Upload raw data (part 20)

bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.25.07.645000/extract_gopro_imu_stdout.txt

@@ -1,9 +1,3 @@
-Input video path: /data/raw_video.mp4
-Output file will be: /data/imu_data.json
-Opening /data/raw_video.mp4
-Read stream data from raw_video.mp4
-Extracted information for raw_video.mp4
-Flushing on end after 125773036 bytes
-Generated telemetry for raw_video.mp4
-Telemetry saved as JSON to imu_data.json
-Done
+version https://git-lfs.github.com/spec/v1
+oid sha256:594c2b5aebd5d300dbf2ad9ce63a6a2a3156af6121ae038fdf5d587cc92142c7
+size 305

bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.25.07.645000/slam_stderr.txt

@@ -1,5 +1,3 @@
-Camera.newHeight optional parameter does not exist...
-Camera.newWidth optional parameter does not exist...
-IMU.InsertKFsWhenLost optional parameter does not exist...
-System.LoadAtlasFromFile optional parameter does not exist...
-System.SaveAtlasToFile optional parameter does not exist...
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a
+size 288

bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.25.07.645000/slam_stdout.txt

@@ -1,134 +1,3 @@
-Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
-
-ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
-ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
-This program comes with ABSOLUTELY NO WARRANTY;
-This is free software, and you are welcome to redistribute it
-under certain conditions. See LICENSE.txt.
-
-Input sensor was set to: Monocular-Inertial
-Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_720.yaml
-	-Loaded camera 1
-	-Loaded image info
-	-Loaded IMU calibration
-	-Loaded ORB settings
-	-Loaded viewer settings
-	-Loaded Atlas settings
-	-Loaded misc parameters
-----------------------------------
-SLAM settings: 
-	-Camera 1 parameters (Kannala-Brandt): [ 282.907 282.907 480 360 -0.0174584 -0.0280825 0.0128327 -0.0045198 ]
-	-Original image size: [ 960 , 720 ]
-	-Current image size: [ 960 , 720 ]
-	-Sequence FPS: 60
-	-Gyro noise: 0.0015
-	-Accelerometer noise: 0.017
-	-Gyro walk: 5e-05
-	-Accelerometer walk: 0.0055
-	-IMU frequency: 200
-	-Features per image: 1250
-	-ORB scale factor: 1.2
-	-ORB number of scales: 8
-	-Initial FAST threshold: 20
-	-Min FAST threshold: 7
-
-
-Loading ORB Vocabulary. This could take a while...
-Vocabulary loaded!
-
-Initialization of Atlas from file: /map/map_atlas.osa
-Starting to read the save binary file
-End to load the save binary file
-Change to map with id: 0
-Atlas loaded!
-There are 1 cameras in the atlas
-Camera 0 is fisheye
-Discard points further than 20 m from current camera
-Video opened using backend FFMPEG
-There are 1002 frames in total
-video FPS 59.9401
-line 1873 keyframes 66MapPoints2425
-line 1877
-mlFrameTimes.size()= 0
-KeyFrame::nNextId=492
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x558c82418ac0
-pKFCur->mTimeStamp0
-vpKFs.front()->mTimeStamp-63.2131
-vpKFs.back()->mTimeStamp-0.016675
-pKFcur->GetMapPointMatches().size()5017
-1691 pKFcur->GetVelocity() 0
-0
-0
-pKFcur->mnId492
-Video FPS: 59.9401
-ORB-SLAM 3 running at: 5.2031 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 11.323102872144675 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 16.515581848655469 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 18.665155784523098 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 20.780473436954608 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 23.209499128100354 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 23.051867647333072 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 24.415298762930526 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 29.139290060827104 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 27.807868981779286 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 26.18511609721109 FPS
-Shutdown
-mpLocalMapper is not finished
-mpLoopCloser is not finished
-
-Saving camera trajectory to /data/camera_trajectory.csv ...
-There are 1 maps in the atlas
-  Map 0 has 96 KFs
-
-CSV camera trajectory saved!
+version https://git-lfs.github.com/spec/v1
+oid sha256:59e5bcdb329c2494655c5c7ae846d09d0d5d31c447057fcb369ed25d5a10061d
+size 5586

bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.25.33.504167/extract_gopro_imu_stdout.txt

@@ -1,9 +1,3 @@
-Input video path: /data/raw_video.mp4
-Output file will be: /data/imu_data.json
-Opening /data/raw_video.mp4
-Read stream data from raw_video.mp4
-Extracted information for raw_video.mp4
-Flushing on end after 131159712 bytes
-Generated telemetry for raw_video.mp4
-Telemetry saved as JSON to imu_data.json
-Done
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5f278c3bd02ad7265146d7d05e0fe10fc7f073306f35e5aac4ed8140fd58a7f
+size 305

bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.25.33.504167/slam_stderr.txt

@@ -1,5 +1,3 @@
-Camera.newHeight optional parameter does not exist...
-Camera.newWidth optional parameter does not exist...
-IMU.InsertKFsWhenLost optional parameter does not exist...
-System.LoadAtlasFromFile optional parameter does not exist...
-System.SaveAtlasToFile optional parameter does not exist...
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a
+size 288

bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.25.33.504167/slam_stdout.txt

@@ -1,146 +1,3 @@
-Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
-
-ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
-ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
-This program comes with ABSOLUTELY NO WARRANTY;
-This is free software, and you are welcome to redistribute it
-under certain conditions. See LICENSE.txt.
-
-Input sensor was set to: Monocular-Inertial
-Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_720.yaml
-	-Loaded camera 1
-	-Loaded image info
-	-Loaded IMU calibration
-	-Loaded ORB settings
-	-Loaded viewer settings
-	-Loaded Atlas settings
-	-Loaded misc parameters
-----------------------------------
-SLAM settings: 
-	-Camera 1 parameters (Kannala-Brandt): [ 282.907 282.907 480 360 -0.0174584 -0.0280825 0.0128327 -0.0045198 ]
-	-Original image size: [ 960 , 720 ]
-	-Current image size: [ 960 , 720 ]
-	-Sequence FPS: 60
-	-Gyro noise: 0.0015
-	-Accelerometer noise: 0.017
-	-Gyro walk: 5e-05
-	-Accelerometer walk: 0.0055
-	-IMU frequency: 200
-	-Features per image: 1250
-	-ORB scale factor: 1.2
-	-ORB number of scales: 8
-	-Initial FAST threshold: 20
-	-Min FAST threshold: 7
-
-
-Loading ORB Vocabulary. This could take a while...
-Vocabulary loaded!
-
-Initialization of Atlas from file: /map/map_atlas.osa
-Starting to read the save binary file
-End to load the save binary file
-Change to map with id: 0
-Atlas loaded!
-There are 1 cameras in the atlas
-Camera 0 is fisheye
-Discard points further than 20 m from current camera
-Video opened using backend FFMPEG
-There are 1044 frames in total
-video FPS 59.9401
-line 1873 keyframes 66MapPoints2425
-line 1877
-mlFrameTimes.size()= 0
-KeyFrame::nNextId=492
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55f3b1209a80
-pKFCur->mTimeStamp0
-vpKFs.front()->mTimeStamp-63.2131
-vpKFs.back()->mTimeStamp-0.016675
-pKFcur->GetMapPointMatches().size()5092
-1691 pKFcur->GetVelocity() 0
-0
-0
-pKFcur->mnId492
-Video FPS: 59.9401
-ORB-SLAM 3 running at: 3.2053 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 5.6627137942020536 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 5.1488688591597205 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 8.7832007513571515 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 10.057220960946141 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 9.1365561560607844 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 9.9205712439524323 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 9.3037988704015895 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 7.9451322514536793 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 6.0388533422858126 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 8.7528375824158431 FPS
-Shutdown
-mpLocalMapper is not finished
-mpLoopCloser is not finished
-mpLoopCloser is not finished
-
-Saving camera trajectory to /data/camera_trajectory.csv ...
-There are 1 maps in the atlas
-  Map 0 has 93 KFs
-
-CSV camera trajectory saved!
+version https://git-lfs.github.com/spec/v1
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bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.27.00.007250/extract_gopro_imu_stdout.txt

@@ -1,9 +1,3 @@
-Input video path: /data/raw_video.mp4
-Output file will be: /data/imu_data.json
-Opening /data/raw_video.mp4
-Read stream data from raw_video.mp4
-Extracted information for raw_video.mp4
-Flushing on end after 143556232 bytes
-Generated telemetry for raw_video.mp4
-Telemetry saved as JSON to imu_data.json
-Done
+version https://git-lfs.github.com/spec/v1
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bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.27.00.007250/slam_stderr.txt

@@ -1,5 +1,3 @@
-Camera.newHeight optional parameter does not exist...
-Camera.newWidth optional parameter does not exist...
-IMU.InsertKFsWhenLost optional parameter does not exist...
-System.LoadAtlasFromFile optional parameter does not exist...
-System.SaveAtlasToFile optional parameter does not exist...
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a
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bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.27.00.007250/slam_stdout.txt

@@ -1,156 +1,3 @@
-Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
-
-ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
-ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
-This program comes with ABSOLUTELY NO WARRANTY;
-This is free software, and you are welcome to redistribute it
-under certain conditions. See LICENSE.txt.
-
-Input sensor was set to: Monocular-Inertial
-Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_720.yaml
-	-Loaded camera 1
-	-Loaded image info
-	-Loaded IMU calibration
-	-Loaded ORB settings
-	-Loaded viewer settings
-	-Loaded Atlas settings
-	-Loaded misc parameters
-----------------------------------
-SLAM settings: 
-	-Camera 1 parameters (Kannala-Brandt): [ 282.907 282.907 480 360 -0.0174584 -0.0280825 0.0128327 -0.0045198 ]
-	-Original image size: [ 960 , 720 ]
-	-Current image size: [ 960 , 720 ]
-	-Sequence FPS: 60
-	-Gyro noise: 0.0015
-	-Accelerometer noise: 0.017
-	-Gyro walk: 5e-05
-	-Accelerometer walk: 0.0055
-	-IMU frequency: 200
-	-Features per image: 1250
-	-ORB scale factor: 1.2
-	-ORB number of scales: 8
-	-Initial FAST threshold: 20
-	-Min FAST threshold: 7
-
-
-Loading ORB Vocabulary. This could take a while...
-Vocabulary loaded!
-
-Initialization of Atlas from file: /map/map_atlas.osa
-Starting to read the save binary file
-End to load the save binary file
-Change to map with id: 0
-Atlas loaded!
-There are 1 cameras in the atlas
-Camera 0 is fisheye
-Discard points further than 20 m from current camera
-Video opened using backend FFMPEG
-There are 1141 frames in total
-video FPS 59.9401
-line 1873 keyframes 66MapPoints2425
-line 1877
-mlFrameTimes.size()= 0
-KeyFrame::nNextId=492
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x5595f1bb1b80
-pKFCur->mTimeStamp0
-vpKFs.front()->mTimeStamp-63.2131
-vpKFs.back()->mTimeStamp-0.016675
-pKFcur->GetMapPointMatches().size()5084
-1691 pKFcur->GetVelocity() 0
-0
-0
-pKFcur->mnId492
-Video FPS: 59.9401
-ORB-SLAM 3 running at: 3.42746 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 13.945612473937567 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 12.260577436170299 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 17.819063835923057 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 14.791587639528121 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 13.404638683259124 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
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-Video FPS: 59.940059940059939
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-Video FPS: 59.940059940059939
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-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 17.99837579057191 FPS
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-System.LoadAtlasFromFile optional parameter does not exist...
-System.SaveAtlasToFile optional parameter does not exist...
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-
-ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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-Input sensor was set to: Monocular-Inertial
-Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_720.yaml
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-	-Loaded image info
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-	-Loaded ORB settings
-	-Loaded viewer settings
-	-Loaded Atlas settings
-	-Loaded misc parameters
-----------------------------------
-SLAM settings: 
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-Loading ORB Vocabulary. This could take a while...
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-Shutdown
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-Saving camera trajectory to /data/camera_trajectory.csv ...
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-CSV camera trajectory saved!
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-Camera.newHeight optional parameter does not exist...
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-IMU.InsertKFsWhenLost optional parameter does not exist...
-System.LoadAtlasFromFile optional parameter does not exist...
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-Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
-
-ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
-ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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-Input sensor was set to: Monocular-Inertial
-Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_720.yaml
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-	-Loaded image info
-	-Loaded IMU calibration
-	-Loaded ORB settings
-	-Loaded viewer settings
-	-Loaded Atlas settings
-	-Loaded misc parameters
-----------------------------------
-SLAM settings: 
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-	-Original image size: [ 960 , 720 ]
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-
-Loading ORB Vocabulary. This could take a while...
-Vocabulary loaded!
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-Initialization of Atlas from file: /map/map_atlas.osa
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-line 1873 keyframes 66MapPoints2425
-line 1877
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-Relocalized!!
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-Shutdown
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-ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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-	-Loaded image info
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-	-Loaded viewer settings
-	-Loaded Atlas settings
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-----------------------------------
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-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 17.504766285287989 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 13.808477521455611 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 13.39730080025695 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 12.574457291138737 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 18.369176096345445 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 21.675317827894723 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 18.170758467082837 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 19.067409202427434 FPS
-Shutdown
-mpLocalMapper is not finished
-mpLoopCloser is not finished
-
-Saving camera trajectory to /data/camera_trajectory.csv ...
-There are 1 maps in the atlas
-  Map 0 has 92 KFs
-
-CSV camera trajectory saved!
+version https://git-lfs.github.com/spec/v1
+oid sha256:a71a654add6716a50bd4176c121dcf3fd40a385cae1c1b4fe63d3138f0a653e5
+size 5906

bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.29.23.150250/extract_gopro_imu_stdout.txt

@@ -1,9 +1,3 @@
-Input video path: /data/raw_video.mp4
-Output file will be: /data/imu_data.json
-Opening /data/raw_video.mp4
-Read stream data from raw_video.mp4
-Extracted information for raw_video.mp4
-Flushing on end after 137357215 bytes
-Generated telemetry for raw_video.mp4
-Telemetry saved as JSON to imu_data.json
-Done
+version https://git-lfs.github.com/spec/v1
+oid sha256:f89e958524b2ed21ecd5dc01f1a00943d08d97bbc03f964ef0a773c74bfcc122
+size 305

bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.29.23.150250/slam_stderr.txt

@@ -1,5 +1,3 @@
-Camera.newHeight optional parameter does not exist...
-Camera.newWidth optional parameter does not exist...
-IMU.InsertKFsWhenLost optional parameter does not exist...
-System.LoadAtlasFromFile optional parameter does not exist...
-System.SaveAtlasToFile optional parameter does not exist...
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a
+size 288

bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.29.23.150250/slam_stdout.txt

@@ -1,212 +1,3 @@
-Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
-
-ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
-ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
-This program comes with ABSOLUTELY NO WARRANTY;
-This is free software, and you are welcome to redistribute it
-under certain conditions. See LICENSE.txt.
-
-Input sensor was set to: Monocular-Inertial
-Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_720.yaml
-	-Loaded camera 1
-	-Loaded image info
-	-Loaded IMU calibration
-	-Loaded ORB settings
-	-Loaded viewer settings
-	-Loaded Atlas settings
-	-Loaded misc parameters
-----------------------------------
-SLAM settings: 
-	-Camera 1 parameters (Kannala-Brandt): [ 282.907 282.907 480 360 -0.0174584 -0.0280825 0.0128327 -0.0045198 ]
-	-Original image size: [ 960 , 720 ]
-	-Current image size: [ 960 , 720 ]
-	-Sequence FPS: 60
-	-Gyro noise: 0.0015
-	-Accelerometer noise: 0.017
-	-Gyro walk: 5e-05
-	-Accelerometer walk: 0.0055
-	-IMU frequency: 200
-	-Features per image: 1250
-	-ORB scale factor: 1.2
-	-ORB number of scales: 8
-	-Initial FAST threshold: 20
-	-Min FAST threshold: 7
-
-
-Loading ORB Vocabulary. This could take a while...
-Vocabulary loaded!
-
-Initialization of Atlas from file: /map/map_atlas.osa
-Starting to read the save binary file
-End to load the save binary file
-Change to map with id: 0
-Atlas loaded!
-There are 1 cameras in the atlas
-Camera 0 is fisheye
-Discard points further than 20 m from current camera
-Video opened using backend FFMPEG
-There are 1093 frames in total
-video FPS 59.9401
-line 1873 keyframes 66MapPoints2425
-line 1877
-mlFrameTimes.size()= 0
-KeyFrame::nNextId=492
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x5597101c8b70
-pKFCur->mTimeStamp0
-vpKFs.front()->mTimeStamp-63.2131
-vpKFs.back()->mTimeStamp-0.016675
-pKFcur->GetMapPointMatches().size()5101
-1691 pKFcur->GetVelocity() 0
-0
-0
-pKFcur->mnId492
-Video FPS: 59.9401
-ORB-SLAM 3 running at: 1.8616 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 6.4621416915294336 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 2.6425370268654715 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 5.6715132356161089 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 3.9566330387017312 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 5.8378699858833878 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 8.8660581979585995 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 9.1774653542193718 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 13.500895467143202 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 10.056380594986765 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 16.00168081655297 FPS
-Shutdown
-mpLocalMapper is not finished
-mpLoopCloser is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-
-Saving camera trajectory to /data/camera_trajectory.csv ...
-There are 1 maps in the atlas
-  Map 0 has 88 KFs
-
-CSV camera trajectory saved!
+version https://git-lfs.github.com/spec/v1
+oid sha256:af1b3a23cbcd53be3eb2086b53d615a0fdfac0cb7cc2da9d9282e8aa5250a524
+size 8538

bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.29.56.617017/extract_gopro_imu_stdout.txt

@@ -1,9 +1,3 @@
-Input video path: /data/raw_video.mp4
-Output file will be: /data/imu_data.json
-Opening /data/raw_video.mp4
-Read stream data from raw_video.mp4
-Extracted information for raw_video.mp4
-Flushing on end after 119276981 bytes
-Generated telemetry for raw_video.mp4
-Telemetry saved as JSON to imu_data.json
-Done
+version https://git-lfs.github.com/spec/v1
+oid sha256:076266c668cd2377fcdcb65c9c09f978146b03c209f122721db8f8e5b0099179
+size 305

bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.29.56.617017/slam_stderr.txt

@@ -1,5 +1,3 @@
-Camera.newHeight optional parameter does not exist...
-Camera.newWidth optional parameter does not exist...
-IMU.InsertKFsWhenLost optional parameter does not exist...
-System.LoadAtlasFromFile optional parameter does not exist...
-System.SaveAtlasToFile optional parameter does not exist...
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a
+size 288

bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.29.56.617017/slam_stdout.txt

@@ -1,741 +1,3 @@
-Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
-
-ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
-ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
-This program comes with ABSOLUTELY NO WARRANTY;
-This is free software, and you are welcome to redistribute it
-under certain conditions. See LICENSE.txt.
-
-Input sensor was set to: Monocular-Inertial
-Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_720.yaml
-	-Loaded camera 1
-	-Loaded image info
-	-Loaded IMU calibration
-	-Loaded ORB settings
-	-Loaded viewer settings
-	-Loaded Atlas settings
-	-Loaded misc parameters
-----------------------------------
-SLAM settings: 
-	-Camera 1 parameters (Kannala-Brandt): [ 282.907 282.907 480 360 -0.0174584 -0.0280825 0.0128327 -0.0045198 ]
-	-Original image size: [ 960 , 720 ]
-	-Current image size: [ 960 , 720 ]
-	-Sequence FPS: 60
-	-Gyro noise: 0.0015
-	-Accelerometer noise: 0.017
-	-Gyro walk: 5e-05
-	-Accelerometer walk: 0.0055
-	-IMU frequency: 200
-	-Features per image: 1250
-	-ORB scale factor: 1.2
-	-ORB number of scales: 8
-	-Initial FAST threshold: 20
-	-Min FAST threshold: 7
-
-
-Loading ORB Vocabulary. This could take a while...
-Vocabulary loaded!
-
-Initialization of Atlas from file: /map/map_atlas.osa
-Starting to read the save binary file
-End to load the save binary file
-Change to map with id: 0
-Atlas loaded!
-There are 1 cameras in the atlas
-Camera 0 is fisheye
-Discard points further than 20 m from current camera
-Video opened using backend FFMPEG
-There are 949 frames in total
-video FPS 59.9401
-line 1873 keyframes 66MapPoints2425
-line 1877
-mlFrameTimes.size()= 0
-KeyFrame::nNextId=492
-Relocalization() failed.
-Fail to track local map!
-Video FPS: 59.9401
-ORB-SLAM 3 running at: 11.8504 FPS
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd6760fad0
-pKFCur->mTimeStamp0.90090000000000003
-vpKFs.front()->mTimeStamp-63.213141670835412
-vpKFs.back()->mTimeStamp-0.016675004168746455
-pKFcur->GetMapPointMatches().size()1251
-1691 pKFcur->GetVelocity() 0
-0
-0
-pKFcur->mnId492
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp0.95094999999999996
-vpKFs.front()->mTimeStamp-64.130716675004166
-vpKFs.back()->mTimeStamp-0.016675004168751006
-pKFcur->GetMapPointMatches().size()1255
-1691 pKFcur->GetVelocity()  -1.9348509311676025
- -0.7872694730758667
-0.013535082340240479
-pKFcur->mnId493
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.0010000000000001
-vpKFs.front()->mTimeStamp-65.098341679172918
-vpKFs.back()->mTimeStamp-0.016675004168751006
-pKFcur->GetMapPointMatches().size()1258
-1691 pKFcur->GetVelocity()    -4.181638240814209
-  -1.8703808784484863
--0.059612561017274857
-pKFcur->mnId494
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.05105
-vpKFs.front()->mTimeStamp-66.11601668334167
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1251
-1691 pKFcur->GetVelocity()  -6.7179412841796875
- -3.2259509563446045
--0.22379326820373535
-pKFcur->mnId495
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.1511500000000001
-vpKFs.front()->mTimeStamp-67.18374168751042
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1254
-1691 pKFcur->GetVelocity()  -9.4934396743774414
- -4.8317813873291016
--0.49324917793273926
-pKFcur->mnId496
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalization() failed.
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.2178833333333334
-vpKFs.front()->mTimeStamp-68.351566691679167
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1253
-1691 pKFcur->GetVelocity()  -12.760846138000488
- -6.7562894821166992
--0.97895205020904541
-pKFcur->mnId497
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.25125
-vpKFs.front()->mTimeStamp-69.586125029181247
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1255
-1691 pKFcur->GetVelocity() -16.327922821044922
- -9.381256103515625
- -1.738694429397583
-pKFcur->mnId498
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.2846166666666667
-vpKFs.front()->mTimeStamp-70.854050033349992
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1255
-1691 pKFcur->GetVelocity() -20.167478561401367
- -11.87172794342041
--2.5798242092132568
-pKFcur->mnId499
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.3179833333333333
-vpKFs.front()->mTimeStamp-72.155341704185403
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1255
-1691 pKFcur->GetVelocity() -24.234766006469727
--14.665872573852539
--3.5747873783111572
-pKFcur->mnId500
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.3513500000000001
-vpKFs.front()->mTimeStamp-73.490000041687495
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1251
-1691 pKFcur->GetVelocity() -28.398263931274414
--17.502656936645508
--4.6203460693359375
-pKFcur->mnId501
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.3847166666666666
-vpKFs.front()->mTimeStamp-74.858025045856252
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1254
-1691 pKFcur->GetVelocity() -32.640522003173828
--20.606668472290039
--5.7703304290771484
-pKFcur->mnId502
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.4180833333333334
-vpKFs.front()->mTimeStamp-76.259416716691675
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1255
-1691 pKFcur->GetVelocity() -36.984127044677734
--23.811975479125977
--6.9751935005187988
-pKFcur->mnId503
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.4514500000000001
-vpKFs.front()->mTimeStamp-77.694175054193764
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1255
-1691 pKFcur->GetVelocity()      -41.3154296875
--27.149065017700195
--8.2227888107299805
-pKFcur->mnId504
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.4848166666666667
-vpKFs.front()->mTimeStamp-79.162300058362518
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1254
-1691 pKFcur->GetVelocity() -45.636550903320312
--30.628021240234375
- -9.511439323425293
-pKFcur->mnId505
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.5181833333333334
-vpKFs.front()->mTimeStamp-80.663791729197939
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1253
-1691 pKFcur->GetVelocity() -50.135475158691406
--34.466819763183594
--10.950551986694336
-pKFcur->mnId506
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.55155
-vpKFs.front()->mTimeStamp-82.198650066700026
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1251
-1691 pKFcur->GetVelocity() -54.924186706542969
--38.789077758789062
--12.642618179321289
-pKFcur->mnId507
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.5849166666666668
-vpKFs.front()->mTimeStamp-83.766875070868778
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1255
-1691 pKFcur->GetVelocity() -60.051372528076172
--43.568035125732422
--14.581604957580566
-pKFcur->mnId508
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.6182833333333333
-vpKFs.front()->mTimeStamp-85.368466741704196
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1251
-1691 pKFcur->GetVelocity()     -65.85498046875
--48.623004913330078
--16.858810424804688
-pKFcur->mnId509
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.6516500000000001
-vpKFs.front()->mTimeStamp-87.003425079206281
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1254
-1691 pKFcur->GetVelocity() -72.246757507324219
--53.916595458984375
--19.445653915405273
-pKFcur->mnId510
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 24.913251435669714 FPS
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.6850166666666666
-vpKFs.front()->mTimeStamp-88.671750083375031
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1257
-1691 pKFcur->GetVelocity() -79.045616149902344
--59.468166351318359
--22.263494491577148
-pKFcur->mnId511
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.7183833333333334
-vpKFs.front()->mTimeStamp-90.373441754210447
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1257
-1691 pKFcur->GetVelocity() -86.036209106445312
-  -65.2606201171875
--25.225250244140625
-pKFcur->mnId512
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.7517500000000001
-vpKFs.front()->mTimeStamp-92.108500091712529
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1251
-1691 pKFcur->GetVelocity() -93.310401916503906
--71.033287048339844
--28.261343002319336
-pKFcur->mnId513
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.7851166666666667
-vpKFs.front()->mTimeStamp-93.876925095881276
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1253
-1691 pKFcur->GetVelocity() -100.69733428955078
--76.776771545410156
--31.303749084472656
-pKFcur->mnId514
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.8184833333333335
-vpKFs.front()->mTimeStamp-95.67871676671669
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1254
-1691 pKFcur->GetVelocity() -108.21477508544922
--82.431892395019531
--34.339519500732422
-pKFcur->mnId515
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.85185
-vpKFs.front()->mTimeStamp-97.513875104218769
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1254
-1691 pKFcur->GetVelocity()  -115.8099365234375
--87.985984802246094
--37.352775573730469
-pKFcur->mnId516
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.8852166666666668
-vpKFs.front()->mTimeStamp-99.382400108387515
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1253
-1691 pKFcur->GetVelocity() -123.52256011962891
--93.514175415039062
-  -40.3936767578125
-pKFcur->mnId517
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.9185833333333333
-vpKFs.front()->mTimeStamp-101.28429177922293
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1254
-1691 pKFcur->GetVelocity() -131.32073974609375
--99.107681274414062
--43.457996368408203
-pKFcur->mnId518
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.9519500000000001
-vpKFs.front()->mTimeStamp-103.21955011672502
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1254
-1691 pKFcur->GetVelocity()   -139.210205078125
--104.70281982421875
--46.524387359619141
-pKFcur->mnId519
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp1.9853166666666666
-vpKFs.front()->mTimeStamp-105.18817512089377
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1255
-1691 pKFcur->GetVelocity() -147.16468811035156
--110.14128112792969
-   -49.498779296875
-pKFcur->mnId520
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp2.0186833333333332
-vpKFs.front()->mTimeStamp-107.1901667917292
-vpKFs.back()->mTimeStamp-0.016675004168751117
-pKFcur->GetMapPointMatches().size()1255
-1691 pKFcur->GetVelocity() -155.21173095703125
--115.30876159667969
--52.354198455810547
-pKFcur->mnId521
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp2.0520499999999999
-vpKFs.front()->mTimeStamp-109.22552512923129
-vpKFs.back()->mTimeStamp-0.016675004168750895
-pKFcur->GetMapPointMatches().size()1256
-1691 pKFcur->GetVelocity() -163.20785522460938
--120.18764495849609
--55.017429351806641
-pKFcur->mnId522
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp2.0854166666666667
-vpKFs.front()->mTimeStamp-111.29425013340004
-vpKFs.back()->mTimeStamp-0.016675004168750895
-pKFcur->GetMapPointMatches().size()1250
-1691 pKFcur->GetVelocity() -171.14399719238281
--124.66741180419922
--57.467685699462891
-pKFcur->mnId523
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp2.1187833333333335
-vpKFs.front()->mTimeStamp-113.39634180423546
-vpKFs.back()->mTimeStamp-0.016675004168750895
-pKFcur->GetMapPointMatches().size()1255
-1691 pKFcur->GetVelocity() -178.81770324707031
--128.68775939941406
--59.632743835449219
-pKFcur->mnId524
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp2.1521500000000002
-vpKFs.front()->mTimeStamp-115.53180014173755
-vpKFs.back()->mTimeStamp-0.016675004168750895
-pKFcur->GetMapPointMatches().size()1254
-1691 pKFcur->GetVelocity() -186.19097900390625
--132.28250122070312
--61.538578033447266
-pKFcur->mnId525
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp2.1855166666666666
-vpKFs.front()->mTimeStamp-117.7006251459063
-vpKFs.back()->mTimeStamp-0.016675004168750895
-pKFcur->GetMapPointMatches().size()1253
-1691 pKFcur->GetVelocity() -193.22305297851562
--135.50123596191406
--63.217300415039062
-pKFcur->mnId526
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp2.2188833333333333
-vpKFs.front()->mTimeStamp-119.90281681674172
-vpKFs.back()->mTimeStamp-0.016675004168750895
-pKFcur->GetMapPointMatches().size()1254
-1691 pKFcur->GetVelocity() -199.93960571289062
--138.30213928222656
--64.701690673828125
-pKFcur->mnId527
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp2.2522500000000001
-vpKFs.front()->mTimeStamp-122.1383751542438
-vpKFs.back()->mTimeStamp-0.016675004168750895
-pKFcur->GetMapPointMatches().size()1254
-1691 pKFcur->GetVelocity() -206.33616638183594
--140.76216125488281
- -66.04034423828125
-pKFcur->mnId528
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp2.2856166666666669
-vpKFs.front()->mTimeStamp-124.40730015841255
-vpKFs.back()->mTimeStamp-0.016675004168750895
-pKFcur->GetMapPointMatches().size()1252
-1691 pKFcur->GetVelocity() -212.61421203613281
--143.00515747070312
--67.328895568847656
-pKFcur->mnId529
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp2.3189833333333332
-vpKFs.front()->mTimeStamp-126.70959182924797
-vpKFs.back()->mTimeStamp-0.016675004168750895
-pKFcur->GetMapPointMatches().size()1254
-1691 pKFcur->GetVelocity() -218.78254699707031
--145.04716491699219
-     -68.5771484375
-pKFcur->mnId530
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp2.3523499999999999
-vpKFs.front()->mTimeStamp-129.04525016675007
-vpKFs.back()->mTimeStamp-0.016675004168750895
-pKFcur->GetMapPointMatches().size()1256
-1691 pKFcur->GetVelocity() -225.00917053222656
--146.97625732421875
--69.835029602050781
-pKFcur->mnId531
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp2.3857166666666667
-vpKFs.front()->mTimeStamp-131.41427517091881
-vpKFs.back()->mTimeStamp-0.016675004168750895
-pKFcur->GetMapPointMatches().size()1256
-1691 pKFcur->GetVelocity() -231.51109313964844
--148.81422424316406
--71.161476135253906
-pKFcur->mnId532
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp2.4190833333333335
-vpKFs.front()->mTimeStamp-133.81666684175423
-vpKFs.back()->mTimeStamp-0.016675004168750895
-pKFcur->GetMapPointMatches().size()1255
-1691 pKFcur->GetVelocity() -238.37010192871094
--150.46673583984375
--72.563438415527344
-pKFcur->mnId533
-TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
-Fail to track local map!
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55bd684fa840
-pKFCur->mTimeStamp2.4524500000000002
-vpKFs.front()->mTimeStamp-136.25242517925631
-vpKFs.back()->mTimeStamp-0.016675004168750895
-pKFcur->GetMapPointMatches().size()1255
-1691 pKFcur->GetVelocity() -245.53192138671875
--151.96199035644531
--74.033859252929688
-pKFcur->mnId534
-gopro_slam.cc Caught signal 2
+version https://git-lfs.github.com/spec/v1
+oid sha256:2260410e946a9402004a43c110705458404da24afcb4ca7d1ff955e2a9a0b2bb
+size 25297

bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.30.24.645017/extract_gopro_imu_stdout.txt

@@ -1,9 +1,3 @@
-Input video path: /data/raw_video.mp4
-Output file will be: /data/imu_data.json
-Opening /data/raw_video.mp4
-Read stream data from raw_video.mp4
-Extracted information for raw_video.mp4
-Flushing on end after 140965257 bytes
-Generated telemetry for raw_video.mp4
-Telemetry saved as JSON to imu_data.json
-Done
+version https://git-lfs.github.com/spec/v1
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+size 305

bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.30.24.645017/slam_stderr.txt

@@ -1,5 +1,3 @@
-Camera.newHeight optional parameter does not exist...
-Camera.newWidth optional parameter does not exist...
-IMU.InsertKFsWhenLost optional parameter does not exist...
-System.LoadAtlasFromFile optional parameter does not exist...
-System.SaveAtlasToFile optional parameter does not exist...
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a
+size 288

bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.30.24.645017/slam_stdout.txt

@@ -1,169 +1,3 @@
-Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
-
-ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
-ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
-This program comes with ABSOLUTELY NO WARRANTY;
-This is free software, and you are welcome to redistribute it
-under certain conditions. See LICENSE.txt.
-
-Input sensor was set to: Monocular-Inertial
-Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_720.yaml
-	-Loaded camera 1
-	-Loaded image info
-	-Loaded IMU calibration
-	-Loaded ORB settings
-	-Loaded viewer settings
-	-Loaded Atlas settings
-	-Loaded misc parameters
-----------------------------------
-SLAM settings: 
-	-Camera 1 parameters (Kannala-Brandt): [ 282.907 282.907 480 360 -0.0174584 -0.0280825 0.0128327 -0.0045198 ]
-	-Original image size: [ 960 , 720 ]
-	-Current image size: [ 960 , 720 ]
-	-Sequence FPS: 60
-	-Gyro noise: 0.0015
-	-Accelerometer noise: 0.017
-	-Gyro walk: 5e-05
-	-Accelerometer walk: 0.0055
-	-IMU frequency: 200
-	-Features per image: 1250
-	-ORB scale factor: 1.2
-	-ORB number of scales: 8
-	-Initial FAST threshold: 20
-	-Min FAST threshold: 7
-
-
-Loading ORB Vocabulary. This could take a while...
-Vocabulary loaded!
-
-Initialization of Atlas from file: /map/map_atlas.osa
-Starting to read the save binary file
-End to load the save binary file
-Change to map with id: 0
-Atlas loaded!
-There are 1 cameras in the atlas
-Camera 0 is fisheye
-Discard points further than 20 m from current camera
-Video opened using backend FFMPEG
-There are 1122 frames in total
-video FPS 59.9401
-line 1873 keyframes 66MapPoints2425
-line 1877
-mlFrameTimes.size()= 0
-KeyFrame::nNextId=492
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x555a973dcbb0
-pKFCur->mTimeStamp0
-vpKFs.front()->mTimeStamp-63.2131
-vpKFs.back()->mTimeStamp-0.016675
-pKFcur->GetMapPointMatches().size()5212
-1691 pKFcur->GetVelocity() 0
-0
-0
-pKFcur->mnId492
-Video FPS: 59.9401
-ORB-SLAM 3 running at: 1.03218 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 3.4735507468344258 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 5.2890801218100538 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 5.1196579249360878 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 5.7243727787573198 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 7.4170524875210511 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 9.5026605834181268 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 10.467210427083328 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 14.233592901878021 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 14.015973668806971 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 12.671559772577435 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 11.046028524711762 FPS
-Shutdown
-mpLocalMapper is not finished
-mpLoopCloser is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-
-Saving camera trajectory to /data/camera_trajectory.csv ...
-There are 1 maps in the atlas
-  Map 0 has 93 KFs
-
-CSV camera trajectory saved!
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2a61ad354141c7ebb54a7088cde9ffcb88f858a17107c2c1b1afd1c63e65fa8
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bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.31.51.448400/camera_trajectory.csv

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-frame_idx,timestamp,state,is_lost,is_keyframe,x,y,z,q_x,q_y,q_z,q_w
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+version https://git-lfs.github.com/spec/v1
+oid sha256:6f84b129aac2ddfa6559aabcd35db6e0462cc5abae0a5b41666bb54eb0fa8a22
+size 78081

bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.31.51.448400/extract_gopro_imu_stdout.txt

@@ -1,9 +1,3 @@
-Input video path: /data/raw_video.mp4
-Output file will be: /data/imu_data.json
-Opening /data/raw_video.mp4
-Read stream data from raw_video.mp4
-Extracted information for raw_video.mp4
-Flushing on end after 85993424 bytes
-Generated telemetry for raw_video.mp4
-Telemetry saved as JSON to imu_data.json
-Done
+version https://git-lfs.github.com/spec/v1
+oid sha256:30a325a8c75d2b393f88102ddb6232ca134be2a5805bd0df397af7406bf7848b
+size 304

bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.31.51.448400/slam_stderr.txt

@@ -1,5 +1,3 @@
-Camera.newHeight optional parameter does not exist...
-Camera.newWidth optional parameter does not exist...
-IMU.InsertKFsWhenLost optional parameter does not exist...
-System.LoadAtlasFromFile optional parameter does not exist...
-System.SaveAtlasToFile optional parameter does not exist...
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a
+size 288

bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.31.51.448400/slam_stdout.txt

@@ -1,191 +1,3 @@
-Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
-
-ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
-ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
-This program comes with ABSOLUTELY NO WARRANTY;
-This is free software, and you are welcome to redistribute it
-under certain conditions. See LICENSE.txt.
-
-Input sensor was set to: Monocular-Inertial
-Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_720.yaml
-	-Loaded camera 1
-	-Loaded image info
-	-Loaded IMU calibration
-	-Loaded ORB settings
-	-Loaded viewer settings
-	-Loaded Atlas settings
-	-Loaded misc parameters
-----------------------------------
-SLAM settings: 
-	-Camera 1 parameters (Kannala-Brandt): [ 282.907 282.907 480 360 -0.0174584 -0.0280825 0.0128327 -0.0045198 ]
-	-Original image size: [ 960 , 720 ]
-	-Current image size: [ 960 , 720 ]
-	-Sequence FPS: 60
-	-Gyro noise: 0.0015
-	-Accelerometer noise: 0.017
-	-Gyro walk: 5e-05
-	-Accelerometer walk: 0.0055
-	-IMU frequency: 200
-	-Features per image: 1250
-	-ORB scale factor: 1.2
-	-ORB number of scales: 8
-	-Initial FAST threshold: 20
-	-Min FAST threshold: 7
-
-
-Loading ORB Vocabulary. This could take a while...
-Vocabulary loaded!
-
-Initialization of Atlas from file: /map/map_atlas.osa
-Starting to read the save binary file
-End to load the save binary file
-Change to map with id: 0
-Atlas loaded!
-There are 1 cameras in the atlas
-Camera 0 is fisheye
-Discard points further than 20 m from current camera
-Video opened using backend FFMPEG
-There are 685 frames in total
-video FPS 59.9401
-line 1873 keyframes 66MapPoints2425
-line 1877
-mlFrameTimes.size()= 0
-KeyFrame::nNextId=492
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55cb4d3e9ad0
-pKFCur->mTimeStamp0
-vpKFs.front()->mTimeStamp-63.2131
-vpKFs.back()->mTimeStamp-0.016675
-pKFcur->GetMapPointMatches().size()4938
-1691 pKFcur->GetVelocity() 0
-0
-0
-pKFcur->mnId492
-Video FPS: 59.9401
-ORB-SLAM 3 running at: 2.54506 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 5.3458357177319842 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 6.96999037883438 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 8.454825512185721 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 10.862225422764874 FPS
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-No IMU Preintegration for KeyFrame 492, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 7.1620641106009479 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 9.555986350037978 FPS
-Shutdown
-mpLocalMapper is not finished
-mpLoopCloser is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
-
-Saving camera trajectory to /data/camera_trajectory.csv ...
-There are 1 maps in the atlas
-  Map 0 has 82 KFs
-
-CSV camera trajectory saved!
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc689a58135cffe39c8e804ae44ca110c6d918bcc2de885ebb99bf0bce4c6150
+size 7705