometry x=-0.057292, y=0.307947, theta=0.225571
[01:08:20.820] Odometry x=-0.057292, y=0.307946, theta=0.226861
[01:08:20.824] Image Alignment failed 0
[01:08:20.860] Odometry x=-0.056350, y=0.312060, theta=0.222747
[01:08:20.864] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=-0.000029,angle between two frames:0.001739
[01:08:20.880] Odometry x=-0.056354, y=0.312051, theta=0.216124
[01:08:20.901] Odometry x=-0.056354, y=0.312045, theta=0.211036
[01:08:20.921] Odometry x=-0.056352, y=0.312009, theta=0.207065
[01:08:20.924] Image Alignment failed 0
[01:08:20.961] Odometry x=-0.055531, y=0.315821, theta=0.195648
[01:08:20.965] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000051,angle between two frames:0.015682
[01:08:20.981] Odometry x=-0.055511, y=0.315795, theta=0.186604
[01:08:21.001] Odometry x=-0.055512, y=0.315792, theta=0.184946
[01:08:21.021] Odometry x=-0.055516, y=0.315776, theta=0.185547
[01:08:21.030] Image Alignment failed 0
[01:08:21.062] Odometry x=-0.054808, y=0.319530, theta=0.191512
[01:08:21.082] Odometry x=-0.054815, y=0.319519, theta=0.192591
[01:08:21.098] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000016 ,z=-0.000045,angle between two frames:0.010101
[01:08:21.102] Odometry x=-0.054805, y=0.319494, theta=0.187894
[01:08:21.122] Odometry x=-0.054795, y=0.319479, theta=0.183264
[01:08:21.129] Image Alignment failed 0
[01:08:21.163] Odometry x=-0.054125, y=0.323061, theta=0.179935
[01:08:21.183] Odometry x=-0.054140, y=0.322938, theta=0.178668
[01:08:21.196] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000020 ,z=-0.000041,angle between two frames:0.009326
[01:08:21.203] Odometry x=-0.054141, y=0.322935, theta=0.180692
[01:08:21.223] Odometry x=-0.054141, y=0.322935, theta=0.182694
[01:08:21.230] Image Alignment failed 0
[01:08:21.263] Odometry x=-0.053432, y=0.326709, theta=0.192029
[01:08:21.284] Odometry x=-0.053459, y=0.326591, theta=0.203301
[01:08:21.296] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=-0.000004,angle between two frames:0.004026
[01:08:21.304] Odometry x=-0.053461, y=0.326582, theta=0.211365
[01:08:21.324] Odometry x=-0.053461, y=0.326582, theta=0.215771
[01:08:21.324] Image Alignment failed 0
[01:08:21.364] Odometry x=-0.052644, y=0.330304, theta=0.216245
[01:08:21.364] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000009,angle between two frames:0.012469
[01:08:21.385] Odometry x=-0.052647, y=0.330298, theta=0.215793
[01:08:21.405] Odometry x=-0.052648, y=0.330296, theta=0.216219
[01:08:21.425] Odometry x=-0.052648, y=0.330295, theta=0.218693
[01:08:21.429] Image Alignment failed 0
[01:08:21.465] Odometry x=-0.051803, y=0.334036, theta=0.227574
[01:08:21.485] Odometry x=-0.051804, y=0.334029, theta=0.236897
[01:08:21.493] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=-0.000009,angle between two frames:0.002448
[01:08:21.506] Odometry x=-0.051796, y=0.334021, theta=0.241160
[01:08:21.526] Odometry x=-0.051784, y=0.334016, theta=0.245503
[01:08:21.529] Image Alignment failed 0
[01:08:21.566] Odometry x=-0.050862, y=0.337575, theta=0.248167
[01:08:21.586] Odometry x=-0.050850, y=0.337528, theta=0.249612
[01:08:21.589] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000020 ,z=-0.000013,angle between two frames:0.008606
[01:08:21.606] Odometry x=-0.050873, y=0.337407, theta=0.250567
[01:08:21.627] Odometry x=-0.050898, y=0.337308, theta=0.251748
[01:08:21.630] Image Alignment failed 0
[01:08:21.667] Odometry x=-0.049932, y=0.341050, theta=0.254588
[01:08:21.687] Odometry x=-0.049939, y=0.341030, theta=0.257280
[01:08:21.697] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000048 ,z=-0.000220,angle between two frames:0.002136
[01:08:21.707] Odometry x=-0.049944, y=0.341026, theta=0.258664
[01:08:21.727] Odometry x=-0.049948, y=0.341017, theta=0.263143
[01:08:21.729] Image Alignment failed 0
[01:08:21.768] Odometry x=-0.048910, y=0.344667, theta=0.275368
[01:08:21.788] Odometry x=-0.048872, y=0.344571, theta=0.288585
[01:08:21.789] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000010 ,z=-0.000013,angle between two frames:0.005862
[01:08:21.808] Odometry x=-0.048855, y=0.344523, theta=0.293206
[01:08:21.828] Odometry x=-0.048856, y=0.344514, theta=0.292426
[01:08:21.830] Image Alignment failed 0
[01:08:21.869] Odometry x=-0.047777, y=0.348255, theta=0.290358
[01:08:21.889] Odometry x=-0.047816, y=0.348268, theta=0.290319
[01:08:21.897] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000016 ,z=-0.000057,angle between two frames:0.003841
[01:08:21.909] Odometry x=-0.047830, y=0.348254, theta=0.295021
[01:08:21.929] Odometry x=-0.047826, y=0.348237, theta=0.301576
[01:08:21.930] Image Alignment failed 0
[01:08:21.970] Odometry x=-0.046576, y=0.351842, theta=0.301614
[01:08:21.990] Odometry x=-0.046506, y=0.351817, theta=0.300375
[01:08:21.997] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000010 ,z=-0.000031,angle between two frames:0.011257
[01:08:22.010] Odometry x=-0.046508, y=0.351810, theta=0.298569
[01:08:22.030] Image Alignment failed 0
[01:08:22.030] Odometry x=-0.046514, y=0.351792, theta=0.298931
[01:08:22.070] Odometry x=-0.045424, y=0.355288, theta=0.303055
[01:08:22.090] Odometry x=-0.045478, y=0.355077, theta=0.307261
[01:08:22.097] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000007,angle between two frames:0.001806
[01:08:22.111] Odometry x=-0.045495, y=0.355002, theta=0.307304
[01:08:22.125] Image Alignment failed 0
[01:08:22.131] Odometry x=-0.045495, y=0.354999, theta=0.305833
[01:08:22.164] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000017 ,z=-0.000075,angle between two frames:0.000043
[01:08:22.171] Odometry x=-0.044337, y=0.358638, theta=0.298926
[01:08:22.191] Odometry x=-0.044327, y=0.358634, theta=0.293058
[01:08:22.212] Odometry x=-0.044331, y=0.358635, theta=0.289819
[01:08:22.230] Image Alignment failed 0
[01:08:22.232] Odometry x=-0.044333, y=0.358636, theta=0.287648
[01:08:22.272] Odometry x=-0.043177, y=0.362479, theta=0.293418
[01:08:22.292] Odometry x=-0.043173, y=0.362478, theta=0.297620
[01:08:22.293] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001165 ,z=0.003637,angle between two frames:0.016013
[01:08:22.312] Odometry x=-0.043175, y=0.362472, theta=0.299654
[01:08:22.327] Image Alignment failed 0
[01:08:22.333] Odometry x=-0.043181, y=0.362465, theta=0.301030
[01:08:22.373] Odometry x=-0.042067, y=0.366114, theta=0.293354
[01:08:22.389] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000006,angle between two frames:0.002035
[01:08:22.393] Odometry x=-0.042079, y=0.366090, theta=0.284262
[01:08:22.413] Odometry x=-0.042085, y=0.366073, theta=0.278660
[01:08:22.429] Image Alignment failed 0
[01:08:22.433] Odometry x=-0.042088, y=0.366067, theta=0.275296
[01:08:22.474] Odometry x=-0.041055, y=0.369724, theta=0.274903
[01:08:22.488] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000018 ,z=-0.000041,angle between two frames:0.014693
[01:08:22.494] Odometry x=-0.041060, y=0.369699, theta=0.275736
[01:08:22.514] Odometry x=-0.041057, y=0.369664, theta=0.276846
[01:08:22.529] Image Alignment failed 0
[01:08:22.534] Odometry x=-0.041058, y=0.369634, theta=0.278053
[01:08:22.574] Odometry x=-0.040023, y=0.373264, theta=0.274789
[01:08:22.595] Odometry x=-0.040017, y=0.373232, theta=0.269704
[01:08:22.596] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000060,angle between two frames:0.001943
[01:08:22.615] Odometry x=-0.039989, y=0.373222, theta=0.262468
[01:08:22.629] Image Alignment failed 0
[01:08:22.635] Odometry x=-0.039923, y=0.373205, theta=0.252219
[01:08:22.675] Odometry x=-0.039143, y=0.376261, theta=0.249059
[01:08:22.688] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000029 ,z=-0.000009,angle between two frames:0.007236
[01:08:22.696] Odometry x=-0.039265, y=0.375790, theta=0.249062
[01:08:22.716] Odometry x=-0.039271, y=0.375775, theta=0.254492
[01:08:22.724] Image Alignment failed 0
[01:08:22.757] Odometry x=-0.038500, y=0.378731, theta=0.256498
[01:08:22.772] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000128 ,z=-0.000486,angle between two frames:0.005433
[01:08:22.777] Odometry x=-0.038502, y=0.378727, theta=0.258473
[01:08:22.797] Odometry x=-0.038465, y=0.378717, theta=0.255544
[01:08:22.817] Odometry x=-0.038343, y=0.378686, theta=0.250831
[01:08:22.830] Image Alignment failed 0
[01:08:22.858] Odometry x=-0.037798, y=0.380818, theta=0.248278
[01:08:22.878] Odometry x=-0.038051, y=0.379805, theta=0.248318
[01:08:22.893] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000157 ,z=-0.000045,angle between two frames:0.005667
[01:08:22.898] Odometry x=-0.038108, y=0.379710, theta=0.254050
[01:08:22.918] Odometry x=-0.038151, y=0.379721, theta=0.259741
[01:08:22.925] Image Alignment failed 0
[01:08:22.938] Odometry x=-0.038172, y=0.379726, theta=0.265032
[01:08:22.965] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000100 ,z=-0.000084,angle between two frames:0.011423
[01:08:22.979] Odometry x=-0.036948, y=0.384186, theta=0.272393
[01:08:22.999] Odometry x=-0.036949, y=0.384189, theta=0.278370
[01:08:23.020] Odometry x=-0.036943, y=0.384187, theta=0.275802
[01:08:23.030] Image Alignment failed 0
[01:08:23.060] Odometry x=-0.036111, y=0.387227, theta=0.270490
[01:08:23.080] Odometry x=-0.036101, y=0.387343, theta=0.265200
[01:08:23.093] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001230 ,z=0.004461,angle between two frames:0.010771
[01:08:23.100] Odometry x=-0.036131, y=0.387350, theta=0.264349
[01:08:23.121] Odometry x=-0.036174, y=0.387305, theta=0.268679
[01:08:23.128] Image Alignment failed 0
[01:08:23.161] Odometry x=-0.035018, y=0.391418, theta=0.282019
[01:08:23.181] Odometry x=-0.035012, y=0.391380, theta=0.296800
[01:08:23.193] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000073 ,z=-0.000038,angle between two frames:0.003479
[01:08:23.201] Odometry x=-0.034959, y=0.391348, theta=0.304485
[01:08:23.221] Odometry x=-0.034932, y=0.391335, theta=0.311420
[01:08:23.229] Image Alignment failed 0
[01:08:23.262] Odometry x=-0.033809, y=0.394837, theta=0.308514
[01:08:23.282] Odometry x=-0.033808, y=0.394835, theta=0.308292
[01:08:23.285] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000080 ,z=-0.000045,angle between two frames:0.014620
[01:08:23.302] Odometry x=-0.033809, y=0.394831, theta=0.313050
[01:08:23.323] Odometry x=-0.033795, y=0.394824, theta=0.321836
[01:08:23.326] Image Alignment failed 0
[01:08:23.363] Odometry x=-0.032529, y=0.398631, theta=0.325435
[01:08:23.372] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000013 ,z=-0.000010,angle between two frames:0.013544
[01:08:23.383] Odometry x=-0.032535, y=0.398633, theta=0.327721
[01:08:23.403] Odometry x=-0.032536, y=0.398633, theta=0.320779
[01:08:23.423] Odometry x=-0.032536, y=0.398633, theta=0.309739
[01:08:23.425] Image Alignment failed 0
[01:08:23.464] Odometry x=-0.031336, y=0.402312, theta=0.310313
[01:08:23.481] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=0.000001,angle between two frames:0.015696
[01:08:23.484] Odometry x=-0.031323, y=0.402306, theta=0.315469
[01:08:23.504] Odometry x=-0.031292, y=0.402296, theta=0.322272
[01:08:23.524] Odometry x=-0.031269, y=0.402288, theta=0.329502
[01:08:23.530] Image Alignment failed 0
[01:08:23.565] Odometry x=-0.030051, y=0.405858, theta=0.327896
[01:08:23.585] Odometry x=-0.030069, y=0.405803, theta=0.326217
[01:08:23.598] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000068 ,z=-0.000024,angle between two frames:0.019189
[01:08:23.605] Odometry x=-0.030069, y=0.405800, theta=0.322810
[01:08:23.625] Odometry x=-0.030062, y=0.405796, theta=0.316564
[01:08:23.629] Image Alignment failed 0
[01:08:23.665] Odometry x=-0.028919, y=0.409296, theta=0.314881
[01:08:23.685] Odometry x=-0.028952, y=0.409192, theta=0.314608
[01:08:23.696] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000007 ,z=-0.000007,angle between two frames:0.009654
[01:08:23.706] Odometry x=-0.028967, y=0.409143, theta=0.318763
[01:08:23.726] Odometry x=-0.028978, y=0.409109, theta=0.325388
[01:08:23.730] Image Alignment failed 0
[01:08:23.766] Odometry x=-0.027725, y=0.412717, theta=0.325895
[01:08:23.786] Odometry x=-0.027704, y=0.412710, theta=0.327342
[01:08:23.790] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000026 ,z=-0.000083,angle between two frames:0.010780
[01:08:23.807] Odometry x=-0.027703, y=0.412710, theta=0.325959
[01:08:23.827] Odometry x=-0.027702, y=0.412710, theta=0.319228
[01:08:23.831] Image Alignment failed 0
[01:08:23.867] Odometry x=-0.026265, y=0.416575, theta=0.319339
[01:08:23.887] Odometry x=-0.026117, y=0.416703, theta=0.322340
[01:08:23.897] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000000,angle between two frames:0.008114
[01:08:23.907] Odometry x=-0.026119, y=0.416670, theta=0.328639
[01:08:23.927] Odometry x=-0.026123, y=0.416645, theta=0.332022
[01:08:23.929] Image Alignment failed 0
[01:08:23.968] Odometry x=-0.024829, y=0.420435, theta=0.322585
[01:08:23.988] Odometry x=-0.024827, y=0.420428, theta=0.310159
[01:08:23.996] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000006 ,z=-0.000058,angle between two frames:0.009682
[01:08:24.008] Odometry x=-0.024826, y=0.420428, theta=0.302605
[01:08:24.024] Image Alignment failed 0
[01:08:24.028] Odometry x=-0.024824, y=0.420432, theta=0.300428
[01:08:24.069] Odometry x=-0.023690, y=0.424086, theta=0.301609
[01:08:24.069] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000000,angle between two frames:0.007554
[01:08:24.089] Odometry x=-0.023689, y=0.424092, theta=0.303624
[01:08:24.109] Odometry x=-0.023679, y=0.424089, theta=0.305671
[01:08:24.127] Image Alignment failed 0
[01:08:24.129] Odometry x=-0.023670, y=0.424084, theta=0.306391
[01:08:24.170] Odometry x=-0.022539, y=0.427696, theta=0.298835
[01:08:24.186] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000011 ,z=0.000003,angle between two frames:0.004061
[01:08:24.190] Odometry x=-0.022552, y=0.427641, theta=0.290266
[01:08:24.210] Odometry x=-0.022573, y=0.427569, theta=0.285369
[01:08:24.230] Image Alignment failed 0
[01:08:24.230] Odometry x=-0.022637, y=0.427458, theta=0.283612
[01:08:24.271] Odometry x=-0.021566, y=0.431117, theta=0.287374
[01:08:24.291] Odometry x=-0.021568, y=0.431111, theta=0.289958
[01:08:24.292] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000034 ,z=-0.000127,angle between two frames:0.013466
[01:08:24.312] Odometry x=-0.021565, y=0.431110, theta=0.287493
[01:08:24.329] Image Alignment failed 0
[01:08:24.332] Odometry x=-0.021561, y=0.431108, theta=0.282646
[01:08:24.372] Odometry x=-0.020397, y=0.434755, theta=0.276392
[01:08:24.389] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=-0.000002,angle between two frames:0.002464
[01:08:24.392] Odometry x=-0.020328, y=0.434741, theta=0.271640
[01:08:24.413] Odometry x=-0.020325, y=0.434739, theta=0.272248
[01:08:24.430] Image Alignment failed 0
[01:08:24.433] Odometry x=-0.020322, y=0.434738, theta=0.272100
[01:08:24.473] Odometry x=-0.019248, y=0.438599, theta=0.270038
[01:08:24.489] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000072 ,z=-0.000016,angle between two frames:0.004144
[01:08:24.494] Odometry x=-0.019247, y=0.438595, theta=0.269200
[01:08:24.514] Odometry x=-0.019246, y=0.438593, theta=0.271537
[01:08:24.528] Image Alignment failed 0
[01:08:24.534] Odometry x=-0.019247, y=0.438593, theta=0.275093
[01:08:24.574] Odometry x=-0.018202, y=0.442270, theta=0.279580
[01:08:24.587] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000006,angle between two frames:0.001499
[01:08:24.594] Odometry x=-0.018209, y=0.442272, theta=0.284501
[01:08:24.614] Odometry x=-0.018212, y=0.442273, theta=0.287616
[01:08:24.630] Image Alignment failed 0
[01:08:24.635] Odometry x=-0.018212, y=0.442273, theta=0.288306
[01:08:24.675] Odometry x=-0.017107, y=0.446026, theta=0.282017
[01:08:24.695] Odometry x=-0.017076, y=0.446096, theta=0.274792
[01:08:24.696] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=0.000003,angle between two frames:0.008036
[01:08:24.715] Odometry x=-0.017045, y=0.446070, theta=0.273850
[01:08:24.729] Image Alignment failed 0
[01:08:24.735] Odometry x=-0.017018, y=0.446023, theta=0.275738
[01:08:24.776] Odometry x=-0.015977, y=0.449663, theta=0.280743
[01:08:24.796] Odometry x=-0.015997, y=0.449591, theta=0.286216
[01:08:24.797] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000031 ,z=-0.000027,angle between two frames:0.000941
[01:08:24.816] Odometry x=-0.016002, y=0.449554, theta=0.287868
[01:08:24.825] Image Alignment failed 0
[01:08:24.856] Odometry x=-0.015120, y=0.452524, theta=0.290780
[01:08:24.865] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000006 ,z=-0.000038,angle between two frames:0.001652
[01:08:24.876] Odometry x=-0.015112, y=0.452554, theta=0.292614
[01:08:24.897] Odometry x=-0.015112, y=0.452556, theta=0.293878
[01:08:24.917] Odometry x=-0.015111, y=0.452556, theta=0.295877
[01:08:24.930] Image Alignment failed 0
[01:08:24.957] Odometry x=-0.013936, y=0.456188, theta=0.296693
[01:08:24.977] Odometry x=-0.013900, y=0.456170, theta=0.296662
[01:08:24.994] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000009 ,z=0.000032,angle between two frames:0.005097
[01:08:24.998] Odometry x=-0.013914, y=0.456124, theta=0.295902
[01:08:25.018] Odometry x=-0.013963, y=0.456073, theta=0.299691
[01:08:25.029] Image Alignment failed 0
[01:08:25.058] Odometry x=-0.012775, y=0.459885, theta=0.305540
[01:08:25.078] Odometry x=-0.012779, y=0.459879, theta=0.311532
[01:08:25.089] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000063 ,z=-0.000098,angle between two frames:0.003029
[01:08:25.098] Odometry x=-0.012777, y=0.459881, theta=0.314032
[01:08:25.119] Odometry x=-0.012775, y=0.459881, theta=0.315459
[01:08:25.130] Image Alignment failed 0
[01:08:25.159] Odometry x=-0.011599, y=0.463496, theta=0.314223
[01:08:25.179] Odometry x=-0.011628, y=0.463443, theta=0.315170
[01:08:25.190] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=0.000002,angle between two frames:0.003928
[01:08:25.199] Odometry x=-0.011645, y=0.463410, theta=0.321476
[01:08:25.220] Odometry x=-0.011641, y=0.463402, theta=0.331582
[01:08:25.225] Image Alignment failed 0
[01:08:25.260] Odometry x=-0.010382, y=0.467004, theta=0.340438
[01:08:25.273] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000013 ,z=-0.000040,angle between two frames:0.016412
[01:08:25.280] Odometry x=-0.010382, y=0.467001, theta=0.348909
[01:08:25.300] Odometry x=-0.010380, y=0.466997, theta=0.349304
[01:08:25.321] Odometry x=-0.010380, y=0.466973, theta=0.344538
[01:08:25.326] Image Alignment failed 0
[01:08:25.361] Odometry x=-0.009005, y=0.470407, theta=0.339036
[01:08:25.381] Odometry x=-0.008951, y=0.470289, theta=0.334076
[01:08:25.382] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000032,angle between two frames:0.004100
[01:08:25.401] Odometry x=-0.008964, y=0.470280, theta=0.333604
[01:08:25.421] Odometry x=-0.008980, y=0.470286, theta=0.337045
[01:08:25.431] Image Alignment failed 0
[01:08:25.462] Odometry x=-0.007705, y=0.473883, theta=0.346665
[01:08:25.482] Odometry x=-0.007693, y=0.473873, theta=0.354793
[01:08:25.497] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000030 ,z=-0.000003,angle between two frames:0.002968
[01:08:25.502] Odometry x=-0.007641, y=0.473846, theta=0.355291
[01:08:25.522] Odometry x=-0.007604, y=0.473824, theta=0.352741
[01:08:25.529] Image Alignment failed 0
[01:08:25.562] Odometry x=-0.006264, y=0.477328, theta=0.355845
[01:08:25.583] Odometry x=-0.006260, y=0.477254, theta=0.357608
[01:08:25.585] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000090 ,z=-0.000049,angle between two frames:0.002052
[01:08:25.603] Odometry x=-0.006264, y=0.477238, theta=0.357193
[01:08:25.623] Odometry x=-0.006265, y=0.477234, theta=0.356586
[01:08:25.629] Image Alignment failed 0
[01:08:25.663] Odometry x=-0.005104, y=0.480388, theta=0.347670
[01:08:25.683] Odometry x=-0.005132, y=0.480303, theta=0.339324
[01:08:25.698] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=-0.000020,angle between two frames:0.001022
[01:08:25.704] Odometry x=-0.005134, y=0.480292, theta=0.334128
[01:08:25.724] Odometry x=-0.005139, y=0.480272, theta=0.330707
[01:08:25.729] Image Alignment failed 0
[01:08:25.764] Odometry x=-0.003737, y=0.484323, theta=0.337170
[01:08:25.784] Odometry x=-0.003739, y=0.484317, theta=0.345246
[01:08:25.785] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=-0.000031,angle between two frames:0.008618
[01:08:25.804] Odometry x=-0.003741, y=0.484313, theta=0.351491
[01:08:25.825] Odometry x=-0.003741, y=0.484313, theta=0.355835
[01:08:25.831] Image Alignment failed 0
[01:08:25.865] Odometry x=-0.002508, y=0.487552, theta=0.347334
[01:08:25.885] Odometry x=-0.002485, y=0.487538, theta=0.339096
[01:08:25.894] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000004,angle between two frames:0.010589
[01:08:25.905] Odometry x=-0.002487, y=0.487531, theta=0.334237
[01:08:25.924] Image Alignment failed 0
[01:08:25.925] Odometry x=-0.002514, y=0.487484, theta=0.331383
[01:08:25.966] Odometry x=-0.001172, y=0.491375, theta=0.331926
[01:08:25.968] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=-0.000007,angle between two frames:0.004860
[01:08:25.986] Odometry x=-0.001177, y=0.491358, theta=0.329911
[01:08:26.006] Odometry x=-0.001177, y=0.491358, theta=0.326255
[01:08:26.025] Image Alignment failed 0
[01:08:26.026] Odometry x=-0.001173, y=0.491357, theta=0.323211
[01:08:26.067] Odometry x=0.000082, y=0.495094, theta=0.315603
[01:08:26.087] Odometry x=0.000084, y=0.495089, theta=0.309638
[01:08:26.093] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=-0.000017,angle between two frames:0.005671
[01:08:26.107] Odometry x=0.000081, y=0.495082, theta=0.307468
[01:08:26.124] Image Alignment failed 0
[01:08:26.127] Odometry x=0.000085, y=0.495075, theta=0.305532
[01:08:26.165] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000004 ,z=-0.000006,angle between two frames:0.002170
[01:08:26.167] Odometry x=0.001183, y=0.498518, theta=0.295523
[01:08:26.188] Odometry x=0.001199, y=0.498504, theta=0.284117
[01:08:26.208] Odometry x=0.001203, y=0.498502, theta=0.275016
[01:08:26.228] Odometry x=0.001190, y=0.498481, theta=0.271394
[01:08:26.231] Image Alignment failed 0
[01:08:26.269] Odometry x=0.002180, y=0.501980, theta=0.280986
[01:08:26.289] Odometry x=0.002145, y=0.501890, theta=0.293625
[01:08:26.298] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001106 ,z=0.003406,angle between two frames:0.034138
[01:08:26.309] Odometry x=0.002155, y=0.501887, theta=0.301114
[01:08:26.329] Image Alignment failed 0
[01:08:26.329] Odometry x=0.002172, y=0.501874, theta=0.303150
[01:08:26.369] Odometry x=0.003399, y=0.505842, theta=0.293664
[01:08:26.389] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000010 ,z=-0.000003,angle between two frames:0.007490
[01:08:26.390] Odometry x=0.003406, y=0.505829, theta=0.279100
[01:08:26.410] Odometry x=0.003390, y=0.505750, theta=0.268420
[01:08:26.430] Image Alignment failed 0
[01:08:26.430] Odometry x=0.003377, y=0.505703, theta=0.264701
[01:08:26.471] Odometry x=0.004320, y=0.509297, theta=0.275475
[01:08:26.491] Odometry x=0.004270, y=0.509229, theta=0.289108
[01:08:26.492] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000009 ,z=-0.000091,angle between two frames:0.025244
[01:08:26.511] Odometry x=0.004275, y=0.509212, theta=0.301360
[01:08:26.530] Image Alignment failed 0
[01:08:26.531] Odometry x=0.004283, y=0.509192, theta=0.313344
[01:08:26.571] Odometry x=0.005472, y=0.512832, theta=0.310624
[01:08:26.590] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000017,angle between two frames:0.012252
[01:08:26.591] Odometry x=0.005481, y=0.512834, theta=0.307902
[01:08:26.612] Odometry x=0.005481, y=0.512834, theta=0.308498
[01:08:26.629] Image Alignment failed 0
[01:08:26.632] Odometry x=0.005471, y=0.512800, theta=0.311475
[01:08:26.672] Odometry x=0.006569, y=0.516152, theta=0.321017
[01:08:26.689] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000009 ,z=0.000002,angle between two frames:0.002126
[01:08:26.693] Odometry x=0.006500, y=0.515941, theta=0.331728
[01:08:26.713] Odometry x=0.006510, y=0.515886, theta=0.338149
[01:08:26.730] Image Alignment failed 0
[01:08:26.733] Odometry x=0.006495, y=0.515789, theta=0.343098
[01:08:26.774] Odometry x=0.007811, y=0.519462, theta=0.344906
[01:08:26.790] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000059 ,z=-0.000266,angle between two frames:0.017132
[01:08:26.794] Odometry x=0.007747, y=0.519288, theta=0.346141
[01:08:26.814] Odometry x=0.007719, y=0.519203, theta=0.345564
[01:08:26.834] Odometry x=0.007743, y=0.519165, theta=0.346601
[01:08:26.837] Image Alignment failed 0
[01:08:26.875] Odometry x=0.009053, y=0.522536, theta=0.357620
[01:08:26.895] Odometry x=0.009062, y=0.522433, theta=0.366993
[01:08:26.902] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000068 ,z=-0.000297,angle between two frames:0.001695
[01:08:26.915] Odometry x=0.009042, y=0.522375, theta=0.370536
[01:08:26.929] Image Alignment failed 0
[01:08:26.935] Odometry x=0.009042, y=0.522370, theta=0.372082
[01:08:26.976] Odometry x=0.010438, y=0.525945, theta=0.372559
[01:08:26.996] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000020 ,z=-0.000058,angle between two frames:0.003543
[01:08:26.996] Odometry x=0.010417, y=0.525862, theta=0.373037
[01:08:27.016] Odometry x=0.010419, y=0.525833, theta=0.373636
[01:08:27.030] Image Alignment failed 0
[01:08:27.056] Odometry x=0.011553, y=0.528594, theta=0.373552
[01:08:27.076] Odometry x=0.011552, y=0.528510, theta=0.374385
[01:08:27.089] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000029,angle between two frames:0.000600
[01:08:27.096] Odometry x=0.011548, y=0.528506, theta=0.376300
[01:08:27.116] Odometry x=0.011551, y=0.528515, theta=0.376775
[01:08:27.125] Image Alignment failed 0
[01:08:27.137] Odometry x=0.011552, y=0.528515, theta=0.375871
[01:08:27.168] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000005,angle between two frames:0.002390
[01:08:27.177] Odometry x=0.013307, y=0.532958, theta=0.376135
[01:08:27.197] Odometry x=0.013305, y=0.532943, theta=0.375852
[01:08:27.217] Odometry x=0.013304, y=0.532934, theta=0.374248
[01:08:27.230] Image Alignment failed 0
[01:08:27.258] Odometry x=0.014437, y=0.535578, theta=0.388819
[01:08:27.278] Odometry x=0.014412, y=0.535408, theta=0.406190
[01:08:27.293] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001752 ,z=0.004419,angle between two frames:0.001623
[01:08:27.298] Odometry x=0.014395, y=0.535334, theta=0.415117
[01:08:27.318] Odometry x=0.014401, y=0.535309, theta=0.416700
[01:08:27.329] Image Alignment failed 0
[01:08:27.359] Odometry x=0.015954, y=0.538800, theta=0.421997
[01:08:27.379] Odometry x=0.016015, y=0.538975, theta=0.426518
[01:08:27.388] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=-0.000100,angle between two frames:0.010510
[01:08:27.399] Odometry x=0.016064, y=0.539110, theta=0.428552
[01:08:27.419] Odometry x=0.016082, y=0.539149, theta=0.428538
[01:08:27.430] Image Alignment failed 0
[01:08:27.460] Odometry x=0.017835, y=0.542987, theta=0.428797
[01:08:27.480] Odometry x=0.017958, y=0.543257, theta=0.428367
[01:08:27.496] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000067 ,z=0.000174,angle between two frames:0.002020
[01:08:27.500] Odometry x=0.018124, y=0.543619, theta=0.425851
[01:08:27.520] Odometry x=0.018314, y=0.544038, theta=0.422621
[01:08:27.529] Image Alignment failed 0
[01:08:27.560] Odometry x=0.020220, y=0.548280, theta=0.419442
[01:08:27.580] Odometry x=0.020562, y=0.549047, theta=0.415755
[01:08:27.589] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000356 ,z=0.000780,angle between two frames:0.005746
[01:08:27.601] Odometry x=0.020774, y=0.549531, theta=0.412346
[01:08:27.621] Odometry x=0.021063, y=0.550192, theta=0.407616
[01:08:27.627] Image Alignment failed 0
[01:08:27.661] Odometry x=0.023025, y=0.554739, theta=0.400299
[01:08:27.679] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000502 ,z=0.001145,angle between two frames:0.008139
[01:08:27.681] Odometry x=0.023299, y=0.555378, theta=0.392977
[01:08:27.702] Odometry x=0.023352, y=0.555472, theta=0.386493
[01:08:27.722] Odometry x=0.023409, y=0.555591, theta=0.380392
[01:08:27.739] Image Alignment failed 0
[01:08:27.762] Odometry x=0.025299, y=0.560324, theta=0.374678
[01:08:27.782] Odometry x=0.025677, y=0.561283, theta=0.368095
[01:08:27.803] Odometry x=0.025828, y=0.561673, theta=0.363520
[01:08:27.803] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000384 ,z=0.000852,angle between two frames:0.019906
[01:08:27.823] Odometry x=0.025927, y=0.561930, theta=0.361206
[01:08:27.831] Image Alignment failed 0
[01:08:27.863] Odometry x=0.027430, y=0.565912, theta=0.360134
[01:08:27.883] Odometry x=0.027619, y=0.566411, theta=0.357513
[01:08:27.897] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000099 ,z=0.000258,angle between two frames:0.002314
[01:08:27.903] Odometry x=0.027802, y=0.566900, theta=0.356250
[01:08:27.923] Odometry x=0.027943, y=0.567270, theta=0.357311
[01:08:27.929] Image Alignment failed 0
[01:08:27.964] Odometry x=0.029389, y=0.571097, theta=0.363689
[01:08:27.984] Odometry x=0.029483, y=0.571331, theta=0.371719
[01:08:27.996] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000325 ,z=0.000859,angle between two frames:0.000202
[01:08:28.004] Odometry x=0.029536, y=0.571469, theta=0.378690
[01:08:28.024] Odometry x=0.029604, y=0.571646, theta=0.385715
[01:08:28.028] Image Alignment failed 0
[01:08:28.064] Odometry x=0.031215, y=0.575803, theta=0.396387
[01:08:28.083] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000122 ,z=0.000315,angle between two frames:0.013996
[01:08:28.085] Odometry x=0.031372, y=0.576390, theta=0.404954
[01:08:28.105] Odometry x=0.031450, y=0.576643, theta=0.406947
[01:08:28.125] Image Alignment failed 0
[01:08:28.125] Odometry x=0.031527, y=0.576844, theta=0.408912
[01:08:28.165] Odometry x=0.033281, y=0.580875, theta=0.409586
[01:08:28.171] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000235 ,z=0.000840,angle between two frames:0.010560
[01:08:28.185] Odometry x=0.033440, y=0.581226, theta=0.409423
[01:08:28.205] Odometry x=0.033453, y=0.581252, theta=0.407124
[01:08:28.226] Odometry x=0.033458, y=0.581263, theta=0.402910
[01:08:28.230] Image Alignment failed 0
[01:08:28.266] Odometry x=0.034987, y=0.584855, theta=0.401737
[01:08:28.286] Odometry x=0.035004, y=0.584895, theta=0.400461
[01:08:28.296] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000177 ,z=0.000389,angle between two frames:0.006676
[01:08:28.306] Odometry x=0.035004, y=0.584895, theta=0.397894
[01:08:28.326] Odometry x=0.035004, y=0.584895, theta=0.395790
[01:08:28.328] Image Alignment failed 0
[01:08:28.366] Odometry x=0.036397, y=0.588244, theta=0.391458
[01:08:28.372] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.004672
[01:08:28.387] Odometry x=0.036396, y=0.588240, theta=0.386636
[01:08:28.407] Odometry x=0.036398, y=0.588222, theta=0.384970
[01:08:28.427] Odometry x=0.036399, y=0.588206, theta=0.385737
[01:08:28.429] Image Alignment failed 0
[01:08:28.467] Odometry x=0.037982, y=0.592108, theta=0.382980
[01:08:28.487] Odometry x=0.037988, y=0.592100, theta=0.379812
[01:08:28.494] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000038,angle between two frames:0.005720
[01:08:28.508] Odometry x=0.037998, y=0.592095, theta=0.378433
[01:08:28.526] Image Alignment failed 0
[01:08:28.528] Odometry x=0.038005, y=0.592091, theta=0.378479
[01:08:28.568] Odometry x=0.039438, y=0.595652, theta=0.379942
[01:08:28.577] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000011 ,z=-0.000005,angle between two frames:0.001379
[01:08:28.588] Odometry x=0.039447, y=0.595648, theta=0.381537
[01:08:28.609] Odometry x=0.039450, y=0.595647, theta=0.382788
[01:08:28.625] Image Alignment failed 0
[01:08:28.629] Odometry x=0.039450, y=0.595646, theta=0.383422
[01:08:28.669] Odometry x=0.040876, y=0.599187, theta=0.382472
[01:08:28.679] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000012 ,z=-0.000005,angle between two frames:0.002846
[01:08:28.689] Odometry x=0.040873, y=0.599182, theta=0.381308
[01:08:28.710] Odometry x=0.040868, y=0.599166, theta=0.381102
[01:08:28.725] Image Alignment failed 0
[01:08:28.730] Odometry x=0.040858, y=0.599142, theta=0.382697
[01:08:28.770] Odometry x=0.042286, y=0.602680, theta=0.384267
[01:08:28.778] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000008 ,z=-0.000021,angle between two frames:0.001371
[01:08:28.790] Odometry x=0.042279, y=0.602663, theta=0.385533
[01:08:28.811] Odometry x=0.042279, y=0.602661, theta=0.385583
[01:08:28.830] Image Alignment failed 0
[01:08:28.831] Odometry x=0.042279, y=0.602660, theta=0.384887
[01:08:28.870] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000007 ,z=-0.000020,angle between two frames:0.001316
[01:08:28.871] Odometry x=0.043662, y=0.606075, theta=0.384381
[01:08:28.892] Odometry x=0.043663, y=0.606074, theta=0.384426
[01:08:28.912] Odometry x=0.043663, y=0.606070, theta=0.385683
[01:08:28.932] Image Alignment failed 0
[01:08:28.932] Odometry x=0.043663, y=0.606067, theta=0.387525
[01:08:28.972] Odometry x=0.045161, y=0.609719, theta=0.388586
[01:08:28.993] Odometry x=0.045159, y=0.609705, theta=0.390363
[01:08:28.994] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001384 ,z=0.003410,angle between two frames:0.000796
[01:08:29.013] Odometry x=0.045159, y=0.609703, theta=0.391848
[01:08:29.024] Image Alignment failed 0
[01:08:29.033] Odometry x=0.045159, y=0.609703, theta=0.392753
[01:08:29.073] Odometry x=0.046660, y=0.613326, theta=0.393024
[01:08:29.093] Odometry x=0.046660, y=0.613325, theta=0.393425
[01:08:29.094] After Reprojection Map nPoint:37 ,nCell:34 ,nMatches:11 ,distance between two frames x:-0.000000 ,z=-0.000002,angle between two frames:0.001485
[01:08:29.094] n deleted obs = 11 n obs felt =0 error init =2.644630 error end=2.498564
[01:08:29.094] After pose optimization, distance between two frames x:0.375596 ,z=-0.011784,angle between two frames:0.707406
[01:08:29.094] Update EKF and 3D points, distance between two frames x:0.375481 ,z=-0.011779,angle between two frames:0.707188
[01:08:29.113] Odometry x=0.277803, y=0.603796, theta=0.830335
[01:08:29.130] Image Alignment failed 0
[01:08:29.133] Odometry x=0.277801, y=0.603788, theta=0.834678
[01:08:29.174] Odometry x=0.280657, y=0.606368, theta=0.838333
[01:08:29.194] Odometry x=0.280639, y=0.606353, theta=0.841620
[01:08:29.214] Odometry x=0.280627, y=0.606345, theta=0.841900
[01:08:29.216] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:9 ,distance between two frames x:-0.142837 ,z=0.005869,angle between two frames:0.267216
[01:08:29.254] Odometry x=0.282875, y=0.608357, theta=0.838945
[01:08:29.274] Odometry x=0.282851, y=0.608335, theta=0.836477
[01:08:29.294] Odometry x=0.282846, y=0.608330, theta=0.837102
[01:08:29.297] After Reprojection Map nPoint:44 ,nCell:42 ,nMatches:12 ,distance between two frames x:0.000009 ,z=0.000003,angle between two frames:0.000021
[01:08:29.297] n deleted obs = 6 n obs felt =6 error init =2.446192 error end=0.538091
[01:08:29.297] After pose optimization, distance between two frames x:-0.600471 ,z=0.091583,angle between two frames:0.310832
[01:08:29.314] Odometry x=0.282846, y=0.608329, theta=0.838266
[01:08:29.355] Odometry x=0.285702, y=0.610894, theta=0.837844
[01:08:29.375] Odometry x=0.285703, y=0.610892, theta=0.837409
[01:08:29.395] Odometry x=0.285703, y=0.610892, theta=0.837469
[01:08:29.415] Odometry x=0.285703, y=0.610892, theta=0.837175
[01:08:29.455] Odometry x=0.288543, y=0.613453, theta=0.836730
[01:08:29.468] After Reprojection Map nPoint:42 ,nCell:36 ,nMatches:17 ,distance between two frames x:0.000490 ,z=-0.000004,angle between two frames:0.001314
[01:08:29.468] n deleted obs = 13 n obs felt =10 error init =1.157158 error end=0.460260
[01:08:29.468] After pose optimization, distance between two frames x:-0.753357 ,z=0.376560,angle between two frames:0.101775
[01:08:29.475] Odometry x=0.288542, y=0.613453, theta=0.835731
[01:08:29.496] Odometry x=0.288542, y=0.613452, theta=0.835061
[01:08:29.516] Odometry x=0.288542, y=0.613451, theta=0.835598
[01:08:29.556] Odometry x=0.291370, y=0.616003, theta=0.836613
[01:08:29.576] Odometry x=0.291365, y=0.615995, theta=0.837839
[01:08:29.596] Odometry x=0.291364, y=0.615993, theta=0.838203
[01:08:29.616] After Reprojection Map nPoint:44 ,nCell:35 ,nMatches:13 ,distance between two frames x:0.000020 ,z=-0.000002,angle between two frames:0.000014
[01:08:29.616] n deleted obs = 10 n obs felt =9 error init =1.254151 error end=0.543234
[01:08:29.616] After pose optimization, distance between two frames x:-0.760827 ,z=0.488816,angle between two frames:0.098748
[01:08:29.616] Odometry x=0.291363, y=0.615992, theta=0.837310
[01:08:29.657] Odometry x=0.294072, y=0.618436, theta=0.835589
[01:08:29.677] Odometry x=0.294072, y=0.618436, theta=0.833779
[01:08:29.697] Odometry x=0.294072, y=0.618434, theta=0.833029
[01:08:29.717] Odometry x=0.294074, y=0.618433, theta=0.833140
[01:08:29.757] Odometry x=0.297107, y=0.621189, theta=0.832596
[01:08:29.765] After Reprojection Map nPoint:45 ,nCell:33 ,nMatches:16 ,distance between two frames x:-0.000023 ,z=0.000002,angle between two frames:0.000926
[01:08:29.765] n deleted obs = 7 n obs felt =16 error init =1.022885 error end=0.546440
[01:08:29.765] After pose optimization, distance between two frames x:-0.487932 ,z=0.460541,angle between two frames:0.000926
[01:08:29.777] Odometry x=0.297106, y=0.621187, theta=0.832045
[01:08:29.797] Odometry x=0.297106, y=0.621186, theta=0.831486
[01:08:29.818] Odometry x=0.297105, y=0.621185, theta=0.830237
[01:08:29.858] Odometry x=0.299913, y=0.623762, theta=0.824836
[01:08:29.878] Odometry x=0.299896, y=0.623745, theta=0.819226
[01:08:29.898] Odometry x=0.299867, y=0.623716, theta=0.817025
[01:08:29.911] After Reprojection Map nPoint:42 ,nCell:36 ,nMatches:14 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[01:08:29.912] n deleted obs = 12 n obs felt =5 error init =1.339484 error end=0.585493
[01:08:29.912] After pose optimization, distance between two frames x:-0.686519 ,z=0.336764,angle between two frames:0.002630
[01:08:29.918] Odometry x=0.299846, y=0.623691, theta=0.817204
[01:08:29.958] Odometry x=0.302626, y=0.626298, theta=0.817605
[01:08:29.979] Odometry x=0.302623, y=0.626293, theta=0.817728
[01:08:29.999] Odometry x=0.302621, y=0.626290, theta=0.817538
[01:08:30.019] Odometry x=0.302619, y=0.626288, theta=0.817454
[01:08:30.059] Odometry x=0.305399, y=0.628894, theta=0.816946
[01:08:30.066] After Reprojection Map nPoint:12 ,nCell:12 ,nMatches:8 ,distance between two frames x:0.000019 ,z=-0.000044,angle between two frames:0.000469
[01:08:30.066] n deleted obs = 3 n obs felt =13 error init =0.417592 error end=0.417592
[01:08:30.066] After pose optimization, distance between two frames x:0.000019 ,z=-0.000044,angle between two frames:0.000469
[01:08:30.066] Update EKF and 3D points, distance between two frames x:0.000021 ,z=-0.000043,angle between two frames:0.000469
[01:08:30.079] Odometry x=0.301984, y=0.625657, theta=0.816512
[01:08:30.099] Odometry x=0.301979, y=0.625653, theta=0.817205
[01:08:30.119] Odometry x=0.301978, y=0.625651, theta=0.818279
[01:08:30.160] Odometry x=0.304764, y=0.628256, theta=0.819955
[01:08:30.180] Odometry x=0.304760, y=0.628252, theta=0.822240
[01:08:30.200] Odometry x=0.304760, y=0.628252, theta=0.823843
[01:08:30.213] After Reprojection Map nPoint:7 ,nCell:7 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=0.000011,angle between two frames:0.000064
[01:08:30.216] Image Alignment failed 0
[01:08:30.220] Odometry x=0.304759, y=0.628251, theta=0.824816
[01:08:30.260] Odometry x=0.307563, y=0.630842, theta=0.824508
[01:08:30.281] Odometry x=0.307562, y=0.630841, theta=0.824109
[01:08:30.301] Odometry x=0.307561, y=0.630841, theta=0.823486
[01:08:30.321] Odometry x=0.307561, y=0.630840, theta=0.823664
[01:08:30.356] After Reprojection Map nPoint:29 ,nCell:27 ,nMatches:7 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[01:08:30.356] n deleted obs = 6 n obs felt =1 error init =1.964783 error end=0.910066
[01:08:30.356] After pose optimization, distance between two frames x:-0.526874 ,z=-0.038758,angle between two frames:0.077213
[01:08:30.361] Odometry x=0.310379, y=0.633446, theta=0.826364
[01:08:30.381] Odometry x=0.310379, y=0.633446, theta=0.829177
[01:08:30.401] Odometry x=0.310379, y=0.633446, theta=0.831375
[01:08:30.422] Odometry x=0.310379, y=0.633446, theta=0.833324
[01:08:30.462] Odometry x=0.313204, y=0.636022, theta=0.828073
[01:08:30.482] Odometry x=0.313204, y=0.636022, theta=0.822155
[01:08:30.502] Odometry x=0.313199, y=0.636016, theta=0.817529
[01:08:30.522] Odometry x=0.313171, y=0.635986, theta=0.816786
[01:08:30.525] After Reprojection Map nPoint:40 ,nCell:25 ,nMatches:17 ,distance between two frames x:-0.000049 ,z=-0.000477,angle between two frames:0.001702
[01:08:30.525] n deleted obs = 17 n obs felt =6 error init =1.068978 error end=0.610618
[01:08:30.525] After pose optimization, distance between two frames x:-0.709830 ,z=0.155833,angle between two frames:0.061329
[01:08:30.562] Odometry x=0.315875, y=0.638503, theta=0.823931
[01:08:30.583] Odometry x=0.315808, y=0.638436, theta=0.832059
[01:08:30.603] Odometry x=0.315790, y=0.638420, theta=0.838056
[01:08:30.623] Odometry x=0.315779, y=0.638409, theta=0.843712
[01:08:30.663] Odometry x=0.318665, y=0.640956, theta=0.852214
[01:08:30.681] After Reprojection Map nPoint:41 ,nCell:32 ,nMatches:12 ,distance between two frames x:0.000079 ,z=0.000010,angle between two frames:0.000028
[01:08:30.682] n deleted obs = 11 n obs felt =8 error init =0.758605 error end=0.700364
[01:08:30.682] After pose optimization, distance between two frames x:-0.400855 ,z=0.112471,angle between two frames:0.000321
[01:08:30.682] Update EKF and 3D points, distance between two frames x:-0.400730 ,z=0.112438,angle between two frames:0.000336
[01:08:30.683] Odometry x=0.067590, y=0.707364, theta=0.840509
[01:08:30.703] Odometry x=0.067597, y=0.707359, theta=0.846323
[01:08:30.724] Odometry x=0.067605, y=0.707357, theta=0.849912
[01:08:30.764] Odometry x=0.070544, y=0.709931, theta=0.854242
[01:08:30.784] Odometry x=0.070546, y=0.709934, theta=0.858164
[01:08:30.804] Odometry x=0.070546, y=0.709934, theta=0.860209
[01:08:30.824] Odometry x=0.070546, y=0.709935, theta=0.861553
[01:08:30.825] After Reprojection Map nPoint:41 ,nCell:29 ,nMatches:10 ,distance between two frames x:0.155149 ,z=-0.041059,angle between two frames:0.023388
[01:08:30.825] n deleted obs = 9 n obs felt =6 error init =0.665590 error end=0.665590
[01:08:30.825] After pose optimization, distance between two frames x:0.155149 ,z=-0.041059,angle between two frames:0.023388
[01:08:30.825] Update EKF and 3D points, distance between two frames x:0.155150 ,z=-0.041059,angle between two frames:0.023395
[01:08:30.865] Odometry x=0.071328, y=0.710710, theta=0.840945
[01:08:30.885] Odometry x=0.071327, y=0.710710, theta=0.842574
[01:08:30.905] Odometry x=0.071327, y=0.710710, theta=0.845357
[01:08:30.925] Odometry x=0.071327, y=0.710709, theta=0.848779
[01:08:30.965] Odometry x=0.074199, y=0.713225, theta=0.855314
[01:08:30.985] Odometry x=0.074195, y=0.713224, theta=0.861053
[01:08:30.988] After Reprojection Map nPoint:47 ,nCell:37 ,nMatches:18 ,distance between two frames x:-0.000653 ,z=-0.000171,angle between two frames:0.000246
[01:08:30.988] n deleted obs = 18 n obs felt =7 error init =1.014864 error end=0.747469
[01:08:30.988] After pose optimization, distance between two frames x:-0.470086 ,z=-0.047114,angle between two frames:0.168500
[01:08:30.988] Update EKF and 3D points, distance between two frames x:-0.469938 ,z=-0.047098,angle between two frames:0.168441
[01:08:31.005] Odometry x=-0.220330, y=0.680497, theta=0.745047
[01:08:31.026] Odometry x=-0.220336, y=0.680497, theta=0.743142
[01:08:31.066] Odometry x=-0.217736, y=0.683334, theta=0.739882
[01:08:31.086] Odometry x=-0.217736, y=0.683333, theta=0.737618
[01:08:31.106] Odometry x=-0.217736, y=0.683333, theta=0.737863
[01:08:31.126] Odometry x=-0.217737, y=0.683332, theta=0.739017
[01:08:31.134] After Reprojection Map nPoint:50 ,nCell:37 ,nMatches:15 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[01:08:31.134] n deleted obs = 20 n obs felt =7 error init =0.616368 error end=0.609847
[01:08:31.134] After pose optimization, distance between two frames x:-0.090261 ,z=-0.005907,angle between two frames:0.082294
[01:08:31.134] Update EKF and 3D points, distance between two frames x:-0.090176 ,z=-0.005898,angle between two frames:0.082248
[01:08:31.167] Odometry x=-0.489787, y=0.658448, theta=0.589645
[01:08:31.187] Odometry x=-0.489784, y=0.658442, theta=0.589418
[01:08:31.207] Odometry x=-0.489784, y=0.658441, theta=0.589732
[01:08:31.227] Odometry x=-0.489784, y=0.658441, theta=0.589495
[01:08:31.267] Odometry x=-0.487809, y=0.661391, theta=0.590560
[01:08:31.283] After Reprojection Map nPoint:46 ,nCell:34 ,nMatches:13 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[01:08:31.283] n deleted obs = 22 n obs felt =3 error init =0.741944 error end=0.741944
[01:08:31.283] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[01:08:31.283] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000002,angle between two frames:0.000001
[01:08:31.288] Odometry x=-0.490722, y=0.657052, theta=0.591310
[01:08:31.308] Odometry x=-0.490723, y=0.657047, theta=0.593227
[01:08:31.328] Odometry x=-0.490731, y=0.657034, theta=0.595771
[01:08:31.368] Odometry x=-0.488321, y=0.660592, theta=0.594533
[01:08:31.388] Odometry x=-0.488325, y=0.660586, theta=0.593412
[01:08:31.408] Odometry x=-0.488327, y=0.660583, theta=0.592676
[01:08:31.428] Odometry x=-0.488328, y=0.660582, theta=0.591009
[01:08:31.431] After Reprojection Map nPoint:47 ,nCell:38 ,nMatches:10 ,distance between two frames x:-0.000017 ,z=-0.000070,angle between two frames:0.000100
[01:08:31.431] n deleted obs = 16 n obs felt =3 error init =0.681750 error end=0.643716
[01:08:31.431] After pose optimization, distance between two frames x:-0.171719 ,z=0.010127,angle between two frames:0.158286
[01:08:31.431] Update EKF and 3D points, distance between two frames x:-0.171665 ,z=0.010126,angle between two frames:0.158237
[01:08:31.469] Odometry x=-0.662107, y=0.669014, theta=0.429796
[01:08:31.489] Odometry x=-0.662107, y=0.669013, theta=0.427312
[01:08:31.509] Odometry x=-0.662107, y=0.669013, theta=0.425984
[01:08:31.529] Odometry x=-0.662107, y=0.669013, theta=0.425335
[01:08:31.569] Odometry x=-0.660588, y=0.672366, theta=0.425632
[01:08:31.589] Odometry x=-0.660589, y=0.672364, theta=0.425189
[01:08:31.594] After Reprojection Map nPoint:49 ,nCell:37 ,nMatches:14 ,distance between two frames x:0.000808 ,z=-0.000879,angle between two frames:0.000436
[01:08:31.594] n deleted obs = 11 n obs felt =11 error init =0.710194 error end=0.581259
[01:08:31.594] After pose optimization, distance between two frames x:-0.263068 ,z=0.625831,angle between two frames:0.000436
[01:08:31.610] Odometry x=-0.660590, y=0.672362, theta=0.423999
[01:08:31.630] Odometry x=-0.660592, y=0.672358, theta=0.422505
[01:08:31.670] Odometry x=-0.658905, y=0.676122, theta=0.419717
[01:08:31.690] Odometry x=-0.658906, y=0.676120, theta=0.416779
[01:08:31.710] Odometry x=-0.658907, y=0.676117, theta=0.414455
[01:08:31.730] Odometry x=-0.658912, y=0.676104, theta=0.412483
[01:08:31.741] After Reprojection Map nPoint:45 ,nCell:35 ,nMatches:13 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[01:08:31.741] n deleted obs = 18 n obs felt =3 error init =0.921758 error end=0.921758
[01:08:31.741] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[01:08:31.741] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000001,angle between two frames:0.000004
[01:08:31.771] Odometry x=-0.658595, y=0.676767, theta=0.425395
[01:08:31.791] Odometry x=-0.658600, y=0.676755, theta=0.424479
[01:08:31.811] Odometry x=-0.658601, y=0.676753, theta=0.423125
[01:08:31.851] Odometry x=-0.657316, y=0.679616, theta=0.419797
[01:08:31.871] Odometry x=-0.657317, y=0.679612, theta=0.415896
[01:08:31.892] Odometry x=-0.657318, y=0.679609, theta=0.413079
[01:08:31.896] After Reprojection Map nPoint:48 ,nCell:35 ,nMatches:9 ,distance between two frames x:-0.000243 ,z=0.000148,angle between two frames:0.000255
[01:08:31.896] n deleted obs = 13 n obs felt =6 error init =0.614922 error end=0.614922
[01:08:31.896] After pose optimization, distance between two frames x:-0.000243 ,z=0.000148,angle between two frames:0.000255
[01:08:31.896] Update EKF and 3D points, distance between two frames x:-0.000242 ,z=0.000150,angle between two frames:0.000251
[01:08:31.912] Odometry x=-0.659490, y=0.675220, theta=0.419382
[01:08:31.932] Odometry x=-0.659493, y=0.675210, theta=0.418725
[01:08:31.972] Odometry x=-0.657595, y=0.679469, theta=0.419971
[01:08:31.992] Odometry x=-0.657599, y=0.679461, theta=0.420853
[01:08:32.012] Odometry x=-0.657601, y=0.679458, theta=0.421300
[01:08:32.053] Odometry x=-0.656348, y=0.682254, theta=0.421066
[01:08:32.054] After Reprojection Map nPoint:51 ,nCell:34 ,nMatches:13 ,distance between two frames x:0.000126 ,z=0.000089,angle between two frames:0.000000
[01:08:32.054] n deleted obs = 16 n obs felt =5 error init =0.621473 error end=0.621473
[01:08:32.054] After pose optimization, distance between two frames x:0.000126 ,z=0.000089,angle between two frames:0.000000
[01:08:32.054] Update EKF and 3D points, distance between two frames x:0.000127 ,z=0.000092,angle between two frames:0.000001
[01:08:32.073] Odometry x=-0.659045, y=0.676279, theta=0.423568
[01:08:32.093] Odometry x=-0.659049, y=0.676270, theta=0.423983
[01:08:32.113] Odometry x=-0.659051, y=0.676265, theta=0.424952
[01:08:32.133] Odometry x=-0.659051, y=0.676264, theta=0.426391
[01:08:32.173] Odometry x=-0.657148, y=0.680432, theta=0.431035
[01:08:32.194] Odometry x=-0.657150, y=0.680432, theta=0.435393
[01:08:32.203] After Reprojection Map nPoint:46 ,nCell:38 ,nMatches:11 ,distance between two frames x:0.000004 ,z=-0.000038,angle between two frames:0.000024
[01:08:32.203] n deleted obs = 14 n obs felt =5 error init =0.652269 error end=0.628173
[01:08:32.203] After pose optimization, distance between two frames x:-0.139527 ,z=0.235788,angle between two frames:0.000024
[01:08:32.203] Update EKF and 3D points, distance between two frames x:-0.139483 ,z=0.235717,angle between two frames:0.000020
[01:08:32.214] Odometry x=-0.745552, y=0.821277, theta=0.431273
[01:08:32.254] Odometry x=-0.744276, y=0.824056, theta=0.429954
[01:08:32.274] Odometry x=-0.744277, y=0.824056, theta=0.427689
[01:08:32.294] Odometry x=-0.744278, y=0.824053, theta=0.425421
[01:08:32.314] Odometry x=-0.744281, y=0.824046, theta=0.424294
[01:08:32.349] After Reprojection Map nPoint:46 ,nCell:37 ,nMatches:11 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[01:08:32.349] n deleted obs = 17 n obs felt =2 error init =1.132406 error end=0.834262
[01:08:32.349] After pose optimization, distance between two frames x:-0.202039 ,z=-0.075529,angle between two frames:0.174074
[01:08:32.349] Update EKF and 3D points, distance between two frames x:-0.201959 ,z=-0.075528,angle between two frames:0.174021
[01:08:32.355] Odometry x=-0.902262, y=0.832863, theta=0.322179
[01:08:32.375] Odometry x=-0.902301, y=0.832744, theta=0.328036
[01:08:32.395] Odometry x=-0.902313, y=0.832707, theta=0.332091
[01:08:32.415] Odometry x=-0.902319, y=0.832690, theta=0.335134
[01:08:32.455] Odometry x=-0.901063, y=0.836282, theta=0.337684
[01:08:32.476] Odometry x=-0.901066, y=0.836269, theta=0.340593
[01:08:32.496] After Reprojection Map nPoint:47 ,nCell:34 ,nMatches:11 ,distance between two frames x:-0.000589 ,z=-0.000265,angle between two frames:0.000066
[01:08:32.496] n deleted obs = 20 n obs felt =1 error init =0.857576 error end=0.857576
[01:08:32.496] After pose optimization, distance between two frames x:-0.000589 ,z=-0.000265,angle between two frames:0.000066
[01:08:32.496] Update EKF and 3D points, distance between two frames x:-0.000557 ,z=-0.000264,angle between two frames:0.000096
[01:08:32.496] Odometry x=-0.901068, y=0.836259, theta=0.343299
[01:08:32.516] Odometry x=-0.963884, y=0.833934, theta=0.291476
[01:08:32.556] Odometry x=-0.962776, y=0.837568, theta=0.302651
[01:08:32.576] Odometry x=-0.962781, y=0.837557, theta=0.311904
[01:08:32.597] Odometry x=-0.962778, y=0.837556, theta=0.314859
[01:08:32.617] Odometry x=-0.962777, y=0.837556, theta=0.316561
[01:08:32.647] After Reprojection Map nPoint:50 ,nCell:32 ,nMatches:17 ,distance between two frames x:-0.001484 ,z=0.000258,angle between two frames:0.000067
[01:08:32.648] n deleted obs = 27 n obs felt =4 error init =0.869755 error end=0.869755
[01:08:32.648] After pose optimization, distance between two frames x:-0.001484 ,z=0.000258,angle between two frames:0.000067
[01:08:32.648] Update EKF and 3D points, distance between two frames x:-0.001470 ,z=0.000263,angle between two frames:0.000046
[01:08:32.657] Odometry x=-0.987169, y=0.838444, theta=0.276694
[01:08:32.677] Odometry x=-0.987168, y=0.838442, theta=0.277350
[01:08:32.697] Odometry x=-0.987168, y=0.838440, theta=0.278702
[01:08:32.717] Odometry x=-0.987169, y=0.838437, theta=0.280844
[01:08:32.757] Odometry x=-0.986171, y=0.841886, theta=0.282429
[01:08:32.778] Odometry x=-0.986181, y=0.841855, theta=0.282550
[01:08:32.798] Odometry x=-0.986185, y=0.841842, theta=0.281657
[01:08:32.802] After Reprojection Map nPoint:52 ,nCell:36 ,nMatches:17 ,distance between two frames x:-0.000145 ,z=0.000084,angle between two frames:0.000067
[01:08:32.802] n deleted obs = 30 n obs felt =4 error init =0.883934 error end=0.883934
[01:08:32.802] After pose optimization, distance between two frames x:-0.000145 ,z=0.000084,angle between two frames:0.000067
[01:08:32.802] Update EKF and 3D points, distance between two frames x:-0.000139 ,z=0.000087,angle between two frames:0.000077
[01:08:32.818] Odometry x=-0.997389, y=0.836296, theta=0.262708
[01:08:32.858] Odometry x=-0.996350, y=0.840160, theta=0.262670
[01:08:32.878] Odometry x=-0.996356, y=0.840137, theta=0.263936
[01:08:32.898] Odometry x=-0.996361, y=0.840116, theta=0.265882
[01:08:32.919] Odometry x=-0.996366, y=0.840098, theta=0.266706
[01:08:32.959] Odometry x=-0.995367, y=0.843753, theta=0.267068
[01:08:32.969] After Reprojection Map nPoint:57 ,nCell:32 ,nMatches:23 ,distance between two frames x:-0.000186 ,z=0.000951,angle between two frames:0.000146
[01:08:32.969] n deleted obs = 39 n obs felt =6 error init =0.778095 error end=0.778095
[01:08:32.969] After pose optimization, distance between two frames x:-0.000186 ,z=0.000951,angle between two frames:0.000146
[01:08:32.969] Update EKF and 3D points, distance between two frames x:-0.000183 ,z=0.000954,angle between two frames:0.000151
[01:08:32.979] Odometry x=-1.001015, y=0.837604, theta=0.257597
[01:08:32.999] Odometry x=-1.001016, y=0.837601, theta=0.257702
[01:08:33.019] Odometry x=-1.001016, y=0.837600, theta=0.258106
[01:08:33.059] Odometry x=-1.000040, y=0.841292, theta=0.257962
[01:08:33.080] Odometry x=-1.000039, y=0.841291, theta=0.257997
[01:08:33.100] Odometry x=-1.000040, y=0.841286, theta=0.258281
[01:08:33.120] Odometry x=-1.000043, y=0.841274, theta=0.258519
[01:08:33.124] After Reprojection Map nPoint:60 ,nCell:41 ,nMatches:24 ,distance between two frames x:0.000412 ,z=0.000420,angle between two frames:0.000156
[01:08:33.124] n deleted obs = 42 n obs felt =7 error init =0.805249 error end=0.805249
[01:08:33.124] After pose optimization, distance between two frames x:0.000412 ,z=0.000420,angle between two frames:0.000156
[01:08:33.124] Update EKF and 3D points, distance between two frames x:0.000413 ,z=0.000422,angle between two frames:0.000154
[01:08:33.160] Odometry x=-1.002839, y=0.839085, theta=0.250887
[01:08:33.180] Odometry x=-1.002843, y=0.839067, theta=0.249791
[01:08:33.200] Odometry x=-1.002844, y=0.839063, theta=0.248384
[01:08:33.221] Odometry x=-1.002844, y=0.839062, theta=0.246491
[01:08:33.261] Odometry x=-1.001912, y=0.842758, theta=0.245587
[01:08:33.281] Odometry x=-1.001911, y=0.842752, theta=0.244941
[01:08:33.298] After Reprojection Map nPoint:67 ,nCell:45 ,nMatches:29 ,distance between two frames x:0.000229 ,z=0.000130,angle between two frames:0.000008
[01:08:33.298] n deleted obs = 51 n obs felt =9 error init =0.706843 error end=0.706843
[01:08:33.298] After pose optimization, distance between two frames x:0.000229 ,z=0.000130,angle between two frames:0.000008
[01:08:33.298] Update EKF and 3D points, distance between two frames x:0.000229 ,z=0.000133,angle between two frames:0.000010
[01:08:33.301] Odometry x=-1.003108, y=0.837582, theta=0.249530
[01:08:33.321] Odometry x=-1.003106, y=0.837578, theta=0.250262
[01:08:33.361] Odometry x=-1.002161, y=0.841264, theta=0.250186
[01:08:33.382] Odometry x=-1.002163, y=0.841252, theta=0.250093
[01:08:33.402] Odometry x=-1.002165, y=0.841242, theta=0.249956
[01:08:33.422] Odometry x=-1.002167, y=0.841234, theta=0.249440
[01:08:33.462] Odometry x=-1.001184, y=0.845099, theta=0.248368
[01:08:33.466] After Reprojection Map nPoint:73 ,nCell:47 ,nMatches:33 ,distance between two frames x:0.001033 ,z=0.004240,angle between two frames:0.001428
[01:08:33.467] n deleted obs = 51 n obs felt =15 error init =0.724436 error end=0.724436
[01:08:33.467] After pose optimization, distance between two frames x:0.001033 ,z=0.004240,angle between two frames:0.001428
[01:08:33.467] Update EKF and 3D points, distance between two frames x:0.001034 ,z=0.004242,angle between two frames:0.001429
[01:08:33.467] Choose frame as a key frame Scene Depth mean:1.756760 ,depth min:1.210826
[01:08:33.482] Odometry x=-1.002196, y=0.841086, theta=0.248399
[01:08:33.502] Odometry x=-1.002196, y=0.841082, theta=0.248368
[01:08:33.523] Odometry x=-1.002194, y=0.841077, theta=0.248389
[01:08:33.563] Odometry x=-1.001257, y=0.844776, theta=0.247679
[01:08:33.583] Odometry x=-1.001258, y=0.844770, theta=0.246141
[01:08:33.603] Odometry x=-1.001259, y=0.844766, theta=0.244459
[01:08:33.623] Odometry x=-1.001260, y=0.844763, theta=0.242734
[01:08:33.636] After Reprojection Map nPoint:95 ,nCell:46 ,nMatches:29 ,distance between two frames x:0.000122 ,z=0.000116,angle between two frames:0.000091
[01:08:33.636] n deleted obs = 60 n obs felt =24 error init =0.678291 error end=0.678291
[01:08:33.636] After pose optimization, distance between two frames x:0.000122 ,z=0.000116,angle between two frames:0.000091
[01:08:33.636] Update EKF and 3D points, distance between two frames x:0.000122 ,z=0.000118,angle between two frames:0.000088
[01:08:33.637] Choose frame as a key frame Scene Depth mean:2.101864 ,depth min:1.210871
[01:08:33.663] Odometry x=-1.001446, y=0.843637, theta=0.248010
[01:08:33.684] Odometry x=-1.001446, y=0.843636, theta=0.245141
[01:08:33.704] Odometry x=-1.001444, y=0.843636, theta=0.244353
[01:08:33.724] Odometry x=-1.001441, y=0.843635, theta=0.244422
[01:08:33.764] Odometry x=-1.000514, y=0.847345, theta=0.244769
[01:08:33.784] Odometry x=-1.000513, y=0.847345, theta=0.245165
[01:08:33.804] Odometry x=-1.000513, y=0.847344, theta=0.245156
[01:08:33.808] After Reprojection Map nPoint:122 ,nCell:50 ,nMatches:32 ,distance between two frames x:0.000285 ,z=-0.000162,angle between two frames:0.000071
[01:08:33.809] n deleted obs = 77 n obs felt =25 error init =0.675999 error end=0.675999
[01:08:33.809] After pose optimization, distance between two frames x:0.000285 ,z=-0.000162,angle between two frames:0.000071
[01:08:33.809] Update EKF and 3D points, distance between two frames x:0.000286 ,z=-0.000159,angle between two frames:0.000073
[01:08:33.809] Choose frame as a key frame Scene Depth mean:2.112052 ,depth min:1.079618
[01:08:33.824] Odometry x=-1.001685, y=0.841933, theta=0.246881
[01:08:33.865] Odometry x=-1.000803, y=0.845437, theta=0.246240
[01:08:33.885] Odometry x=-1.000806, y=0.845421, theta=0.245848
[01:08:33.905] Odometry x=-1.000807, y=0.845417, theta=0.245686
[01:08:33.925] Odometry x=-1.000807, y=0.845416, theta=0.245854
[01:08:33.965] Odometry x=-0.999823, y=0.849334, theta=0.245793
[01:08:33.981] After Reprojection Map nPoint:169 ,nCell:49 ,nMatches:35 ,distance between two frames x:0.000003 ,z=0.000173,angle between two frames:0.000013
[01:08:33.982] n deleted obs = 109 n obs felt =33 error init =0.653703 error end=0.653142
[01:08:33.982] After pose optimization, distance between two frames x:-0.015632 ,z=0.029302,angle between two frames:0.010736
[01:08:33.982] Update EKF and 3D points, distance between two frames x:-0.015626 ,z=0.029296,angle between two frames:0.010732
[01:08:33.982] Choose frame as a key frame Scene Depth mean:2.144841 ,depth min:1.231029
[01:08:33.986] Odometry x=-1.011077, y=0.860798, theta=0.255149
[01:08:34.006] Odometry x=-1.011077, y=0.860798, theta=0.255063
[01:08:34.026] Odometry x=-1.011077, y=0.860798, theta=0.254295
[01:08:34.066] Odometry x=-1.010236, y=0.864029, theta=0.254969
[01:08:34.086] Odometry x=-1.010235, y=0.864031, theta=0.256184
[01:08:34.106] Odometry x=-1.010233, y=0.864031, theta=0.256913
[01:08:34.127] Odometry x=-1.010231, y=0.864026, theta=0.258950
[01:08:34.151] After Reprojection Map nPoint:205 ,nCell:35 ,nMatches:30 ,distance between two frames x:-0.000026 ,z=0.000019,angle between two frames:0.000000
[01:08:34.156] n deleted obs = 26 n obs felt =142 error init =0.641991 error end=0.363870
[01:08:34.156] After pose optimization, distance between two frames x:1.113251 ,z=8.096832,angle between two frames:0.889385
[01:08:34.167] Odometry x=-1.009148, y=0.868093, theta=0.262387
[01:08:34.187] Odometry x=-1.009150, y=0.868089, theta=0.265101
[01:08:34.207] Odometry x=-1.009150, y=0.868088, theta=0.265575
[01:08:34.227] Odometry x=-1.009150, y=0.868087, theta=0.265556
[01:08:34.268] Odometry x=-1.008161, y=0.871711, theta=0.267692
[01:08:34.288] Odometry x=-1.008162, y=0.871709, theta=0.269189
[01:08:34.308] Odometry x=-1.008162, y=0.871707, theta=0.269777
[01:08:34.318] After Reprojection Map nPoint:227 ,nCell:81 ,nMatches:34 ,distance between two frames x:0.000004 ,z=-0.000014,angle between two frames:0.000029
[01:08:34.323] n deleted obs = 109 n obs felt =44 error init =0.621320 error end=0.596059
[01:08:34.323] After pose optimization, distance between two frames x:-0.029973 ,z=0.114617,angle between two frames:0.000513
[01:08:34.323] Update EKF and 3D points, distance between two frames x:-0.029963 ,z=0.114584,angle between two frames:0.000510
[01:08:34.323] Choose frame as a key frame Scene Depth mean:2.252482 ,depth min:1.343761
[01:08:34.328] Odometry x=-1.027958, y=0.937774, theta=0.264624
[01:08:34.368] Odometry x=-1.026942, y=0.941520, theta=0.265291
[01:08:34.388] Odometry x=-1.026942, y=0.941520, theta=0.266114
[01:08:34.409] Odometry x=-1.026942, y=0.941520, theta=0.266470
[01:08:34.429] Odometry x=-1.026942, y=0.941520, theta=0.266736
[01:08:34.469] Odometry x=-1.025907, y=0.945304, theta=0.267328
[01:08:34.489] Odometry x=-1.025907, y=0.945304, theta=0.267796
[01:08:34.489] After Reprojection Map nPoint:265 ,nCell:58 ,nMatches:38 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[01:08:34.490] n deleted obs = 161 n obs felt =60 error init =0.596381 error end=0.596381
[01:08:34.490] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[01:08:34.490] Update EKF and 3D points, distance between two frames x:0.000004 ,z=-0.000010,angle between two frames:0.000003
[01:08:34.490] Choose frame as a key frame Scene Depth mean:2.402989 ,depth min:1.343748
[01:08:34.509] Odometry x=-1.034735, y=0.965881, theta=0.262730
[01:08:34.529] Odometry x=-1.034735, y=0.965881, theta=0.264141
[01:08:34.570] Odometry x=-1.033703, y=0.969686, theta=0.266189
[01:08:34.590] Odometry x=-1.033703, y=0.969686, theta=0.267643
[01:08:34.610] Odometry x=-1.033704, y=0.969686, theta=0.267750
[01:08:34.630] Odometry x=-1.033704, y=0.969686, theta=0.267388
[01:08:34.659] After Reprojection Map nPoint:301 ,nCell:45 ,nMatches:37 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[01:08:34.659] n deleted obs = 184 n obs felt =63 error init =0.601597 error end=0.601597
[01:08:34.659] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[01:08:34.659] Update EKF and 3D points, distance between two frames x:0.000003 ,z=0.000000,angle between two frames:0.000003
[01:08:34.660] Choose frame as a key frame Scene Depth mean:2.263442 ,depth min:1.262519
[01:08:34.670] Odometry x=-1.036683, y=0.978982, theta=0.261372
[01:08:34.690] Odometry x=-1.036682, y=0.978981, theta=0.261498
[01:08:34.710] Odometry x=-1.036681, y=0.978980, theta=0.262750
[01:08:34.731] Odometry x=-1.036681, y=0.978980, theta=0.265310
[01:08:34.771] Odometry x=-1.035718, y=0.982512, theta=0.266797
[01:08:34.791] Odometry x=-1.035718, y=0.982512, theta=0.267580
[01:08:34.811] Odometry x=-1.035718, y=0.982512, theta=0.267012
[01:08:34.834] After Reprojection Map nPoint:363 ,nCell:44 ,nMatches:38 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[01:08:34.835] n deleted obs = 193 n obs felt =100 error init =0.549156 error end=0.549156
[01:08:34.835] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[01:08:34.835] Update EKF and 3D points, distance between two frames x:0.000002 ,z=0.000004,angle between two frames:0.000003
[01:08:34.835] Choose frame as a key frame Scene Depth mean:2.300910 ,depth min:1.243224
[01:08:34.851] Odometry x=-1.037674, y=0.983064, theta=0.261163
[01:08:34.871] Odometry x=-1.037674, y=0.983064, theta=0.260629
[01:08:34.892] Odometry x=-1.037674, y=0.983064, theta=0.260952
[01:08:34.912] Odometry x=-1.037674, y=0.983064, theta=0.261652
[01:08:34.952] Odometry x=-1.036680, y=0.986770, theta=0.262569
[01:08:34.972] Odometry x=-1.036681, y=0.986769, theta=0.263295
[01:08:34.992] Odometry x=-1.036681, y=0.986767, theta=0.262805
[01:08:35.013] Odometry x=-1.036683, y=0.986762, theta=0.261750
[01:08:35.029] After Reprojection Map nPoint:424 ,nCell:57 ,nMatches:44 ,distance between two frames x:-0.000000 ,z=0.000013,angle between two frames:0.000000
[01:08:35.030] n deleted obs = 240 n obs felt =108 error init =0.553580 error end=0.553580
[01:08:35.030] After pose optimization, distance between two frames x:-0.000000 ,z=0.000013,angle between two frames:0.000000
[01:08:35.030] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000016,angle between two frames:0.000001
[01:08:35.030] Choose frame as a key frame Scene Depth mean:2.336248 ,depth min:-25835850.575556
[01:08:35.053] Odometry x=-1.038845, y=0.983685, theta=0.256958
[01:08:35.073] Odometry x=-1.038847, y=0.983673, theta=0.254874
[01:08:35.093] Odometry x=-1.038847, y=0.983668, theta=0.254261
[01:08:35.113] Odometry x=-1.038846, y=0.983664, theta=0.254466
[01:08:35.153] Odometry x=-1.037884, y=0.987357, theta=0.255817
[01:08:35.174] Odometry x=-1.037884, y=0.987354, theta=0.257375
[01:08:35.194] Odometry x=-1.037884, y=0.987354, theta=0.257881
[01:08:35.214] Odometry x=-1.037885, y=0.987353, theta=0.257786
[01:08:35.219] After Reprojection Map nPoint:435 ,nCell:59 ,nMatches:40 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[01:08:35.220] n deleted obs = 234 n obs felt =111 error init =0.537707 error end=0.537707
[01:08:35.220] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[01:08:35.220] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.000000
[01:08:35.220] Choose frame as a key frame Scene Depth mean:2.378204 ,depth min:1.343766
[01:08:35.254] Odometry x=-1.038909, y=0.983444, theta=0.257489
[01:08:35.274] Odometry x=-1.038913, y=0.983430, theta=0.255733
[01:08:35.294] Odometry x=-1.038917, y=0.983410, theta=0.254466
[01:08:35.314] Odometry x=-1.038922, y=0.983390, theta=0.254027
[01:08:35.355] Odometry x=-1.037973, y=0.987045, theta=0.253543
[01:08:35.375] Odometry x=-1.037981, y=0.987013, theta=0.253048
[01:08:35.395] Odometry x=-1.037983, y=0.987007, theta=0.252225
[01:08:35.415] Odometry x=-1.037984, y=0.987003, theta=0.250589
[01:08:35.418] After Reprojection Map nPoint:567 ,nCell:66 ,nMatches:40 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[01:08:35.419] n deleted obs = 302 n obs felt =134 error init =0.556420 error end=0.556420
[01:08:35.419] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[01:08:35.419] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.000003
[01:08:35.419] Choose frame as a key frame Scene Depth mean:2.322735 ,depth min:1.243008
[01:08:35.455] Odometry x=-1.038901, y=0.983471, theta=0.255365
[01:08:35.475] Odometry x=-1.038903, y=0.983456, theta=0.250252
[01:08:35.495] Odometry x=-1.038904, y=0.983448, theta=0.247099
[01:08:35.516] Odometry x=-1.038907, y=0.983434, theta=0.244525
[01:08:35.556] Odometry x=-1.037932, y=0.987338, theta=0.244769
[01:08:35.576] Odometry x=-1.037934, y=0.987332, theta=0.245435
[01:08:35.596] Odometry x=-1.037934, y=0.987330, theta=0.246545
[01:08:35.616] Odometry x=-1.037933, y=0.987330, theta=0.248177
[01:08:35.624] After Reprojection Map nPoint:586 ,nCell:61 ,nMatches:41 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[01:08:35.624] n deleted obs = 341 n obs felt =106 error init =0.591164 error end=0.591164
[01:08:35.624] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[01:08:35.624] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.000003
[01:08:35.625] Choose frame as a key frame Scene Depth mean:2.330212 ,depth min:1.262543
[01:08:35.657] Odometry x=-1.038950, y=0.983239, theta=0.261166
[01:08:35.677] Odometry x=-1.038954, y=0.983185, theta=0.264296
[01:08:35.697] Odometry x=-1.038973, y=0.983112, theta=0.266332
[01:08:35.717] Odometry x=-1.038988, y=0.983056, theta=0.268593
[01:08:35.757] Odometry x=-1.037930, y=0.986887, theta=0.270766
[01:08:35.777] Odometry x=-1.037937, y=0.986862, theta=0.272921
[01:08:35.797] Odometry x=-1.037938, y=0.986861, theta=0.275025
[01:08:35.818] Odometry x=-1.037938, y=0.986861, theta=0.276747
[01:08:35.856] After Reprojection Map nPoint:601 ,nCell:50 ,nMatches:38 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[01:08:35.857] n deleted obs = 288 n obs felt =166 error init =0.539257 error end=0.539257
[01:08:35.857] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[01:08:35.857] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000005,angle between two frames:0.000006
[01:08:35.857] Choose frame as a key frame Scene Depth mean:2.340891 ,depth min:1.262555
[01:08:35.858] Odometry x=-1.038345, y=0.985271, theta=0.267354
[01:08:35.878] Odometry x=-1.038345, y=0.985271, theta=0.269254
[01:08:35.898] Odometry x=-1.038344, y=0.985271, theta=0.269704
[01:08:35.918] Odometry x=-1.038337, y=0.985265, theta=0.271629
[01:08:35.959] Odometry x=-1.037316, y=0.988875, theta=0.280022
[01:08:35.979] Odometry x=-1.037341, y=0.988788, theta=0.289179
[01:08:35.999] Odometry x=-1.037348, y=0.988764, theta=0.294537
[01:08:36.019] Odometry x=-1.037354, y=0.988740, theta=0.299540
[01:08:36.059] Odometry x=-1.036223, y=0.992389, theta=0.301799
[01:08:36.078] After Reprojection Map nPoint:739 ,nCell:59 ,nMatches:46 ,distance between two frames x:0.001836 ,z=0.006639,angle between two frames:0.008905
[01:08:36.079] n deleted obs = 392 n obs felt =165 error init =0.563170 error end=0.563170
[01:08:36.079] After pose optimization, distance between two frames x:0.001836 ,z=0.006639,angle between two frames:0.008905
[01:08:36.079] Update EKF and 3D points, distance between two frames x:0.001837 ,z=0.006641,angle between two frames:0.008916
[01:08:36.080] Odometry x=-1.037543, y=0.987979, theta=0.283099
[01:08:36.080] Choose frame as a key frame Scene Depth mean:2.379319 ,depth min:1.029125
[01:08:36.100] Odometry x=-1.037544, y=0.987973, theta=0.285353
[01:08:36.120] Odometry x=-1.037548, y=0.987960, theta=0.287372
[01:08:36.160] Odometry x=-1.036472, y=0.991587, theta=0.289545
[01:08:36.180] Odometry x=-1.036480, y=0.991561, theta=0.292584
[01:08:36.200] Odometry x=-1.036481, y=0.991557, theta=0.295058
[01:08:36.220] Odometry x=-1.036481, y=0.991556, theta=0.296543
[01:08:36.261] Odometry x=-1.035357, y=0.995227, theta=0.297395
[01:08:36.281] Odometry x=-1.035357, y=0.995226, theta=0.298696
[01:08:36.301] Odometry x=-1.035358, y=0.995225, theta=0.299302
[01:08:36.316] After Reprojection Map nPoint:776 ,nCell:55 ,nMatches:40 ,distance between two frames x:0.000801 ,z=0.002705,angle between two frames:0.015733
[01:08:36.317] n deleted obs = 408 n obs felt =170 error init =0.571726 error end=0.571726
[01:08:36.317] After pose optimization, distance between two frames x:0.000801 ,z=0.002705,angle between two frames:0.015733
[01:08:36.317] Update EKF and 3D points, distance between two frames x:0.000802 ,z=0.002708,angle between two frames:0.015738
[01:08:36.318] Choose frame as a key frame Scene Depth mean:2.352297 ,depth min:1.301310
[01:08:36.321] Odometry x=-1.036710, y=0.990743, theta=0.289844
[01:08:36.361] Odometry x=-1.035614, y=0.994412, theta=0.290335
[01:08:36.382] Odometry x=-1.035616, y=0.994408, theta=0.291226
[01:08:36.402] Odometry x=-1.035617, y=0.994405, theta=0.293258
[01:08:36.422] Odometry x=-1.035617, y=0.994403, theta=0.294636
[01:08:36.462] Odometry x=-1.034453, y=0.998241, theta=0.294039
[01:08:36.482] Odometry x=-1.034453, y=0.998241, theta=0.293127
[01:08:36.502] Odometry x=-1.034450, y=0.998240, theta=0.291900
[01:08:36.522] Odometry x=-1.034446, y=0.998236, theta=0.291333
[01:08:36.563] Odometry x=-1.033345, y=1.001872, theta=0.298031
[01:08:36.579] After Reprojection Map nPoint:785 ,nCell:76 ,nMatches:43 ,distance between two frames x:0.000840 ,z=0.002776,angle between two frames:0.006740
[01:08:36.580] n deleted obs = 438 n obs felt =143 error init =0.596925 error end=0.596925
[01:08:36.580] After pose optimization, distance between two frames x:0.000840 ,z=0.002776,angle between two frames:0.006740
[01:08:36.580] Update EKF and 3D points, distance between two frames x:0.000841 ,z=0.002779,angle between two frames:0.006746
[01:08:36.581] Choose frame as a key frame Scene Depth mean:2.368235 ,depth min:1.256542
[01:08:36.583] Odometry x=-1.035431, y=0.994973, theta=0.300543
[01:08:36.603] Odometry x=-1.035435, y=0.994959, theta=0.304479
[01:08:36.623] Odometry x=-1.035437, y=0.994954, theta=0.305245
[01:08:36.663] Odometry x=-1.034257, y=0.998704, theta=0.303863
[01:08:36.684] Odometry x=-1.034258, y=0.998704, theta=0.303019
[01:08:36.704] Odometry x=-1.034259, y=0.998704, theta=0.303231
[01:08:36.724] Odometry x=-1.034259, y=0.998704, theta=0.303331
[01:08:36.764] Odometry x=-1.033220, y=1.002027, theta=0.302652
[01:08:36.784] Odometry x=-1.033220, y=1.002027, theta=0.302101
[01:08:36.804] Odometry x=-1.033220, y=1.002026, theta=0.302217
[01:08:36.825] Odometry x=-1.033220, y=1.002026, theta=0.302267
[01:08:36.832] After Reprojection Map nPoint:829 ,nCell:58 ,nMatches:35 ,distance between two frames x:0.001271 ,z=0.004213,angle between two frames:0.010693
[01:08:36.833] n deleted obs = 397 n obs felt =185 error init =0.568753 error end=0.568753
[01:08:36.833] After pose optimization, distance between two frames x:0.001271 ,z=0.004213,angle between two frames:0.010693
[01:08:36.833] Update EKF and 3D points, distance between two frames x:0.001271 ,z=0.004216,angle between two frames:0.010694
[01:08:36.834] Choose frame as a key frame Scene Depth mean:2.413362 ,depth min:1.324303
[01:08:36.865] Odometry x=-1.034112, y=0.999228, theta=0.299605
[01:08:36.885] Odometry x=-1.034117, y=0.999213, theta=0.297968
[01:08:36.905] Odometry x=-1.034119, y=0.999208, theta=0.296409
[01:08:36.925] Odometry x=-1.034124, y=0.999190, theta=0.295290
[01:08:36.966] Odometry x=-1.032927, y=1.003134, theta=0.293708
[01:08:36.986] Odometry x=-1.032933, y=1.003113, theta=0.292507
[01:08:37.006] Odometry x=-1.032936, y=1.003103, theta=0.292166
[01:08:37.026] Odometry x=-1.032939, y=1.003093, theta=0.291406
[01:08:37.066] Odometry x=-1.031863, y=1.006694, theta=0.288633
[01:08:37.086] Odometry x=-1.031873, y=1.006661, theta=0.285807
[01:08:37.093] After Reprojection Map nPoint:848 ,nCell:68 ,nMatches:40 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[01:08:37.094] n deleted obs = 427 n obs felt =176 error init =0.577023 error end=0.577023
[01:08:37.094] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[01:08:37.094] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000004,angle between two frames:0.000005
[01:08:37.094] Choose frame as a key frame Scene Depth mean:2.400975 ,depth min:1.324311
[01:08:37.107] Odometry x=-1.034076, y=0.999421, theta=0.292684
[01:08:37.127] Odometry x=-1.034079, y=0.999411, theta=0.291117
[01:08:37.167] Odometry x=-1.033033, y=1.002912, theta=0.289732
[01:08:37.187] Odometry x=-1.033038, y=1.002893, theta=0.287950
[01:08:37.207] Odometry x=-1.033039, y=1.002890, theta=0.286670
[01:08:37.227] Odometry x=-1.033040, y=1.002889, theta=0.285840
[01:08:37.268] Odometry x=-1.031848, y=1.006957, theta=0.283406
[01:08:37.288] Odometry x=-1.031847, y=1.006954, theta=0.281029
[01:08:37.308] Odometry x=-1.031848, y=1.006951, theta=0.279403
[01:08:37.328] Odometry x=-1.031848, y=1.006946, theta=0.277329
[01:08:37.366] After Reprojection Map nPoint:982 ,nCell:72 ,nMatches:45 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[01:08:37.368] n deleted obs = 520 n obs felt =178 error init =0.592373 error end=0.592373
[01:08:37.368] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000000
[01:08:37.368] Update EKF and 3D points, distance between two frames x:0.000002 ,z=0.000007,angle between two frames:0.000007
[01:08:37.368] Choose frame as a key frame Scene Depth mean:2.417542 ,depth min:1.004509
[01:08:37.369] Odometry x=-1.032958, y=1.003350, theta=0.290982
[01:08:37.389] Odometry x=-1.032964, y=1.003327, theta=0.290332
[01:08:37.409] Odometry x=-1.032966, y=1.003320, theta=0.290035
[01:08:37.429] Odometry x=-1.032967, y=1.003317, theta=0.289619
[01:08:37.469] Odometry x=-1.031867, y=1.007016, theta=0.287699
[01:08:37.489] Odometry x=-1.031869, y=1.007007, theta=0.286022
[01:08:37.510] Odometry x=-1.031877, y=1.006977, theta=0.286043
[01:08:37.530] Odometry x=-1.031890, y=1.006932, theta=0.286599
[01:08:37.570] Odometry x=-1.030796, y=1.010641, theta=0.287521
[01:08:37.590] Odometry x=-1.030799, y=1.010631, theta=0.287981
[01:08:37.610] Odometry x=-1.030799, y=1.010631, theta=0.287902
[01:08:37.631] Odometry x=-1.030798, y=1.010631, theta=0.288044
[01:08:37.653] After Reprojection Map nPoint:1019 ,nCell:76 ,nMatches:44 ,distance between two frames x:0.002469 ,z=0.008364,angle between two frames:0.009549
[01:08:37.654] n deleted obs = 507 n obs felt =226 error init =0.557128 error end=0.557128
[01:08:37.655] After pose optimization, distance between two frames x:0.002469 ,z=0.008364,angle between two frames:0.009549
[01:08:37.655] Update EKF and 3D points, distance between two frames x:0.002471 ,z=0.008369,angle between two frames:0.009550
[01:08:37.655] Choose frame as a key frame Scene Depth mean:2.397238 ,depth min:-177682440600669.312500
[01:08:37.671] Odometry x=-1.031085, y=1.009635, theta=0.291822
[01:08:37.691] Odometry x=-1.031086, y=1.009618, theta=0.294464
[01:08:37.711] Odometry x=-1.031089, y=1.009596, theta=0.297258
[01:08:37.731] Odometry x=-1.031094, y=1.009562, theta=0.300549
[01:08:37.772] Odometry x=-1.029932, y=1.013301, theta=0.302531
[01:08:37.792] Odometry x=-1.029938, y=1.013281, theta=0.304714
[01:08:37.812] Odometry x=-1.029938, y=1.013280, theta=0.306435
[01:08:37.832] Odometry x=-1.029938, y=1.013279, theta=0.308187
[01:08:37.872] Odometry x=-1.028721, y=1.017068, theta=0.311010
[01:08:37.892] Odometry x=-1.028720, y=1.017058, theta=0.314103
[01:08:37.913] Odometry x=-1.028728, y=1.017030, theta=0.315337
[01:08:37.933] Odometry x=-1.028740, y=1.016996, theta=0.316599
[01:08:37.958] After Reprojection Map nPoint:949 ,nCell:69 ,nMatches:37 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[01:08:37.960] n deleted obs = 484 n obs felt =177 error init =0.569485 error end=0.569485
[01:08:37.960] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[01:08:37.960] Update EKF and 3D points, distance between two frames x:0.000002 ,z=0.000007,angle between two frames:0.000008
[01:08:37.973] Odometry x=-1.030169, y=1.012213, theta=0.304365
[01:08:37.993] Odometry x=-1.030182, y=1.012174, theta=0.308938
[01:08:38.013] Odometry x=-1.030182, y=1.012173, theta=0.312015
[01:08:38.033] Odometry x=-1.030182, y=1.012173, theta=0.314132
[01:08:38.074] Odometry x=-1.028998, y=1.015805, theta=0.316069
[01:08:38.094] Odometry x=-1.028999, y=1.015803, theta=0.318458
[01:08:38.114] Odometry x=-1.029000, y=1.015799, theta=0.320894
[01:08:38.134] Odometry x=-1.029001, y=1.015795, theta=0.322982
[01:08:38.174] Odometry x=-1.027784, y=1.019407, theta=0.326452
[01:08:38.194] Odometry x=-1.027785, y=1.019402, theta=0.329571
[01:08:38.215] Odometry x=-1.027784, y=1.019402, theta=0.330154
[01:08:38.235] Odometry x=-1.027783, y=1.019402, theta=0.329110
[01:08:38.245] After Reprojection Map nPoint:887 ,nCell:84 ,nMatches:32 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[01:08:38.246] n deleted obs = 446 n obs felt =139 error init =0.580818 error end=0.580818
[01:08:38.246] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000
[01:08:38.246] Update EKF and 3D points, distance between two frames x:0.000002 ,z=0.000005,angle between two frames:0.000011
[01:08:38.275] Odometry x=-1.031521, y=1.008146, theta=0.290320
[01:08:38.295] Odometry x=-1.031531, y=1.008112, theta=0.290884
[01:08:38.315] Odometry x=-1.031546, y=1.008057, theta=0.293601
[01:08:38.335] Odometry x=-1.031559, y=1.008012, theta=0.297347
[01:08:38.376] Odometry x=-1.030427, y=1.011683, theta=0.297113
[01:08:38.396] Odometry x=-1.030423, y=1.011682, theta=0.296311
[01:08:38.416] Odometry x=-1.030423, y=1.011682, theta=0.295420
[01:08:38.456] Odometry x=-1.029534, y=1.014606, theta=0.294613
[01:08:38.476] Odometry x=-1.029536, y=1.014600, theta=0.292646
[01:08:38.496] Odometry x=-1.029539, y=1.014590, theta=0.291255
[01:08:38.517] Odometry x=-1.029543, y=1.014576, theta=0.290706
[01:08:38.531] After Reprojection Map nPoint:1037 ,nCell:82 ,nMatches:38 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[01:08:38.532] n deleted obs = 564 n obs felt =171 error init =0.583377 error end=0.583377
[01:08:38.532] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[01:08:38.532] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000004,angle between two frames:0.000000
[01:08:38.557] Odometry x=-1.031519, y=1.008155, theta=0.289857
[01:08:38.577] Odometry x=-1.031526, y=1.008130, theta=0.288146
[01:08:38.597] Odometry x=-1.031528, y=1.008122, theta=0.286770
[01:08:38.617] Odometry x=-1.031530, y=1.008118, theta=0.285675
[01:08:38.658] Odometry x=-1.030463, y=1.011749, theta=0.283711
[01:08:38.678] Odometry x=-1.030472, y=1.011710, theta=0.281926
[01:08:38.698] Odometry x=-1.030476, y=1.011693, theta=0.281718
[01:08:38.718] Odometry x=-1.030479, y=1.011684, theta=0.281748
[01:08:38.758] Odometry x=-1.029404, y=1.015399, theta=0.281357
[01:08:38.778] Odometry x=-1.029407, y=1.015389, theta=0.280763
[01:08:38.798] Odometry x=-1.029410, y=1.015378, theta=0.279923
[01:08:38.818] After Reprojection Map nPoint:942 ,nCell:65 ,nMatches:37 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[01:08:38.819] Odometry x=-1.029411, y=1.015367, theta=0.278778
[01:08:38.819] n deleted obs = 462 n obs felt =185 error init =0.566665 error end=0.566665
[01:08:38.819] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000000
[01:08:38.819] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000004,angle between two frames:0.000004
[01:08:38.859] Odometry x=-1.031528, y=1.008110, theta=0.289573
[01:08:38.879] Odometry x=-1.031539, y=1.008062, theta=0.287686
[01:08:38.899] Odometry x=-1.031541, y=1.008053, theta=0.286067
[01:08:38.919] Odometry x=-1.031544, y=1.008045, theta=0.284124
[01:08:38.960] Odometry x=-1.030469, y=1.011736, theta=0.282061
[01:08:38.980] Odometry x=-1.030469, y=1.011733, theta=0.280017
[01:08:39.000] Odometry x=-1.030470, y=1.011731, theta=0.278747
[01:08:39.020] Odometry x=-1.030469, y=1.011729, theta=0.276849
[01:08:39.060] Odometry x=-1.029383, y=1.015565, theta=0.274294
[01:08:39.080] Odometry x=-1.029388, y=1.015549, theta=0.270985
[01:08:39.101] Odometry x=-1.029389, y=1.015544, theta=0.268803
[01:08:39.118] After Reprojection Map nPoint:1004 ,nCell:69 ,nMatches:43 ,distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.000000
[01:08:39.119] n deleted obs = 488 n obs felt =204 error init =0.561224 error end=0.561224
[01:08:39.119] After pose optimization, distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.000000
[01:08:39.119] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000007,angle between two frames:0.000007
[01:08:39.121] Odometry x=-1.031590, y=1.008022, theta=0.282077
[01:08:39.161] Odometry x=-1.030526, y=1.011689, theta=0.283212
[01:08:39.181] Odometry x=-1.030526, y=1.011688, theta=0.284773
[01:08:39.201] Odometry x=-1.030527, y=1.011687, theta=0.286138
[01:08:39.221] Odometry x=-1.030525, y=1.011684, theta=0.287453
[01:08:39.262] Odometry x=-1.029486, y=1.015166, theta=0.290163
[01:08:39.282] Odometry x=-1.029485, y=1.015158, theta=0.293070
[01:08:39.302] Odometry x=-1.029486, y=1.015153, theta=0.294953
[01:08:39.322] Odometry x=-1.029486, y=1.015151, theta=0.296587
[01:08:39.362] Odometry x=-1.028502, y=1.018360, theta=0.296831
[01:08:39.383] Odometry x=-1.028502, y=1.018350, theta=0.297841
[01:08:39.403] Odometry x=-1.028502, y=1.018348, theta=0.299655
[01:08:39.404] After Reprojection Map nPoint:901 ,nCell:56 ,nMatches:31 ,distance between two frames x:0.001359 ,z=0.004641,angle between two frames:0.008911
[01:08:39.405] n deleted obs = 432 n obs felt =164 error init =0.555242 error end=0.555242
[01:08:39.405] After pose optimization, distance between two frames x:0.001359 ,z=0.004641,angle between two frames:0.008911
[01:08:39.405] Update EKF and 3D points, distance between two frames x:0.001360 ,z=0.004644,angle between two frames:0.008905
[01:08:39.423] Odometry x=-1.030410, y=1.011968, theta=0.291137
[01:08:39.463] Odometry x=-1.029196, y=1.015992, theta=0.296027
[01:08:39.483] Odometry x=-1.029197, y=1.015992, theta=0.300313
[01:08:39.503] Odometry x=-1.029197, y=1.015993, theta=0.303224
[01:08:39.524] Odometry x=-1.029197, y=1.015993, theta=0.306303
[01:08:39.564] Odometry x=-1.027962, y=1.019887, theta=0.308428
[01:08:39.584] Odometry x=-1.027962, y=1.019887, theta=0.310486
[01:08:39.604] Odometry x=-1.027962, y=1.019887, theta=0.311912
[01:08:39.624] Odometry x=-1.027962, y=1.019887, theta=0.313761
[01:08:39.664] Odometry x=-1.026807, y=1.023424, theta=0.318298
[01:08:39.685] Odometry x=-1.026810, y=1.023418, theta=0.323701
[01:08:39.689] After Reprojection Map nPoint:914 ,nCell:55 ,nMatches:36 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000000
[01:08:39.690] n deleted obs = 399 n obs felt =214 error init =0.539727 error end=0.538913
[01:08:39.690] After pose optimization, distance between two frames x:0.005472 ,z=-0.005064,angle between two frames:0.000000
[01:08:39.690] Update EKF and 3D points, distance between two frames x:0.005472 ,z=-0.005058,angle between two frames:0.000014
[01:08
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