Upload raw data (part 13)

bimanual_cloth_folding/sessions/20231225_cheng/demos/demo_C3444250470334_2023.12.25_18.04.13.588600/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/20231225_cheng/demos/demo_C3444250470334_2023.12.25_18.04.13.588600/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 812 frames in total
-video FPS 59.9401
-line 1873 keyframes 81MapPoints2707
-line 1877
-mlFrameTimes.size()= 0
-KeyFrame::nNextId=494
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x55c7562ce330
-pKFCur->mTimeStamp0
-vpKFs.front()->mTimeStamp-59.5762
-vpKFs.back()->mTimeStamp-0.016675
-pKFcur->GetMapPointMatches().size()4886
-1691 pKFcur->GetVelocity() 0
-0
-0
-pKFcur->mnId494
-Video FPS: 59.9401
-ORB-SLAM 3 running at: 5.60701 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 12.582925410620179 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 9.0506128007016322 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 14.020638098868774 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 12.416237732213911 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 12.798902038509286 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 4.3069004025534907 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 13.9267588410129 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 12.191722988058171 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
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-mpLocalMapper is not finished
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-mpLocalMapper is not finished
-mpLocalMapper is not finished
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-mpLocalMapper is not finished
-mpLocalMapper is not finished
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-mpLocalMapper is not finished
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-mpLocalMapper is not finished
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-mpLocalMapper is not finished
-mpLocalMapper is not finished
-mpLocalMapper is not finished
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-mpLocalMapper is not finished
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-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 103 KFs
-
-CSV camera trajectory saved!
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d82c0c27b5e7ce9e7a04ea4de184e1242f32cc7a7bdceb8cca9414c8da2410a
+size 7162

bimanual_cloth_folding/sessions/20231225_cheng/demos/demo_C3444250470334_2023.12.25_18.04.39.698017/camera_trajectory.csv

@@ -1,839 +1,3 @@
-frame_idx,timestamp,state,is_lost,is_keyframe,x,y,z,q_x,q_y,q_z,q_w
-0,0.000000,2,false,false,-0.099726997,0.223424509,0.210630372,-0.174254149,-0.016127063,-0.136204168,0.975102007
-1,0.016683,2,false,false,-0.102448091,0.223906979,0.213979959,0.174894422,0.016114701,0.135804623,-0.975043297
-2,0.033367,2,false,false,-0.102590390,0.223974496,0.213934630,0.175739065,0.016158534,0.136059836,-0.974855065
-3,0.050050,2,false,false,-0.103991814,0.224354833,0.208485425,0.176875234,0.015101575,0.136949942,-0.974541843
-4,0.066733,2,false,false,-0.104371823,0.224173829,0.208372191,0.177011967,0.014635886,0.137599021,-0.974432766
-5,0.083417,2,false,false,-0.104797058,0.224103451,0.208219603,0.176713705,0.014202716,0.138743237,-0.974331021
-6,0.100100,2,false,false,-0.105400406,0.224028170,0.207877800,0.176304877,0.013472114,0.139750645,-0.974271476
-7,0.116783,2,false,false,-0.106200144,0.223630995,0.207428366,0.175837174,0.012502324,0.140887767,-0.974205136
-8,0.133467,2,false,false,-0.107264303,0.223402008,0.206585377,0.175367773,0.011367615,0.141875863,-0.974160254
-9,0.150150,2,false,false,-0.108281940,0.223332852,0.205881581,0.174989104,0.009839536,0.142917857,-0.974092722
-10,0.166833,2,false,false,-0.109393761,0.223193035,0.204975352,0.174306363,0.007857459,0.143932313,-0.974083722
-11,0.183517,2,false,false,-0.110466391,0.223156840,0.203633159,0.173362911,0.005171705,0.144992888,-0.974112809
-12,0.200200,2,false,false,-0.110043414,0.223250195,0.203885108,0.172459438,0.002760226,0.146051049,-0.974124849
-13,0.216883,2,false,false,-0.110937171,0.223578006,0.202086791,0.170992553,-0.000451875,0.147209734,-0.974212885
-14,0.233567,2,false,false,-0.113167048,0.223765880,0.201005742,0.169253856,-0.004145115,0.148464739,-0.974317312
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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.
-ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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-This is free software, and you are welcome to redistribute it
-under certain conditions. See LICENSE.txt.
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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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-Loading ORB Vocabulary. This could take a while...
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-Initialization of Atlas from file: /map/map_atlas.osa
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-Relocalized!!
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-Shutdown
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-CSV camera trajectory saved!
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-System.LoadAtlasFromFile 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.
-ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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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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-	-Original image size: [ 960 , 720 ]
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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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-----------------------------------
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-Saving camera trajectory to /data/camera_trajectory.csv ...
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-
-CSV camera trajectory saved!
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-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 112753753 bytes
-Generated telemetry for raw_video.mp4
-Telemetry saved as JSON to imu_data.json
-Done
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@@ -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
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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.
-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
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-	-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 898 frames in total
-video FPS 59.9401
-line 1873 keyframes 81MapPoints2707
-line 1877
-mlFrameTimes.size()= 0
-KeyFrame::nNextId=494
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x558abda87360
-pKFCur->mTimeStamp0
-vpKFs.front()->mTimeStamp-59.5762
-vpKFs.back()->mTimeStamp-0.016675
-pKFcur->GetMapPointMatches().size()4417
-1691 pKFcur->GetVelocity() 0
-0
-0
-pKFcur->mnId494
-Video FPS: 59.9401
-ORB-SLAM 3 running at: 6.3706 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
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-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, 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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-Shutdown
-mpLocalMapper is not finished
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-
-Saving camera trajectory to /data/camera_trajectory.csv ...
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-CSV camera trajectory saved!
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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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-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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-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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bimanual_cloth_folding/sessions/20231225_cheng/demos/demo_C3444250470334_2023.12.25_18.06.58.486667/extract_gopro_imu_stdout.txt

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-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 104184731 bytes
-Generated telemetry for raw_video.mp4
-Telemetry saved as JSON to imu_data.json
-Done
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bimanual_cloth_folding/sessions/20231225_cheng/demos/demo_C3444250470334_2023.12.25_18.06.58.486667/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...
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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.
-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 829 frames in total
-video FPS 59.9401
-line 1873 keyframes 81MapPoints2707
-line 1877
-mlFrameTimes.size()= 0
-KeyFrame::nNextId=494
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x563fab0f6350
-pKFCur->mTimeStamp0
-vpKFs.front()->mTimeStamp-59.5762
-vpKFs.back()->mTimeStamp-0.016675
-pKFcur->GetMapPointMatches().size()5076
-1691 pKFcur->GetVelocity() 0
-0
-0
-pKFcur->mnId494
-Video FPS: 59.9401
-ORB-SLAM 3 running at: 4.49925 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 16.433404081876805 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
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-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 20.309916737262245 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
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-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 15.526370912176308 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
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-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 23.408775055553118 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
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-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-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: 21.057757702153893 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 28.810240772944187 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 101 KFs
-
-CSV camera trajectory saved!
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-Input video path: /data/raw_video.mp4
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-Opening /data/raw_video.mp4
-Read stream data from raw_video.mp4
-Extracted information for raw_video.mp4
-Flushing on end after 108890440 bytes
-Generated telemetry for raw_video.mp4
-Telemetry saved as JSON to imu_data.json
-Done
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-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...
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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.
-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
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-	-Features per image: 1250
-	-ORB scale factor: 1.2
-	-ORB number of scales: 8
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-	-Min FAST threshold: 7
-
-
-Loading ORB Vocabulary. This could take a while...
-Vocabulary loaded!
-
-Initialization of Atlas from file: /map/map_atlas.osa
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-Atlas loaded!
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-Video opened using backend FFMPEG
-There are 867 frames in total
-video FPS 59.9401
-line 1873 keyframes 81MapPoints2707
-line 1877
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-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x56327a29d340
-pKFCur->mTimeStamp0
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-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
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-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
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-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
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-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
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-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
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-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, 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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-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 99 KFs
-
-CSV camera trajectory saved!
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bimanual_cloth_folding/sessions/20231225_cheng/demos/demo_C3444250470334_2023.12.25_18.07.48.953750/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 104863176 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:b9c03ed39889a6dde732f28e26a725936b3c17b23726cb852e7bb65062b6cc08
+size 305

bimanual_cloth_folding/sessions/20231225_cheng/demos/demo_C3444250470334_2023.12.25_18.07.48.953750/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/20231225_cheng/demos/demo_C3444250470334_2023.12.25_18.07.48.953750/slam_stdout.txt

@@ -1,126 +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 834 frames in total
-video FPS 59.9401
-line 1873 keyframes 81MapPoints2707
-line 1877
-mlFrameTimes.size()= 0
-KeyFrame::nNextId=494
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x555b72398340
-pKFCur->mTimeStamp0
-vpKFs.front()->mTimeStamp-59.5762
-vpKFs.back()->mTimeStamp-0.016675
-pKFcur->GetMapPointMatches().size()4818
-1691 pKFcur->GetVelocity() 0
-0
-0
-pKFcur->mnId494
-Video FPS: 59.9401
-ORB-SLAM 3 running at: 3.78788 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 12.231314560165414 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 14.983635547518599 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 13.687460793979488 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 13.114910789294806 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 15.303137244135753 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 14.048615402182639 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 10.076300264679217 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 13.028198506439505 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 100 KFs
-
-CSV camera trajectory saved!
+version https://git-lfs.github.com/spec/v1
+oid sha256:47338206091d3ff8a4d5bc38fcc63433dff415b0ed7168ce3cdb5576b21940ea
+size 5180

bimanual_cloth_folding/sessions/20231225_cheng/demos/demo_C3444250470334_2023.12.25_18.08.18.333100/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 114030541 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 sha256:0c7ff7401bf49af42914388fb4256d605ace83f10fa62728a6c6b78f2184412b
+size 305

bimanual_cloth_folding/sessions/20231225_cheng/demos/demo_C3444250470334_2023.12.25_18.08.18.333100/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/20231225_cheng/demos/demo_C3444250470334_2023.12.25_18.08.18.333100/slam_stdout.txt

@@ -1,140 +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 908 frames in total
-video FPS 59.9401
-line 1873 keyframes 81MapPoints2707
-line 1877
-mlFrameTimes.size()= 0
-KeyFrame::nNextId=494
-Relocalized!!
-INIT_RELOCALIZE success!
-vpKFs.back()->mpImuPreintegrated0x558f925b6350
-pKFCur->mTimeStamp0
-vpKFs.front()->mTimeStamp-59.5762
-vpKFs.back()->mTimeStamp-0.016675
-pKFcur->GetMapPointMatches().size()5266
-1691 pKFcur->GetVelocity() 0
-0
-0
-pKFcur->mnId494
-Video FPS: 59.9401
-ORB-SLAM 3 running at: 4.39772 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 13.70879887329027 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 12.836120390948691 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 13.29499181779671 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 11.276693441634094 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 13.215266905375795 FPS
-No IMU Preintegration for KeyFrame 494, skipping inertial edge.
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 9.4538097350076331 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 8.187863050359395 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 11.308543708810609 FPS
-Video FPS: 59.940059940059939
-ORB-SLAM 3 running at: 11.53918939502338 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 107 KFs
-
-CSV camera trajectory saved!
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ad3440e6ecee004d41051533dd590c8a85357df249be3bac9ccd892801b3755
+size 6020

bimanual_cloth_folding/sessions/20231225_cheng/demos/demo_C3444250470334_2023.12.25_18.08.44.676083/camera_trajectory.csv

@@ -1,790 +1,3 @@
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+version https://git-lfs.github.com/spec/v1
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+size 90062

bimanual_cloth_folding/sessions/20231225_cheng/demos/demo_C3444250470334_2023.12.25_18.08.44.676083/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 99408650 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 sha256:8bfa5a358ab41a59fbcfb2b51b2229aed1b29aceab590adfe69d59d3be28d661
+size 304