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universal_manipulation_interface

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Upload raw data (part 25)

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  1. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.09.20.635867/slam_stderr.txt +3 -5
  2. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.09.20.635867/slam_stdout.txt +3 -296
  3. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/camera_trajectory.csv +0 -0
  4. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/extract_gopro_imu_stdout.txt +3 -9
  5. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/imu_data.json +0 -0
  6. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/slam_stderr.txt +3 -5
  7. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.05.247100/slam_stdout.txt +3 -153
  8. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/camera_trajectory.csv +0 -0
  9. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/extract_gopro_imu_stdout.txt +3 -9
  10. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/imu_data.json +0 -0
  11. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/slam_stderr.txt +3 -5
  12. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/slam_stdout.txt +3 -143
  13. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/camera_trajectory.csv +0 -0
  14. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/extract_gopro_imu_stdout.txt +3 -9
  15. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/imu_data.json +0 -0
  16. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/slam_stderr.txt +3 -5
  17. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/slam_stdout.txt +0 -0
  18. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/extract_gopro_imu_stdout.txt +3 -9
  19. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/imu_data.json +0 -0
  20. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/slam_stderr.txt +3 -5
  21. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/slam_stdout.txt +3 -2155
  22. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/camera_trajectory.csv +3 -710
  23. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/extract_gopro_imu_stdout.txt +3 -9
  24. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/imu_data.json +0 -0
  25. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/slam_stderr.txt +3 -5
  26. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.34.379417/slam_stdout.txt +0 -0
  27. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.55.667350/camera_trajectory.csv +0 -0
  28. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.55.667350/extract_gopro_imu_stdout.txt +3 -9
  29. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.55.667350/imu_data.json +0 -0
  30. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.55.667350/slam_stderr.txt +3 -5
  31. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.55.667350/slam_stdout.txt +3 -162
  32. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/extract_gopro_imu_stdout.txt +3 -9
  33. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/imu_data.json +0 -0
  34. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/slam_stderr.txt +3 -5
  35. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/slam_stdout.txt +3 -1321
  36. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/extract_gopro_imu_stdout.txt +3 -9
  37. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/imu_data.json +0 -0
  38. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/slam_stderr.txt +3 -5
  39. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/slam_stdout.txt +0 -0
  40. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/extract_gopro_imu_stdout.txt +3 -9
  41. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/imu_data.json +0 -0
  42. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/slam_stderr.txt +3 -5
  43. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/slam_stdout.txt +0 -0
  44. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/camera_trajectory.csv +3 -1256
  45. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/extract_gopro_imu_stdout.txt +3 -9
  46. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/imu_data.json +0 -0
  47. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/slam_stderr.txt +3 -5
  48. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/slam_stdout.txt +3 -2668
  49. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.15.37.195383/extract_gopro_imu_stdout.txt +3 -9
  50. bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.15.37.195383/imu_data.json +0 -0
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.09.20.635867/slam_stderr.txt CHANGED
@@ -1,5 +1,3 @@
1
- Camera.newHeight optional parameter does not exist...
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- Camera.newWidth optional parameter does not exist...
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- IMU.InsertKFsWhenLost optional parameter does not exist...
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- System.LoadAtlasFromFile optional parameter does not exist...
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- System.SaveAtlasToFile optional parameter does not exist...
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a
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+ size 288
 
 
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.09.20.635867/slam_stdout.txt CHANGED
@@ -1,296 +1,3 @@
1
- Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
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-
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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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- 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 program comes with ABSOLUTELY NO WARRANTY;
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- This is free software, and you are welcome to redistribute it
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- under certain conditions. See LICENSE.txt.
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-
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- Input sensor was set to: Monocular-Inertial
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- Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_720.yaml
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- -Loaded camera 1
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- -Loaded image info
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- -Loaded IMU calibration
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- -Loaded ORB settings
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- -Loaded viewer settings
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- -Loaded Atlas settings
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- -Loaded misc parameters
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- ----------------------------------
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- SLAM settings:
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- -Camera 1 parameters (Kannala-Brandt): [ 282.907 282.907 480 360 -0.0174584 -0.0280825 0.0128327 -0.0045198 ]
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- -Original image size: [ 960 , 720 ]
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- -Current image size: [ 960 , 720 ]
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- -Sequence FPS: 60
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- -Gyro noise: 0.0015
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- -Accelerometer noise: 0.017
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- -Gyro walk: 5e-05
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- -Accelerometer walk: 0.0055
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- -IMU frequency: 200
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- -Features per image: 1250
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- -ORB scale factor: 1.2
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- -ORB number of scales: 8
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- -Initial FAST threshold: 20
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- -Min FAST threshold: 7
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-
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-
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- Loading ORB Vocabulary. This could take a while...
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- Vocabulary loaded!
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-
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- Initialization of Atlas from file: /map/map_atlas.osa
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- Starting to read the save binary file
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- End to load the save binary file
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- Change to map with id: 0
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- Atlas loaded!
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- There are 1 cameras in the atlas
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- Camera 0 is fisheye
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- Discard points further than 20 m from current camera
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- Video opened using backend FFMPEG
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- There are 1754 frames in total
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- video FPS 59.9401
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- line 1873 keyframes 66MapPoints2425
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- line 1877
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- mlFrameTimes.size()= 0
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- KeyFrame::nNextId=492
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- Relocalized!!
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- INIT_RELOCALIZE success!
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- vpKFs.back()->mpImuPreintegrated0x558c2ce21bc0
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- pKFCur->mTimeStamp0
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- vpKFs.front()->mTimeStamp-63.2131
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- vpKFs.back()->mTimeStamp-0.016675
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- pKFcur->GetMapPointMatches().size()5234
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- 1691 pKFcur->GetVelocity() 0
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- 0
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- 0
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- pKFcur->mnId492
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- Video FPS: 59.9401
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- ORB-SLAM 3 running at: 6.68959 FPS
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 13.004740474993204 FPS
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 11.222865538073611 FPS
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 10.911920310507858 FPS
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 9.2572039028482731 FPS
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 14.141165514013196 FPS
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 13.694831415872056 FPS
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 10.410373920955633 FPS
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 11.498176527180908 FPS
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 10.487527503409783 FPS
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 12.007866449373916 FPS
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 11.052567625300805 FPS
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 14.670964594209043 FPS
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 16.25642943816333 FPS
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 14.575645105663076 FPS
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 16.468361790278244 FPS
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 13.070640985018143 FPS
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 11.963362871155407 FPS
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- Shutdown
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- 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
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- mpLocalMapper is not finished
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-
292
- Saving camera trajectory to /data/camera_trajectory.csv ...
293
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-
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- CSV camera trajectory saved!
 
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- Input video path: /data/raw_video.mp4
2
- Output file will be: /data/imu_data.json
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6
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- Telemetry saved as JSON to imu_data.json
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- Done
 
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- Mask img size mismatch! Converting [2704 x 2028] to [640 x 480]
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-
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6
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- Video FPS: 59.940059940059939
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- Video FPS: 59.940059940059939
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- Shutdown
146
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147
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148
-
149
- Saving camera trajectory to /data/camera_trajectory.csv ...
150
- There are 1 maps in the atlas
151
- Map 0 has 91 KFs
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-
153
- CSV camera trajectory saved!
 
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bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.10.46.771917/extract_gopro_imu_stdout.txt CHANGED
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- Generated telemetry for raw_video.mp4
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- Telemetry saved as JSON to imu_data.json
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- Done
 
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6
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8
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9
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- ----------------------------------
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38
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- Shutdown
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137
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138
-
139
- Saving camera trajectory to /data/camera_trajectory.csv ...
140
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141
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142
-
143
- CSV camera trajectory saved!
 
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bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/camera_trajectory.csv CHANGED
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bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/extract_gopro_imu_stdout.txt CHANGED
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7
- Generated telemetry for raw_video.mp4
8
- Telemetry saved as JSON to imu_data.json
9
- Done
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bbc3923da765d2314ad7adf6d1d4e968eaaa061cdd7f5ee8a6e671e79544689e
3
+ size 305
 
 
 
 
 
 
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/imu_data.json CHANGED
The diff for this file is too large to render. See raw diff
 
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/slam_stderr.txt CHANGED
@@ -1,5 +1,3 @@
1
- Camera.newHeight optional parameter does not exist...
2
- Camera.newWidth optional parameter does not exist...
3
- IMU.InsertKFsWhenLost optional parameter does not exist...
4
- System.LoadAtlasFromFile optional parameter does not exist...
5
- System.SaveAtlasToFile optional parameter does not exist...
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a
3
+ size 288
 
 
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.11.22.991433/slam_stdout.txt CHANGED
The diff for this file is too large to render. See raw diff
 
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/extract_gopro_imu_stdout.txt CHANGED
@@ -1,9 +1,3 @@
1
- Input video path: /data/raw_video.mp4
2
- Output file will be: /data/imu_data.json
3
- Opening /data/raw_video.mp4
4
- Read stream data from raw_video.mp4
5
- Extracted information for raw_video.mp4
6
- Flushing on end after 127889942 bytes
7
- Generated telemetry for raw_video.mp4
8
- Telemetry saved as JSON to imu_data.json
9
- Done
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:adc9246beec171dc4d6b66d63e519565c059f2c1aaeeecbe5914157aafc41a21
3
+ size 305
 
 
 
 
 
 
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/imu_data.json CHANGED
The diff for this file is too large to render. See raw diff
 
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/slam_stderr.txt CHANGED
@@ -1,5 +1,3 @@
1
- Camera.newHeight optional parameter does not exist...
2
- Camera.newWidth optional parameter does not exist...
3
- IMU.InsertKFsWhenLost optional parameter does not exist...
4
- System.LoadAtlasFromFile optional parameter does not exist...
5
- System.SaveAtlasToFile optional parameter does not exist...
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a
3
+ size 288
 
 
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.12.05.800867/slam_stdout.txt CHANGED
@@ -1,2155 +1,3 @@
1
- Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
2
-
3
- ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
- ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
- This program comes with ABSOLUTELY NO WARRANTY;
6
- This is free software, and you are welcome to redistribute it
7
- under certain conditions. See LICENSE.txt.
8
-
9
- Input sensor was set to: Monocular-Inertial
10
- Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_720.yaml
11
- -Loaded camera 1
12
- -Loaded image info
13
- -Loaded IMU calibration
14
- -Loaded ORB settings
15
- -Loaded viewer settings
16
- -Loaded Atlas settings
17
- -Loaded misc parameters
18
- ----------------------------------
19
- SLAM settings:
20
- -Camera 1 parameters (Kannala-Brandt): [ 282.907 282.907 480 360 -0.0174584 -0.0280825 0.0128327 -0.0045198 ]
21
- -Original image size: [ 960 , 720 ]
22
- -Current image size: [ 960 , 720 ]
23
- -Sequence FPS: 60
24
- -Gyro noise: 0.0015
25
- -Accelerometer noise: 0.017
26
- -Gyro walk: 5e-05
27
- -Accelerometer walk: 0.0055
28
- -IMU frequency: 200
29
- -Features per image: 1250
30
- -ORB scale factor: 1.2
31
- -ORB number of scales: 8
32
- -Initial FAST threshold: 20
33
- -Min FAST threshold: 7
34
-
35
-
36
- Loading ORB Vocabulary. This could take a while...
37
- Vocabulary loaded!
38
-
39
- Initialization of Atlas from file: /map/map_atlas.osa
40
- Starting to read the save binary file
41
- End to load the save binary file
42
- Change to map with id: 0
43
- Atlas loaded!
44
- There are 1 cameras in the atlas
45
- Camera 0 is fisheye
46
- Discard points further than 20 m from current camera
47
- Video opened using backend FFMPEG
48
- There are 1020 frames in total
49
- video FPS 59.9401
50
- line 1873 keyframes 66MapPoints2425
51
- line 1877
52
- mlFrameTimes.size()= 0
53
- KeyFrame::nNextId=492
54
- Relocalization() failed.
55
- Fail to track local map!
56
- Video FPS: 59.9401
57
- ORB-SLAM 3 running at: 6.32573 FPS
58
- Relocalization() failed.
59
- Fail to track local map!
60
- Relocalization() failed.
61
- Fail to track local map!
62
- Relocalization() failed.
63
- Fail to track local map!
64
- Relocalization() failed.
65
- Fail to track local map!
66
- Relocalization() failed.
67
- Fail to track local map!
68
- Relocalization() failed.
69
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70
- Relocalization() failed.
71
- Fail to track local map!
72
- Relocalization() failed.
73
- Fail to track local map!
74
- Relocalization() failed.
75
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76
- Relocalization() failed.
77
- Fail to track local map!
78
- Relocalization() failed.
79
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80
- Relocalization() failed.
81
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- Relocalization() failed.
83
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85
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86
- Relocalization() failed.
87
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90
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91
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92
- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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256
- Relocalization() failed.
257
- Fail to track local map!
258
- Video FPS: 59.940059940059939
259
- ORB-SLAM 3 running at: 17.636665951264707 FPS
260
- Relocalization() failed.
261
- Fail to track local map!
262
- Relocalization() failed.
263
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- Relocalization() failed.
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458
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459
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460
- Video FPS: 59.940059940059939
461
- ORB-SLAM 3 running at: 20.583760808301232 FPS
462
- Relocalization() failed.
463
- Fail to track local map!
464
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- Relocalization() failed.
537
- Fail to track local map!
538
- Relocalization() failed.
539
- Fail to track local map!
540
- Relocalization() failed.
541
- Fail to track local map!
542
- Relocalization() failed.
543
- Fail to track local map!
544
- Relocalization() failed.
545
- Fail to track local map!
546
- Relocalization() failed.
547
- Fail to track local map!
548
- Relocalization() failed.
549
- Fail to track local map!
550
- Relocalization() failed.
551
- Fail to track local map!
552
- Relocalization() failed.
553
- Fail to track local map!
554
- Relocalization() failed.
555
- Fail to track local map!
556
- Relocalization() failed.
557
- Fail to track local map!
558
- Relocalization() failed.
559
- Fail to track local map!
560
- Relocalization() failed.
561
- Fail to track local map!
562
- Relocalization() failed.
563
- Fail to track local map!
564
- Relocalization() failed.
565
- Fail to track local map!
566
- Relocalization() failed.
567
- Fail to track local map!
568
- Relocalization() failed.
569
- Fail to track local map!
570
- Relocalization() failed.
571
- Fail to track local map!
572
- Relocalization() failed.
573
- Fail to track local map!
574
- Relocalization() failed.
575
- Fail to track local map!
576
- Relocalization() failed.
577
- Fail to track local map!
578
- Relocalization() failed.
579
- Fail to track local map!
580
- Relocalization() failed.
581
- Fail to track local map!
582
- Relocalization() failed.
583
- Fail to track local map!
584
- Relocalization() failed.
585
- Fail to track local map!
586
- Relocalization() failed.
587
- Fail to track local map!
588
- Relocalization() failed.
589
- Fail to track local map!
590
- Relocalization() failed.
591
- Fail to track local map!
592
- Relocalization() failed.
593
- Fail to track local map!
594
- Relocalization() failed.
595
- Fail to track local map!
596
- Relocalization() failed.
597
- Fail to track local map!
598
- Relocalization() failed.
599
- Fail to track local map!
600
- Relocalization() failed.
601
- Fail to track local map!
602
- Relocalization() failed.
603
- Fail to track local map!
604
- Relocalization() failed.
605
- Fail to track local map!
606
- Relocalization() failed.
607
- Fail to track local map!
608
- Relocalization() failed.
609
- Fail to track local map!
610
- Relocalization() failed.
611
- Fail to track local map!
612
- Relocalization() failed.
613
- Fail to track local map!
614
- Relocalization() failed.
615
- Fail to track local map!
616
- Relocalization() failed.
617
- Fail to track local map!
618
- Relocalization() failed.
619
- Fail to track local map!
620
- Relocalization() failed.
621
- Fail to track local map!
622
- Relocalization() failed.
623
- Fail to track local map!
624
- Relocalization() failed.
625
- Fail to track local map!
626
- Relocalization() failed.
627
- Fail to track local map!
628
- Relocalization() failed.
629
- Fail to track local map!
630
- Relocalization() failed.
631
- Fail to track local map!
632
- Relocalization() failed.
633
- Fail to track local map!
634
- Relocalization() failed.
635
- Fail to track local map!
636
- Relocalization() failed.
637
- Fail to track local map!
638
- Relocalization() failed.
639
- Fail to track local map!
640
- Relocalization() failed.
641
- Fail to track local map!
642
- Relocalization() failed.
643
- Fail to track local map!
644
- Relocalization() failed.
645
- Fail to track local map!
646
- Relocalization() failed.
647
- Fail to track local map!
648
- Relocalization() failed.
649
- Fail to track local map!
650
- Relocalization() failed.
651
- Fail to track local map!
652
- Relocalization() failed.
653
- Fail to track local map!
654
- Relocalization() failed.
655
- Fail to track local map!
656
- Relocalization() failed.
657
- Fail to track local map!
658
- Relocalization() failed.
659
- Fail to track local map!
660
- Relocalization() failed.
661
- Fail to track local map!
662
- Video FPS: 59.940059940059939
663
- ORB-SLAM 3 running at: 16.370583116405371 FPS
664
- Relocalization() failed.
665
- Fail to track local map!
666
- Relocalization() failed.
667
- Fail to track local map!
668
- Relocalization() failed.
669
- Fail to track local map!
670
- Relocalization() failed.
671
- Fail to track local map!
672
- Relocalization() failed.
673
- Fail to track local map!
674
- Relocalization() failed.
675
- Fail to track local map!
676
- Relocalization() failed.
677
- Fail to track local map!
678
- Relocalization() failed.
679
- Fail to track local map!
680
- Relocalization() failed.
681
- Fail to track local map!
682
- Relocalization() failed.
683
- Fail to track local map!
684
- Relocalization() failed.
685
- Fail to track local map!
686
- Relocalization() failed.
687
- Fail to track local map!
688
- Relocalization() failed.
689
- Fail to track local map!
690
- Relocalization() failed.
691
- Fail to track local map!
692
- Relocalization() failed.
693
- Fail to track local map!
694
- Relocalization() failed.
695
- Fail to track local map!
696
- Relocalization() failed.
697
- Fail to track local map!
698
- Relocalization() failed.
699
- Fail to track local map!
700
- Relocalization() failed.
701
- Fail to track local map!
702
- Relocalization() failed.
703
- Fail to track local map!
704
- Relocalization() failed.
705
- Fail to track local map!
706
- Relocalization() failed.
707
- Fail to track local map!
708
- Relocalization() failed.
709
- Fail to track local map!
710
- Relocalization() failed.
711
- Fail to track local map!
712
- Relocalization() failed.
713
- Fail to track local map!
714
- Relocalization() failed.
715
- Fail to track local map!
716
- Relocalization() failed.
717
- Fail to track local map!
718
- Relocalization() failed.
719
- Fail to track local map!
720
- Relocalization() failed.
721
- Fail to track local map!
722
- Relocalization() failed.
723
- Fail to track local map!
724
- Relocalization() failed.
725
- Fail to track local map!
726
- Relocalization() failed.
727
- Fail to track local map!
728
- Relocalized!!
729
- INIT_RELOCALIZE success!
730
- vpKFs.back()->mpImuPreintegrated0x556d40acbac0
731
- pKFCur->mTimeStamp5.5555500000000002
732
- vpKFs.front()->mTimeStamp-63.213141670835412
733
- vpKFs.back()->mTimeStamp-0.016675004168746455
734
- pKFcur->GetMapPointMatches().size()1256
735
- 1691 pKFcur->GetVelocity() 0
736
- 0
737
- 0
738
- pKFcur->mnId492
739
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 20
740
- Fail to track local map!
741
- Relocalization() failed.
742
- Fail to track local map!
743
- Relocalization() failed.
744
- Fail to track local map!
745
- Relocalization() failed.
746
- Fail to track local map!
747
- Relocalization() failed.
748
- Fail to track local map!
749
- Relocalization() failed.
750
- Fail to track local map!
751
- Relocalization() failed.
752
- Fail to track local map!
753
- Relocalized!!
754
- INIT_RELOCALIZE success!
755
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
756
- pKFCur->mTimeStamp5.6890166666666664
757
- vpKFs.front()->mTimeStamp-68.78536667500417
758
- vpKFs.back()->mTimeStamp-0.016675004168750895
759
- pKFcur->GetMapPointMatches().size()1256
760
- 1691 pKFcur->GetVelocity() 1.0375455617904663
761
- 1.0615981817245483
762
- 0.49523478746414185
763
- pKFcur->mnId493
764
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
765
- Fail to track local map!
766
- Relocalized!!
767
- INIT_RELOCALIZE success!
768
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
769
- pKFCur->mTimeStamp5.8391666666666664
770
- vpKFs.front()->mTimeStamp-74.491058345839591
771
- vpKFs.back()->mTimeStamp-0.016675004168750895
772
- pKFcur->GetMapPointMatches().size()1255
773
- 1691 pKFcur->GetVelocity() -6.5863494873046875
774
- -1.6508020162582397
775
- -5.6815972328186035
776
- pKFcur->mnId494
777
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 29
778
- Fail to track local map!
779
- Relocalized!!
780
- INIT_RELOCALIZE success!
781
- vpKFs.back()->mpImuPreintegrated0CurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
782
- Fail to track local map!
783
- Relocalized!!
784
- INIT_RELOCALIZE success!
785
- vpKFs.back()->mpImuPreintegrated0x560e152817b0
786
- pKFCur->mTimeStamp5.7557499999999999
787
- vpKFs.front()->mTimeStamp-85.902441687510432
788
- vpKFs.back()->mTimeStamp-0.016675004168750895
789
- pKFcur->GetMapPointMatches().size()1254
790
- 1691 pKFcur->GetVelocity() -41.803611755371094
791
- -10.73001766204834
792
- -16.053779602050781
793
- pKFcur->mnId496
794
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
795
- Fail to track local map!
796
- Relocalized!!
797
- INIT_RELOCALIZE success!
798
- vpKFs.back()->mpImuPreintegrated0x560e152817b0
799
- pKFCur->mTimeStamp5.7891166666666667
800
- vpKFs.front()->mTimeStamp-91.674866691679185
801
- vpKFs.back()->mTimeStamp-0.016675004168750895
802
- pKFcur->GetMapPointMatches().size()1253
803
- 1691 pKFcur->GetVelocity() -50.967723846435547
804
- -13.199945449829102
805
- -20.227190017700195
806
- pKFcur->mnId497
807
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 3
808
- Fail to track local map!
809
- Relocalized!!
810
- INIT_RELOCALIZE success!
811
- vpKFs.back()->mpImuPreintegrated0x560e152817b0
812
- pKFCur->mTimeStamp5.8224833333333335
813
- vpKFs.front()->mTimeStamp-97.480658362514603
814
- vpKFs.back()->mTimeStamp-0.016675004168750895
815
- pKFcur->GetMapPointMatches().size()1255
816
- 1691 pKFcur->GetVelocity() -60.212665557861328
817
- -15.006028175354004
818
- -24.38099479675293
819
- pKFcur->mnId498
820
- gopro_slam.cc Caught signal 2
821
- 107111930847168
822
- 5.0326046943664551
823
- pKFcur->mnId503
824
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 17
825
- Fail to track local map!
826
- Relocalized!!
827
- INIT_RELOCALIZE success!
828
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
829
- pKFCur->mTimeStamp6.7567500000000003
830
- vpKFs.front()->mTimeStamp-137.67075838752709
831
- vpKFs.back()->mTimeStamp-0.016675004168750895
832
- pKFcur->GetMapPointMatches().size()1257
833
- 1691 pKFcur->GetVelocity() -5.2387871742248535
834
- -11.892905235290527
835
- -4.2640748023986816
836
- pKFcur->mnId504
837
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 15
838
- Fail to track local map!
839
- Relocalized!!
840
- INIT_RELOCALIZE success!
841
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
842
- pKFCur->mTimeStamp6.790116666666667
843
- vpKFs.front()->mTimeStamp-144.44418339169584
844
- vpKFs.back()->mTimeStamp-0.016675004168750895
845
- pKFcur->GetMapPointMatches().size()1257
846
- 1691 pKFcur->GetVelocity() 7.5332531929016113
847
- 18.856513977050781
848
- 7.8814754486083984
849
- pKFcur->mnId505
850
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 11
851
- Fail to track local map!
852
- Relocalized!!
853
- INIT_RELOCALIZE success!
854
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
855
- pKFCur->mTimeStamp6.8234833333333338
856
- vpKFs.front()->mTimeStamp-151.25097506253127
857
- vpKFs.back()->mTimeStamp-0.016675004168750895
858
- pKFcur->GetMapPointMatches().size()1256
859
- 1691 pKFcur->GetVelocity() -9.3261823654174805
860
- -22.255535125732422
861
- -8.5737142562866211
862
- pKFcur->mnId506
863
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
864
- Fail to track local map!
865
- Relocalized!!
866
- INIT_RELOCALIZE success!
867
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
868
- pKFCur->mTimeStamp6.8568500000000006
869
- vpKFs.front()->mTimeStamp-158.09113340003336
870
- vpKFs.back()->mTimeStamp-0.016675004168750895
871
- pKFcur->GetMapPointMatches().size()1253
872
- 1691 pKFcur->GetVelocity() -5.2838239669799805
873
- -34.049201965332031
874
- -11.368683815002441
875
- pKFcur->mnId507
876
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 8
877
- Fail to track local map!
878
- Relocalized!!
879
- INIT_RELOCALIZE success!
880
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
881
- pKFCur->mTimeStamp6.8902166666666664
882
- vpKFs.front()->mTimeStamp-164.96465840420211
883
- vpKFs.back()->mTimeStamp-0.016675004168750895
884
- pKFcur->GetMapPointMatches().size()1255
885
- 1691 pKFcur->GetVelocity() 7.5056705474853516
886
- 49.091564178466797
887
- 17.724994659423828
888
- pKFcur->mnId508
889
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
890
- Fail to track local map!
891
- Relocalized!!
892
- INIT_RELOCALIZE success!
893
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
894
- pKFCur->mTimeStamp6.9235833333333332
895
- vpKFs.front()->mTimeStamp-171.87155007503753
896
- vpKFs.back()->mTimeStamp-0.016675004168750895
897
- pKFcur->GetMapPointMatches().size()1255
898
- 1691 pKFcur->GetVelocity() 14.145916938781738
899
- 36.740032196044922
900
- 14.572372436523438
901
- pKFcur->mnId509
902
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
903
- Fail to track local map!
904
- Relocalized!!
905
- INIT_RELOCALIZE success!
906
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
907
- pKFCur->mTimeStamp6.95695
908
- vpKFs.front()->mTimeStamp-178.81180841253962
909
- vpKFs.back()->mTimeStamp-0.016675004168750895
910
- pKFcur->GetMapPointMatches().size()1254
911
- 1691 pKFcur->GetVelocity() 21.998668670654297
912
- 24.404973983764648
913
- 11.266566276550293
914
- pKFcur->mnId510
915
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
916
- Fail to track local map!
917
- Relocalized!!
918
- INIT_RELOCALIZE success!
919
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
920
- pKFCur->mTimeStamp6.9903166666666667
921
- vpKFs.front()->mTimeStamp-185.78543341670837
922
- vpKFs.back()->mTimeStamp-0.016675004168750895
923
- pKFcur->GetMapPointMatches().size()1253
924
- 1691 pKFcur->GetVelocity() 30.779197692871094
925
- 11.949825286865234
926
- 7.7994484901428223
927
- pKFcur->mnId511
928
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
929
- Fail to track local map!
930
- Relocalized!!
931
- INIT_RELOCALIZE success!
932
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
933
- pKFCur->mTimeStamp7.0236833333333335
934
- vpKFs.front()->mTimeStamp-192.79242508754379
935
- vpKFs.back()->mTimeStamp-0.016675004168750895
936
- pKFcur->GetMapPointMatches().size()1252
937
- 1691 pKFcur->GetVelocity() 40.113945007324219
938
- -0.7972027063369751
939
- 4.185938835144043
940
- pKFcur->mnId512
941
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
942
- Fail to track local map!
943
- Relocalized!!
944
- INIT_RELOCALIZE success!
945
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
946
- pKFCur->mTimeStamp7.0570500000000003
947
- vpKFs.front()->mTimeStamp-199.83278342504587
948
- vpKFs.back()->mTimeStamp-0.016675004168750895
949
- pKFcur->GetMapPointMatches().size()1254
950
- 1691 pKFcur->GetVelocity() 49.713493347167969
951
- -13.195880889892578
952
- 0.59974628686904907
953
- pKFcur->mnId513
954
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 2
955
- Fail to track local map!
956
- Relocalized!!
957
- INIT_RELOCALIZE success!
958
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
959
- pKFCur->mTimeStamp7.090416666666667
960
- vpKFs.front()->mTimeStamp-206.90650842921463
961
- vpKFs.back()->mTimeStamp-0.016675004168750895
962
- pKFcur->GetMapPointMatches().size()1256
963
- 1691 pKFcur->GetVelocity() 59.560989379882812
964
- -24.804731369018555
965
- -2.8999736309051514
966
- pKFcur->mnId514
967
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 6
968
- Fail to track local map!
969
- Relocalized!!
970
- INIT_RELOCALIZE success!
971
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
972
- pKFCur->mTimeStamp7.1237833333333338
973
- vpKFs.front()->mTimeStamp-214.01360010005004
974
- vpKFs.back()->mTimeStamp-0.016675004168750895
975
- pKFcur->GetMapPointMatches().size()1252
976
- 1691 pKFcur->GetVelocity() 70.205886840820312
977
- -36.464565277099609
978
- -6.4915652275085449
979
- pKFcur->mnId515
980
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
981
- Fail to track local map!
982
- Relocalized!!
983
- INIT_RELOCALIZE success!
984
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
985
- pKFCur->mTimeStamp7.1571500000000006
986
- vpKFs.front()->mTimeStamp-221.15405843755212
987
- vpKFs.back()->mTimeStamp-0.016675004168750895
988
- pKFcur->GetMapPointMatches().size()1256
989
- 1691 pKFcur->GetVelocity() 81.646400451660156
990
- -47.638633728027344
991
- -10.125537872314453
992
- pKFcur->mnId516
993
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
994
- Fail to track local map!
995
- Relocalized!!
996
- INIT_RELOCALIZE success!
997
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
998
- pKFCur->mTimeStamp7.1905166666666664
999
- vpKFs.front()->mTimeStamp-228.32788344172087
1000
- vpKFs.back()->mTimeStamp-0.016675004168750895
1001
- pKFcur->GetMapPointMatches().size()1252
1002
- 1691 pKFcur->GetVelocity() 94.303756713867188
1003
- -58.935962677001953
1004
- -13.998278617858887
1005
- pKFcur->mnId517
1006
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
1007
- Fail to track local map!
1008
- Relocalized!!
1009
- INIT_RELOCALIZE success!
1010
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1011
- pKFCur->mTimeStamp7.2238833333333332
1012
- vpKFs.front()->mTimeStamp-235.53507511255629
1013
- vpKFs.back()->mTimeStamp-0.016675004168750895
1014
- pKFcur->GetMapPointMatches().size()1253
1015
- 1691 pKFcur->GetVelocity() 108.25710296630859
1016
- -70.258338928222656
1017
- -18.130531311035156
1018
- pKFcur->mnId518
1019
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 2
1020
- Fail to track local map!
1021
- Relocalized!!
1022
- INIT_RELOCALIZE success!
1023
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1024
- pKFCur->mTimeStamp7.25725
1025
- vpKFs.front()->mTimeStamp-242.77563345005836
1026
- vpKFs.back()->mTimeStamp-0.016675004168750895
1027
- pKFcur->GetMapPointMatches().size()1252
1028
- 1691 pKFcur->GetVelocity() 123.34716796875
1029
- -81.318519592285156
1030
- -22.459388732910156
1031
- pKFcur->mnId519
1032
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 3
1033
- Fail to track local map!
1034
- Relocalized!!
1035
- INIT_RELOCALIZE success!
1036
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1037
- pKFCur->mTimeStamp7.2906166666666667
1038
- vpKFs.front()->mTimeStamp-250.04955845422711
1039
- vpKFs.back()->mTimeStamp-0.016675004168750895
1040
- pKFcur->GetMapPointMatches().size()1257
1041
- 1691 pKFcur->GetVelocity() 139.1737060546875
1042
- -91.935882568359375
1043
- -26.902374267578125
1044
- pKFcur->mnId520
1045
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
1046
- Fail to track local map!
1047
- Relocalization() failed.
1048
- Fail to track local map!
1049
- Relocalized!!
1050
- INIT_RELOCALIZE success!
1051
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1052
- pKFCur->mTimeStamp7.3406666666666665
1053
- vpKFs.front()->mTimeStamp-257.35685012506252
1054
- vpKFs.back()->mTimeStamp-0.016675004168750895
1055
- pKFcur->GetMapPointMatches().size()1251
1056
- 1691 pKFcur->GetVelocity() 156.28211975097656
1057
- -102.369384765625
1058
- -31.603824615478516
1059
- pKFcur->mnId521
1060
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1061
- Fail to track local map!
1062
- Relocalized!!
1063
- INIT_RELOCALIZE success!
1064
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1065
- pKFCur->mTimeStamp7.3740333333333332
1066
- vpKFs.front()->mTimeStamp-264.71419179589793
1067
- vpKFs.back()->mTimeStamp-0.016675004168750895
1068
- pKFcur->GetMapPointMatches().size()1251
1069
- 1691 pKFcur->GetVelocity() 174.7391357421875
1070
- -111.89125823974609
1071
- -36.517257690429688
1072
- pKFcur->mnId522
1073
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
1074
- Fail to track local map!
1075
- Relocalized!!
1076
- INIT_RELOCALIZE success!
1077
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1078
- pKFCur->mTimeStamp7.4074
1079
- vpKFs.front()->mTimeStamp-272.10490013340001
1080
- vpKFs.back()->mTimeStamp-0.016675004168750895
1081
- pKFcur->GetMapPointMatches().size()1251
1082
- 1691 pKFcur->GetVelocity() 194.31460571289062
1083
- -121.02479553222656
1084
- -41.681747436523438
1085
- pKFcur->mnId523
1086
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 3
1087
- Fail to track local map!
1088
- Relocalized!!
1089
- INIT_RELOCALIZE success!
1090
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1091
- pKFCur->mTimeStamp7.4407666666666668
1092
- vpKFs.front()->mTimeStamp-279.52897513756875
1093
- vpKFs.back()->mTimeStamp-0.016675004168750895
1094
- pKFcur->GetMapPointMatches().size()1258
1095
- 1691 pKFcur->GetVelocity() 214.9539794921875
1096
- -129.58442687988281
1097
- -47.103950500488281
1098
- pKFcur->mnId524
1099
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 4
1100
- Fail to track local map!
1101
- Relocalized!!
1102
- INIT_RELOCALIZE success!
1103
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1104
- pKFCur->mTimeStamp7.4741333333333335
1105
- vpKFs.front()->mTimeStamp-286.98641680840416
1106
- vpKFs.back()->mTimeStamp-0.016675004168750895
1107
- pKFcur->GetMapPointMatches().size()1252
1108
- 1691 pKFcur->GetVelocity() 237.41383361816406
1109
- -137.60205078125
1110
- -52.979808807373047
1111
- pKFcur->mnId525
1112
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
1113
- Fail to track local map!
1114
- Relocalized!!
1115
- INIT_RELOCALIZE success!
1116
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1117
- pKFCur->mTimeStamp7.5075000000000003
1118
- vpKFs.front()->mTimeStamp-294.47722514590623
1119
- vpKFs.back()->mTimeStamp-0.016675004168750895
1120
- pKFcur->GetMapPointMatches().size()1254
1121
- 1691 pKFcur->GetVelocity() 261.44500732421875
1122
- -145.44898986816406
1123
- -59.397270202636719
1124
- pKFcur->mnId526
1125
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 3
1126
- Fail to track local map!
1127
- Relocalized!!
1128
- INIT_RELOCALIZE success!
1129
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1130
- pKFCur->mTimeStamp7.5408666666666671
1131
- vpKFs.front()->mTimeStamp-302.00140015007497
1132
- vpKFs.back()->mTimeStamp-0.016675004168750895
1133
- pKFcur->GetMapPointMatches().size()1254
1134
- 1691 pKFcur->GetVelocity() 286.91357421875
1135
- -152.50920104980469
1136
- -66.272178649902344
1137
- pKFcur->mnId527
1138
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1139
- Fail to track local map!
1140
- Relocalized!!
1141
- INIT_RELOCALIZE success!
1142
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1143
- pKFCur->mTimeStamp7.5742333333333338
1144
- vpKFs.front()->mTimeStamp-309.55894182091038
1145
- vpKFs.back()->mTimeStamp-0.016675004168750895
1146
- pKFcur->GetMapPointMatches().size()1252
1147
- 1691 pKFcur->GetVelocity() 314.12335205078125
1148
- -159.32112121582031
1149
- -73.77056884765625
1150
- pKFcur->mnId528
1151
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1152
- Fail to track local map!
1153
- Relocalized!!
1154
- INIT_RELOCALIZE success!
1155
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1156
- pKFCur->mTimeStamp7.6075999999999997
1157
- vpKFs.front()->mTimeStamp-317.14985015841245
1158
- vpKFs.back()->mTimeStamp-0.016675004168750895
1159
- pKFcur->GetMapPointMatches().size()1255
1160
- 1691 pKFcur->GetVelocity() 343.03421020507812
1161
- -166.22801208496094
1162
- -81.983085632324219
1163
- pKFcur->mnId529
1164
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1165
- Fail to track local map!
1166
- Relocalized!!
1167
- INIT_RELOCALIZE success!
1168
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1169
- pKFCur->mTimeStamp7.6409666666666665
1170
- vpKFs.front()->mTimeStamp-324.77412516258119
1171
- vpKFs.back()->mTimeStamp-0.016675004168750895
1172
- pKFcur->GetMapPointMatches().size()1255
1173
- 1691 pKFcur->GetVelocity() 373.23385620117188
1174
- -172.63235473632812
1175
- -90.6993408203125
1176
- pKFcur->mnId530
1177
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1178
- Fail to track local map!
1179
- Relocalized!!
1180
- INIT_RELOCALIZE success!
1181
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1182
- pKFCur->mTimeStamp7.6743333333333332
1183
- vpKFs.front()->mTimeStamp-332.43176683341659
1184
- vpKFs.back()->mTimeStamp-0.016675004168750895
1185
- pKFcur->GetMapPointMatches().size()1256
1186
- 1691 pKFcur->GetVelocity() 404.7332763671875
1187
- -177.81449890136719
1188
- -99.884315490722656
1189
- pKFcur->mnId531
1190
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1191
- Fail to track local map!
1192
- Relocalized!!
1193
- INIT_RELOCALIZE success!
1194
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1195
- pKFCur->mTimeStamp7.7077
1196
- vpKFs.front()->mTimeStamp-340.12277517091866
1197
- vpKFs.back()->mTimeStamp-0.016675004168750895
1198
- pKFcur->GetMapPointMatches().size()1251
1199
- 1691 pKFcur->GetVelocity() 437.11813354492188
1200
- -182.54144287109375
1201
- -109.43804931640625
1202
- pKFcur->mnId532
1203
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1204
- Fail to track local map!
1205
- Relocalized!!
1206
- INIT_RELOCALIZE success!
1207
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1208
- pKFCur->mTimeStamp7.7410666666666668
1209
- vpKFs.front()->mTimeStamp-347.84715017508739
1210
- vpKFs.back()->mTimeStamp-0.016675004168750895
1211
- pKFcur->GetMapPointMatches().size()1255
1212
- 1691 pKFcur->GetVelocity() 470.26315307617188
1213
- -186.27305603027344
1214
- -119.28730773925781
1215
- pKFcur->mnId533
1216
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1217
- Fail to track local map!
1218
- Relocalized!!
1219
- INIT_RELOCALIZE success!
1220
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1221
- pKFCur->mTimeStamp7.7744333333333335
1222
- vpKFs.front()->mTimeStamp-355.60489184592279
1223
- vpKFs.back()->mTimeStamp-0.016675004168750895
1224
- pKFcur->GetMapPointMatches().size()1253
1225
- 1691 pKFcur->GetVelocity() 504.03778076171875
1226
- -189.28898620605469
1227
- -129.38397216796875
1228
- pKFcur->mnId534
1229
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1230
- Fail to track local map!
1231
- Relocalized!!
1232
- INIT_RELOCALIZE success!
1233
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1234
- pKFCur->mTimeStamp7.8078000000000003
1235
- vpKFs.front()->mTimeStamp-363.39600018342486
1236
- vpKFs.back()->mTimeStamp-0.016675004168750895
1237
- pKFcur->GetMapPointMatches().size()1255
1238
- 1691 pKFcur->GetVelocity() 538.7567138671875
1239
- -192.39053344726562
1240
- -139.96902465820312
1241
- pKFcur->mnId535
1242
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1243
- Fail to track local map!
1244
- Relocalized!!
1245
- INIT_RELOCALIZE success!
1246
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1247
- pKFCur->mTimeStamp7.8411666666666671
1248
- vpKFs.front()->mTimeStamp-371.22047518759359
1249
- vpKFs.back()->mTimeStamp-0.016675004168750895
1250
- pKFcur->GetMapPointMatches().size()1255
1251
- 1691 pKFcur->GetVelocity() 574.799072265625
1252
- -194.36061096191406
1253
- -151.20878601074219
1254
- pKFcur->mnId536
1255
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1256
- Fail to track local map!
1257
- Relocalized!!
1258
- INIT_RELOCALIZE success!
1259
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1260
- pKFCur->mTimeStamp7.8745333333333338
1261
- vpKFs.front()->mTimeStamp-379.07831685842899
1262
- vpKFs.back()->mTimeStamp-0.016675004168750895
1263
- pKFcur->GetMapPointMatches().size()1253
1264
- 1691 pKFcur->GetVelocity() 612.47271728515625
1265
- -196.21754455566406
1266
- -163.34217834472656
1267
- pKFcur->mnId537
1268
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1269
- Fail to track local map!
1270
- Relocalized!!
1271
- INIT_RELOCALIZE success!
1272
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1273
- pKFCur->mTimeStamp7.9078999999999997
1274
- vpKFs.front()->mTimeStamp-386.96952519593106
1275
- vpKFs.back()->mTimeStamp-0.016675004168750895
1276
- pKFcur->GetMapPointMatches().size()1255
1277
- 1691 pKFcur->GetVelocity() 652.00018310546875
1278
- -197.82737731933594
1279
- -176.54550170898438
1280
- pKFcur->mnId538
1281
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1282
- Fail to track local map!
1283
- Relocalized!!
1284
- INIT_RELOCALIZE success!
1285
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1286
- pKFCur->mTimeStamp7.9412666666666665
1287
- vpKFs.front()->mTimeStamp-394.89410020009979
1288
- vpKFs.back()->mTimeStamp-0.016675004168750895
1289
- pKFcur->GetMapPointMatches().size()1253
1290
- 1691 pKFcur->GetVelocity() 693.28216552734375
1291
- -198.74595642089844
1292
- -190.765380859375
1293
- pKFcur->mnId539
1294
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1295
- Fail to track local map!
1296
- Relocalized!!
1297
- INIT_RELOCALIZE success!
1298
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1299
- pKFCur->mTimeStamp7.9746333333333332
1300
- vpKFs.front()->mTimeStamp-402.85204187093518
1301
- vpKFs.back()->mTimeStamp-0.016675004168750895
1302
- pKFcur->GetMapPointMatches().size()1256
1303
- 1691 pKFcur->GetVelocity() 736.00909423828125
1304
- -199.49043273925781
1305
- -205.88604736328125
1306
- pKFcur->mnId540
1307
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1308
- Fail to track local map!
1309
- Relocalized!!
1310
- INIT_RELOCALIZE success!
1311
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1312
- pKFCur->mTimeStamp8.0080000000000009
1313
- vpKFs.front()->mTimeStamp-410.84335020843724
1314
- vpKFs.back()->mTimeStamp-0.016675004168750895
1315
- pKFcur->GetMapPointMatches().size()1254
1316
- 1691 pKFcur->GetVelocity() 779.90380859375
1317
- -199.95777893066406
1318
- -221.7684326171875
1319
- pKFcur->mnId541
1320
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
1321
- Fail to track local map!
1322
- Relocalized!!
1323
- INIT_RELOCALIZE success!
1324
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1325
- pKFCur->mTimeStamp8.0413666666666668
1326
- vpKFs.front()->mTimeStamp-418.86802521260597
1327
- vpKFs.back()->mTimeStamp-0.016675004168751784
1328
- pKFcur->GetMapPointMatches().size()1253
1329
- 1691 pKFcur->GetVelocity() 824.64013671875
1330
- -199.47187805175781
1331
- -238.21803283691406
1332
- pKFcur->mnId542
1333
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 5
1334
- Fail to track local map!
1335
- Relocalized!!
1336
- INIT_RELOCALIZE success!
1337
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1338
- pKFCur->mTimeStamp8.0747333333333327
1339
- vpKFs.front()->mTimeStamp-426.92606688344137
1340
- vpKFs.back()->mTimeStamp-0.016675004168751784
1341
- pKFcur->GetMapPointMatches().size()1253
1342
- 1691 pKFcur->GetVelocity() 870.2628173828125
1343
- -198.09217834472656
1344
- -255.24357604980469
1345
- pKFcur->mnId543
1346
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 7
1347
- Fail to track local map!
1348
- Relocalized!!
1349
- INIT_RELOCALIZE success!
1350
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1351
- pKFCur->mTimeStamp8.1081000000000003
1352
- vpKFs.front()->mTimeStamp-435.01747522094342
1353
- vpKFs.back()->mTimeStamp-0.016675004168751784
1354
- pKFcur->GetMapPointMatches().size()1258
1355
- 1691 pKFcur->GetVelocity() 917.0205078125
1356
- -195.53466796875
1357
- -273.0010986328125
1358
- pKFcur->mnId544
1359
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 7
1360
- Fail to track local map!
1361
- Relocalization() failed.
1362
- Fail to track local map!
1363
- Relocalization() failed.
1364
- Fail to track local map!
1365
- Relocalization() failed.
1366
- Fail to track local map!
1367
- Relocalization() failed.
1368
- Fail to track local map!
1369
- Relocalized!!
1370
- INIT_RELOCALIZE success!
1371
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1372
- pKFCur->mTimeStamp8.2081999999999997
1373
- vpKFs.front()->mTimeStamp-443.14225022511215
1374
- vpKFs.back()->mTimeStamp-0.016675004168751784
1375
- pKFcur->GetMapPointMatches().size()1254
1376
- 1691 pKFcur->GetVelocity() 963.77655029296875
1377
- -191.35067749023438
1378
- -290.7830810546875
1379
- pKFcur->mnId545
1380
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1381
- Fail to track local map!
1382
- Relocalization() failed.
1383
- Fail to track local map!
1384
- Relocalization() failed.
1385
- Fail to track local map!
1386
- Relocalized!!
1387
- INIT_RELOCALIZE success!
1388
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1389
- pKFCur->mTimeStamp8.2749333333333333
1390
- vpKFs.front()->mTimeStamp-451.36712522928087
1391
- vpKFs.back()->mTimeStamp-0.016675004168751784
1392
- pKFcur->GetMapPointMatches().size()1254
1393
- 1691 pKFcur->GetVelocity() 1009.0818481445312
1394
- -181.66763305664062
1395
- -307.82363891601562
1396
- pKFcur->mnId546
1397
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1398
- Fail to track local map!
1399
- Relocalized!!
1400
- INIT_RELOCALIZE success!
1401
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1402
- pKFCur->mTimeStamp8.3083000000000009
1403
- vpKFs.front()->mTimeStamp-459.65873356678298
1404
- vpKFs.back()->mTimeStamp-0.016675004168751784
1405
- pKFcur->GetMapPointMatches().size()1252
1406
- 1691 pKFcur->GetVelocity() 1052.0135498046875
1407
- -171.855224609375
1408
- -323.1126708984375
1409
- pKFcur->mnId547
1410
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1411
- Fail to track local map!
1412
- Relocalized!!
1413
- INIT_RELOCALIZE success!
1414
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1415
- pKFCur->mTimeStamp8.3416666666666668
1416
- vpKFs.front()->mTimeStamp-467.98370857095176
1417
- vpKFs.back()->mTimeStamp-0.016675004168751784
1418
- pKFcur->GetMapPointMatches().size()1255
1419
- 1691 pKFcur->GetVelocity() 1094.0987548828125
1420
- -161.01130676269531
1421
- -337.97308349609375
1422
- pKFcur->mnId548
1423
- Video FPS: 59.940059940059939
1424
- ORB-SLAM 3 running at: 10.904496705844235 FPS
1425
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1426
- Fail to track local map!
1427
- Relocalized!!
1428
- INIT_RELOCALIZE success!
1429
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1430
- pKFCur->mTimeStamp8.3750333333333327
1431
- vpKFs.front()->mTimeStamp-476.34205024178721
1432
- vpKFs.back()->mTimeStamp-0.016675004168751784
1433
- pKFcur->GetMapPointMatches().size()1255
1434
- 1691 pKFcur->GetVelocity() 1135.333251953125
1435
- -149.73521423339844
1436
- -352.32760620117188
1437
- pKFcur->mnId549
1438
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1439
- Fail to track local map!
1440
- Relocalized!!
1441
- INIT_RELOCALIZE success!
1442
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1443
- pKFCur->mTimeStamp8.4084000000000003
1444
- vpKFs.front()->mTimeStamp-484.73375857928932
1445
- vpKFs.back()->mTimeStamp-0.016675004168751784
1446
- pKFcur->GetMapPointMatches().size()1258
1447
- 1691 pKFcur->GetVelocity() 1175.4981689453125
1448
- -137.65771484375
1449
- -366.13192749023438
1450
- pKFcur->mnId550
1451
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1452
- Fail to track local map!
1453
- Relocalized!!
1454
- INIT_RELOCALIZE success!
1455
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1456
- pKFCur->mTimeStamp8.4417666666666662
1457
- vpKFs.front()->mTimeStamp-493.15883358345809
1458
- vpKFs.back()->mTimeStamp-0.016675004168751784
1459
- pKFcur->GetMapPointMatches().size()1253
1460
- 1691 pKFcur->GetVelocity() 1215.194091796875
1461
- -125.68035888671875
1462
- -379.6048583984375
1463
- pKFcur->mnId551
1464
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1465
- Fail to track local map!
1466
- Relocalized!!
1467
- INIT_RELOCALIZE success!
1468
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1469
- pKFCur->mTimeStamp8.4751333333333339
1470
- vpKFs.front()->mTimeStamp-501.61727525429353
1471
- vpKFs.back()->mTimeStamp-0.016675004168751784
1472
- pKFcur->GetMapPointMatches().size()1255
1473
- 1691 pKFcur->GetVelocity() 1254.0157470703125
1474
- -113.53012084960938
1475
- -392.56610107421875
1476
- pKFcur->mnId552
1477
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1478
- Fail to track local map!
1479
- Relocalized!!
1480
- INIT_RELOCALIZE success!
1481
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1482
- pKFCur->mTimeStamp8.5084999999999997
1483
- vpKFs.front()->mTimeStamp-510.10908359179564
1484
- vpKFs.back()->mTimeStamp-0.016675004168751784
1485
- pKFcur->GetMapPointMatches().size()1253
1486
- 1691 pKFcur->GetVelocity() 1292.7083740234375
1487
- -101.68442535400391
1488
- -405.3662109375
1489
- pKFcur->mnId553
1490
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1491
- Fail to track local map!
1492
- Relocalized!!
1493
- INIT_RELOCALIZE success!
1494
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1495
- pKFCur->mTimeStamp8.5418666666666674
1496
- vpKFs.front()->mTimeStamp-518.63425859596441
1497
- vpKFs.back()->mTimeStamp-0.016675004168751784
1498
- pKFcur->GetMapPointMatches().size()1257
1499
- 1691 pKFcur->GetVelocity() 1331.806396484375
1500
- -90.319480895996094
1501
- -418.27566528320312
1502
- pKFcur->mnId554
1503
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1504
- Fail to track local map!
1505
- Relocalized!!
1506
- INIT_RELOCALIZE success!
1507
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1508
- pKFCur->mTimeStamp8.5752333333333333
1509
- vpKFs.front()->mTimeStamp-527.19280026679985
1510
- vpKFs.back()->mTimeStamp-0.016675004168751784
1511
- pKFcur->GetMapPointMatches().size()1255
1512
- 1691 pKFcur->GetVelocity() 1371.211669921875
1513
- -79.706489562988281
1514
- -431.1993408203125
1515
- pKFcur->mnId555
1516
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1517
- Fail to track local map!
1518
- Relocalized!!
1519
- INIT_RELOCALIZE success!
1520
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1521
- pKFCur->mTimeStamp8.6086000000000009
1522
- vpKFs.front()->mTimeStamp-535.78470860430195
1523
- vpKFs.back()->mTimeStamp-0.016675004168751784
1524
- pKFcur->GetMapPointMatches().size()1253
1525
- 1691 pKFcur->GetVelocity() 1411.6680908203125
1526
- -70.024765014648438
1527
- -444.54208374023438
1528
- pKFcur->mnId556
1529
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1530
- Fail to track local map!
1531
- Relocalized!!
1532
- INIT_RELOCALIZE success!
1533
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1534
- pKFCur->mTimeStamp8.6419666666666668
1535
- vpKFs.front()->mTimeStamp-544.40998360847072
1536
- vpKFs.back()->mTimeStamp-0.016675004168751784
1537
- pKFcur->GetMapPointMatches().size()1253
1538
- 1691 pKFcur->GetVelocity() 1453.324462890625
1539
- -62.048839569091797
1540
- -458.32415771484375
1541
- pKFcur->mnId557
1542
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1543
- Fail to track local map!
1544
- Relocalized!!
1545
- INIT_RELOCALIZE success!
1546
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1547
- pKFCur->mTimeStamp8.6753333333333327
1548
- vpKFs.front()->mTimeStamp-553.06862527930616
1549
- vpKFs.back()->mTimeStamp-0.016675004168751784
1550
- pKFcur->GetMapPointMatches().size()1251
1551
- 1691 pKFcur->GetVelocity() 1495.824462890625
1552
- -54.552242279052734
1553
- -472.51113891601562
1554
- pKFcur->mnId558
1555
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1556
- Fail to track local map!
1557
- Relocalized!!
1558
- INIT_RELOCALIZE success!
1559
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1560
- pKFCur->mTimeStamp8.7087000000000003
1561
- vpKFs.front()->mTimeStamp-561.76063361680826
1562
- vpKFs.back()->mTimeStamp-0.016675004168751784
1563
- pKFcur->GetMapPointMatches().size()1253
1564
- 1691 pKFcur->GetVelocity() 1539.502685546875
1565
- -47.409214019775391
1566
- -487.33526611328125
1567
- pKFcur->mnId559
1568
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1569
- Fail to track local map!
1570
- Relocalized!!
1571
- INIT_RELOCALIZE success!
1572
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1573
- pKFCur->mTimeStamp8.7420666666666662
1574
- vpKFs.front()->mTimeStamp-570.48600862097703
1575
- vpKFs.back()->mTimeStamp-0.016675004168751784
1576
- pKFcur->GetMapPointMatches().size()1257
1577
- 1691 pKFcur->GetVelocity() 1583.8876953125
1578
- -40.823574066162109
1579
- -502.49755859375
1580
- pKFcur->mnId560
1581
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1582
- Fail to track local map!
1583
- Relocalized!!
1584
- INIT_RELOCALIZE success!
1585
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1586
- pKFCur->mTimeStamp8.7754333333333339
1587
- vpKFs.front()->mTimeStamp-579.24475029181247
1588
- vpKFs.back()->mTimeStamp-0.016675004168751784
1589
- pKFcur->GetMapPointMatches().size()1252
1590
- 1691 pKFcur->GetVelocity() 1628.8116455078125
1591
- -34.900875091552734
1592
- -517.89447021484375
1593
- pKFcur->mnId561
1594
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1595
- Fail to track local map!
1596
- Relocalized!!
1597
- INIT_RELOCALIZE success!
1598
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1599
- pKFCur->mTimeStamp8.8087999999999997
1600
- vpKFs.front()->mTimeStamp-588.03685862931457
1601
- vpKFs.back()->mTimeStamp-0.016675004168751784
1602
- pKFcur->GetMapPointMatches().size()1255
1603
- 1691 pKFcur->GetVelocity() 1673.77197265625
1604
- -28.38446044921875
1605
- -533.3038330078125
1606
- pKFcur->mnId562
1607
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1608
- Fail to track local map!
1609
- Relocalized!!
1610
- INIT_RELOCALIZE success!
1611
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1612
- pKFCur->mTimeStamp8.8421666666666674
1613
- vpKFs.front()->mTimeStamp-596.86233363348333
1614
- vpKFs.back()->mTimeStamp-0.016675004168751784
1615
- pKFcur->GetMapPointMatches().size()1252
1616
- 1691 pKFcur->GetVelocity() 1718.018310546875
1617
- -22.649030685424805
1618
- -548.1527099609375
1619
- pKFcur->mnId563
1620
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1621
- Fail to track local map!
1622
- Relocalized!!
1623
- INIT_RELOCALIZE success!
1624
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1625
- pKFCur->mTimeStamp8.8755333333333333
1626
- vpKFs.front()->mTimeStamp-605.72117530431876
1627
- vpKFs.back()->mTimeStamp-0.016675004168751784
1628
- pKFcur->GetMapPointMatches().size()1253
1629
- 1691 pKFcur->GetVelocity() 1761.0638427734375
1630
- -15.569774627685547
1631
- -562.35943603515625
1632
- pKFcur->mnId564
1633
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1634
- Fail to track local map!
1635
- Relocalized!!
1636
- INIT_RELOCALIZE success!
1637
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1638
- pKFCur->mTimeStamp8.9089000000000009
1639
- vpKFs.front()->mTimeStamp-614.61338364182086
1640
- vpKFs.back()->mTimeStamp-0.016675004168751784
1641
- pKFcur->GetMapPointMatches().size()1253
1642
- 1691 pKFcur->GetVelocity() 1802.6815185546875
1643
- -7.9880719184875488
1644
- -575.7569580078125
1645
- pKFcur->mnId565
1646
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1647
- Fail to track local map!
1648
- Relocalized!!
1649
- INIT_RELOCALIZE success!
1650
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1651
- pKFCur->mTimeStamp8.9422666666666668
1652
- vpKFs.front()->mTimeStamp-623.53895864598962
1653
- vpKFs.back()->mTimeStamp-0.016675004168751784
1654
- pKFcur->GetMapPointMatches().size()1252
1655
- 1691 pKFcur->GetVelocity() 1842.7237548828125
1656
- 0.20245322585105896
1657
- -588.320556640625
1658
- pKFcur->mnId566
1659
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1660
- Fail to track local map!
1661
- Relocalized!!
1662
- INIT_RELOCALIZE success!
1663
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1664
- pKFCur->mTimeStamp8.9756333333333327
1665
- vpKFs.front()->mTimeStamp-632.49790031682505
1666
- vpKFs.back()->mTimeStamp-0.016675004168751784
1667
- pKFcur->GetMapPointMatches().size()1254
1668
- 1691 pKFcur->GetVelocity() 1881.301025390625
1669
- 8.1132593154907227
1670
- -600.0557861328125
1671
- pKFcur->mnId567
1672
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1673
- Fail to track local map!
1674
- Relocalized!!
1675
- INIT_RELOCALIZE success!
1676
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1677
- pKFCur->mTimeStamp9.0090000000000003
1678
- vpKFs.front()->mTimeStamp-641.49020865432715
1679
- vpKFs.back()->mTimeStamp-0.016675004168751784
1680
- pKFcur->GetMapPointMatches().size()1252
1681
- 1691 pKFcur->GetVelocity() 1918.89892578125
1682
- 15.92352294921875
1683
- -611.2578125
1684
- pKFcur->mnId568
1685
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1686
- Fail to track local map!
1687
- Relocalized!!
1688
- INIT_RELOCALIZE success!
1689
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1690
- pKFCur->mTimeStamp9.0423666666666662
1691
- vpKFs.front()->mTimeStamp-650.51588365849591
1692
- vpKFs.back()->mTimeStamp-0.016675004168751784
1693
- pKFcur->GetMapPointMatches().size()1252
1694
- 1691 pKFcur->GetVelocity() 1955.424072265625
1695
- 23.088237762451172
1696
- -621.84942626953125
1697
- pKFcur->mnId569
1698
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1699
- Fail to track local map!
1700
- Relocalized!!
1701
- INIT_RELOCALIZE success!
1702
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1703
- pKFCur->mTimeStamp9.0757333333333339
1704
- vpKFs.front()->mTimeStamp-659.57492532933134
1705
- vpKFs.back()->mTimeStamp-0.016675004168751784
1706
- pKFcur->GetMapPointMatches().size()1253
1707
- 1691 pKFcur->GetVelocity() 1991.6434326171875
1708
- 30.009420394897461
1709
- -632.2508544921875
1710
- pKFcur->mnId570
1711
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1712
- Fail to track local map!
1713
- Relocalized!!
1714
- INIT_RELOCALIZE success!
1715
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1716
- pKFCur->mTimeStamp9.1090999999999998
1717
- vpKFs.front()->mTimeStamp-668.66733366683343
1718
- vpKFs.back()->mTimeStamp-0.016675004168751784
1719
- pKFcur->GetMapPointMatches().size()1253
1720
- 1691 pKFcur->GetVelocity() 2027.588134765625
1721
- 36.210197448730469
1722
- -642.43865966796875
1723
- pKFcur->mnId571
1724
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1725
- Fail to track local map!
1726
- Relocalized!!
1727
- INIT_RELOCALIZE success!
1728
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1729
- pKFCur->mTimeStamp9.1424666666666674
1730
- vpKFs.front()->mTimeStamp-677.79310867100219
1731
- vpKFs.back()->mTimeStamp-0.016675004168751784
1732
- pKFcur->GetMapPointMatches().size()1253
1733
- 1691 pKFcur->GetVelocity() 2063.389892578125
1734
- 41.858585357666016
1735
- -652.49420166015625
1736
- pKFcur->mnId572
1737
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1738
- Fail to track local map!
1739
- Relocalized!!
1740
- INIT_RELOCALIZE success!
1741
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1742
- pKFCur->mTimeStamp9.1758333333333333
1743
- vpKFs.front()->mTimeStamp-686.95225034183761
1744
- vpKFs.back()->mTimeStamp-0.016675004168751784
1745
- pKFcur->GetMapPointMatches().size()1253
1746
- 1691 pKFcur->GetVelocity() 2099.2412109375
1747
- 46.442626953125
1748
- -662.4827880859375
1749
- pKFcur->mnId573
1750
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1751
- Fail to track local map!
1752
- Relocalized!!
1753
- INIT_RELOCALIZE success!
1754
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1755
- pKFCur->mTimeStamp9.2092000000000009
1756
- vpKFs.front()->mTimeStamp-696.1447586793397
1757
- vpKFs.back()->mTimeStamp-0.016675004168751784
1758
- pKFcur->GetMapPointMatches().size()1253
1759
- 1691 pKFcur->GetVelocity() 2135.1005859375
1760
- 50.331134796142578
1761
- -672.41156005859375
1762
- pKFcur->mnId574
1763
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1764
- Fail to track local map!
1765
- Relocalized!!
1766
- INIT_RELOCALIZE success!
1767
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1768
- pKFCur->mTimeStamp9.2425666666666668
1769
- vpKFs.front()->mTimeStamp-705.37063368350846
1770
- vpKFs.back()->mTimeStamp-0.016675004168751784
1771
- pKFcur->GetMapPointMatches().size()1250
1772
- 1691 pKFcur->GetVelocity() 2170.814453125
1773
- 54.226566314697266
1774
- -682.24609375
1775
- pKFcur->mnId575
1776
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1777
- Fail to track local map!
1778
- Relocalized!!
1779
- INIT_RELOCALIZE success!
1780
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1781
- pKFCur->mTimeStamp9.2759333333333327
1782
- vpKFs.front()->mTimeStamp-714.62987535434388
1783
- vpKFs.back()->mTimeStamp-0.016675004168751784
1784
- pKFcur->GetMapPointMatches().size()1254
1785
- 1691 pKFcur->GetVelocity() 2206.604248046875
1786
- 57.429000854492188
1787
- -692.0540771484375
1788
- pKFcur->mnId576
1789
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1790
- Fail to track local map!
1791
- Relocalized!!
1792
- INIT_RELOCALIZE success!
1793
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1794
- pKFCur->mTimeStamp9.3093000000000004
1795
- vpKFs.front()->mTimeStamp-723.92248369184597
1796
- vpKFs.back()->mTimeStamp-0.016675004168751784
1797
- pKFcur->GetMapPointMatches().size()1254
1798
- 1691 pKFcur->GetVelocity() 2242.46435546875
1799
- 59.73541259765625
1800
- -701.83465576171875
1801
- pKFcur->mnId577
1802
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1803
- Fail to track local map!
1804
- Relocalized!!
1805
- INIT_RELOCALIZE success!
1806
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1807
- pKFCur->mTimeStamp9.3426666666666662
1808
- vpKFs.front()->mTimeStamp-733.24845869601472
1809
- vpKFs.back()->mTimeStamp-0.016675004168751784
1810
- pKFcur->GetMapPointMatches().size()1254
1811
- 1691 pKFcur->GetVelocity() 2278.402587890625
1812
- 62.371402740478516
1813
- -711.6302490234375
1814
- pKFcur->mnId578
1815
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1816
- Fail to track local map!
1817
- Relocalized!!
1818
- INIT_RELOCALIZE success!
1819
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1820
- pKFCur->mTimeStamp9.3760333333333339
1821
- vpKFs.front()->mTimeStamp-742.60780036685014
1822
- vpKFs.back()->mTimeStamp-0.016675004168751784
1823
- pKFcur->GetMapPointMatches().size()1254
1824
- 1691 pKFcur->GetVelocity() 2314.393310546875
1825
- 64.299964904785156
1826
- -721.40655517578125
1827
- pKFcur->mnId579
1828
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1829
- Fail to track local map!
1830
- Relocalized!!
1831
- INIT_RELOCALIZE success!
1832
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1833
- pKFCur->mTimeStamp9.4093999999999998
1834
- vpKFs.front()->mTimeStamp-752.00050870435223
1835
- vpKFs.back()->mTimeStamp-0.016675004168751784
1836
- pKFcur->GetMapPointMatches().size()1256
1837
- 1691 pKFcur->GetVelocity() 2350.275634765625
1838
- 65.949447631835938
1839
- -731.100341796875
1840
- pKFcur->mnId580
1841
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1842
- Fail to track local map!
1843
- Relocalized!!
1844
- INIT_RELOCALIZE success!
1845
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1846
- pKFCur->mTimeStamp9.4427666666666674
1847
- vpKFs.front()->mTimeStamp-761.42658370852098
1848
- vpKFs.back()->mTimeStamp-0.016675004168751784
1849
- pKFcur->GetMapPointMatches().size()1254
1850
- 1691 pKFcur->GetVelocity() 2386.248779296875
1851
- 67.469680786132812
1852
- -740.80218505859375
1853
- pKFcur->mnId581
1854
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1855
- Fail to track local map!
1856
- Relocalized!!
1857
- INIT_RELOCALIZE success!
1858
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1859
- pKFCur->mTimeStamp9.4761333333333333
1860
- vpKFs.front()->mTimeStamp-770.8860253793564
1861
- vpKFs.back()->mTimeStamp-0.016675004168751784
1862
- pKFcur->GetMapPointMatches().size()1253
1863
- 1691 pKFcur->GetVelocity() 2422.20068359375
1864
- 68.622505187988281
1865
- -750.46343994140625
1866
- pKFcur->mnId582
1867
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1868
- Fail to track local map!
1869
- Relocalized!!
1870
- INIT_RELOCALIZE success!
1871
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1872
- pKFCur->mTimeStamp9.509500000000001
1873
- vpKFs.front()->mTimeStamp-780.37883371685848
1874
- vpKFs.back()->mTimeStamp-0.016675004168751784
1875
- pKFcur->GetMapPointMatches().size()1252
1876
- 1691 pKFcur->GetVelocity() 2458.555419921875
1877
- 69.564735412597656
1878
- -760.267822265625
1879
- pKFcur->mnId583
1880
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1881
- Fail to track local map!
1882
- Relocalized!!
1883
- INIT_RELOCALIZE success!
1884
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1885
- pKFCur->mTimeStamp9.5428666666666668
1886
- vpKFs.front()->mTimeStamp-789.90500872102723
1887
- vpKFs.back()->mTimeStamp-0.016675004168751784
1888
- pKFcur->GetMapPointMatches().size()1253
1889
- 1691 pKFcur->GetVelocity() 2494.72802734375
1890
- 70.793113708496094
1891
- -769.97723388671875
1892
- pKFcur->mnId584
1893
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1894
- Fail to track local map!
1895
- Relocalized!!
1896
- INIT_RELOCALIZE success!
1897
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1898
- pKFCur->mTimeStamp9.5762333333333327
1899
- vpKFs.front()->mTimeStamp-799.46455039186264
1900
- vpKFs.back()->mTimeStamp-0.016675004168751784
1901
- pKFcur->GetMapPointMatches().size()1254
1902
- 1691 pKFcur->GetVelocity() 2530.516845703125
1903
- 72.676971435546875
1904
- -779.5213623046875
1905
- pKFcur->mnId585
1906
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1907
- Fail to track local map!
1908
- Relocalized!!
1909
- INIT_RELOCALIZE success!
1910
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1911
- pKFCur->mTimeStamp9.6096000000000004
1912
- vpKFs.front()->mTimeStamp-809.05745872936473
1913
- vpKFs.back()->mTimeStamp-0.016675004168751784
1914
- pKFcur->GetMapPointMatches().size()1255
1915
- 1691 pKFcur->GetVelocity() 2564.738037109375
1916
- 75.269317626953125
1917
- -788.41259765625
1918
- pKFcur->mnId586
1919
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1920
- Fail to track local map!
1921
- Relocalized!!
1922
- INIT_RELOCALIZE success!
1923
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1924
- pKFCur->mTimeStamp9.6429666666666662
1925
- vpKFs.front()->mTimeStamp-818.68373373353347
1926
- vpKFs.back()->mTimeStamp-0.016675004168751784
1927
- pKFcur->GetMapPointMatches().size()1252
1928
- 1691 pKFcur->GetVelocity() 2596.364501953125
1929
- 79.099601745605469
1930
- -796.30596923828125
1931
- pKFcur->mnId587
1932
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1933
- Fail to track local map!
1934
- Relocalized!!
1935
- INIT_RELOCALIZE success!
1936
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1937
- pKFCur->mTimeStamp9.6763333333333339
1938
- vpKFs.front()->mTimeStamp-828.34337540436889
1939
- vpKFs.back()->mTimeStamp-0.016675004168751784
1940
- pKFcur->GetMapPointMatches().size()1253
1941
- 1691 pKFcur->GetVelocity() 2625.756103515625
1942
- 85.992752075195312
1943
- -803.512451171875
1944
- pKFcur->mnId588
1945
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1946
- Fail to track local map!
1947
- Relocalized!!
1948
- INIT_RELOCALIZE success!
1949
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1950
- pKFCur->mTimeStamp9.7096999999999998
1951
- vpKFs.front()->mTimeStamp-838.03638374187096
1952
- vpKFs.back()->mTimeStamp-0.016675004168751784
1953
- pKFcur->GetMapPointMatches().size()1253
1954
- 1691 pKFcur->GetVelocity() 2653.029296875
1955
- 93.337326049804688
1956
- -809.9691162109375
1957
- pKFcur->mnId589
1958
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1959
- Fail to track local map!
1960
- Relocalized!!
1961
- INIT_RELOCALIZE success!
1962
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1963
- pKFCur->mTimeStamp9.7430666666666674
1964
- vpKFs.front()->mTimeStamp-847.76275874603971
1965
- vpKFs.back()->mTimeStamp-0.016675004168751784
1966
- pKFcur->GetMapPointMatches().size()1256
1967
- 1691 pKFcur->GetVelocity() 2679.158203125
1968
- 100.92940521240234
1969
- -816.000244140625
1970
- pKFcur->mnId590
1971
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
1972
- Fail to track local map!
1973
- Relocalized!!
1974
- INIT_RELOCALIZE success!
1975
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1976
- pKFCur->mTimeStamp9.7764333333333333
1977
- vpKFs.front()->mTimeStamp-857.52250041687512
1978
- vpKFs.back()->mTimeStamp-0.016675004168751784
1979
- pKFcur->GetMapPointMatches().size()1259
1980
- 1691 pKFcur->GetVelocity() 2704.215087890625
1981
- 107.10377502441406
1982
- -821.53472900390625
1983
- pKFcur->mnId591
1984
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1985
- Fail to track local map!
1986
- Relocalized!!
1987
- INIT_RELOCALIZE success!
1988
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
1989
- pKFCur->mTimeStamp9.809800000000001
1990
- vpKFs.front()->mTimeStamp-867.31560875437719
1991
- vpKFs.back()->mTimeStamp-0.016675004168751784
1992
- pKFcur->GetMapPointMatches().size()1256
1993
- 1691 pKFcur->GetVelocity() 2727.676025390625
1994
- 111.51226043701172
1995
- -826.4869384765625
1996
- pKFcur->mnId592
1997
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1998
- Fail to track local map!
1999
- Relocalized!!
2000
- INIT_RELOCALIZE success!
2001
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
2002
- pKFCur->mTimeStamp9.8431666666666668
2003
- vpKFs.front()->mTimeStamp-877.14208375854594
2004
- vpKFs.back()->mTimeStamp-0.016675004168751784
2005
- pKFcur->GetMapPointMatches().size()1260
2006
- 1691 pKFcur->GetVelocity() 2749.359375
2007
- 113.32733154296875
2008
- -830.8951416015625
2009
- pKFcur->mnId593
2010
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2011
- Fail to track local map!
2012
- Relocalized!!
2013
- INIT_RELOCALIZE success!
2014
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
2015
- pKFCur->mTimeStamp9.8765333333333327
2016
- vpKFs.front()->mTimeStamp-887.00192542938134
2017
- vpKFs.back()->mTimeStamp-0.016675004168751784
2018
- pKFcur->GetMapPointMatches().size()1255
2019
- 1691 pKFcur->GetVelocity() 2769.332275390625
2020
- 114.07150268554688
2021
- -834.89794921875
2022
- pKFcur->mnId594
2023
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2024
- Fail to track local map!
2025
- Relocalized!!
2026
- INIT_RELOCALIZE success!
2027
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
2028
- pKFCur->mTimeStamp9.9099000000000004
2029
- vpKFs.front()->mTimeStamp-896.89513376688342
2030
- vpKFs.back()->mTimeStamp-0.016675004168751784
2031
- pKFcur->GetMapPointMatches().size()1256
2032
- 1691 pKFcur->GetVelocity() 2788.139404296875
2033
- 113.54801177978516
2034
- -838.655029296875
2035
- pKFcur->mnId595
2036
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2037
- Fail to track local map!
2038
- Relocalized!!
2039
- INIT_RELOCALIZE success!
2040
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
2041
- pKFCur->mTimeStamp9.9432666666666663
2042
- vpKFs.front()->mTimeStamp-906.82170877105216
2043
- vpKFs.back()->mTimeStamp-0.016675004168751784
2044
- pKFcur->GetMapPointMatches().size()1255
2045
- 1691 pKFcur->GetVelocity() 2806.072509765625
2046
- 111.09093475341797
2047
- -842.27734375
2048
- pKFcur->mnId596
2049
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
2050
- Fail to track local map!
2051
- Relocalized!!
2052
- INIT_RELOCALIZE success!
2053
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
2054
- pKFCur->mTimeStamp9.9766333333333339
2055
- vpKFs.front()->mTimeStamp-916.78165044188756
2056
- vpKFs.back()->mTimeStamp-0.016675004168751784
2057
- pKFcur->GetMapPointMatches().size()1253
2058
- 1691 pKFcur->GetVelocity() 2823.389404296875
2059
- 107.85560607910156
2060
- -845.81756591796875
2061
- pKFcur->mnId597
2062
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 3
2063
- Fail to track local map!
2064
- Relocalized!!
2065
- INIT_RELOCALIZE success!
2066
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
2067
- pKFCur->mTimeStamp10.01
2068
- vpKFs.front()->mTimeStamp-926.77495877938964
2069
- vpKFs.back()->mTimeStamp-0.016675004168751784
2070
- pKFcur->GetMapPointMatches().size()1252
2071
- 1691 pKFcur->GetVelocity() 2839.94189453125
2072
- 102.70792388916016
2073
- -849.3270263671875
2074
- pKFcur->mnId598
2075
- Video FPS: 59.940059940059939
2076
- ORB-SLAM 3 running at: 10.762428517026033 FPS
2077
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 2
2078
- Fail to track local map!
2079
- Relocalized!!
2080
- INIT_RELOCALIZE success!
2081
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
2082
- pKFCur->mTimeStamp10.043366666666667
2083
- vpKFs.front()->mTimeStamp-936.80163378355837
2084
- vpKFs.back()->mTimeStamp-0.016675004168751784
2085
- pKFcur->GetMapPointMatches().size()1252
2086
- 1691 pKFcur->GetVelocity() 2855.857421875
2087
- 95.334953308105469
2088
- -852.90142822265625
2089
- pKFcur->mnId599
2090
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 3
2091
- Fail to track local map!
2092
- Relocalized!!
2093
- INIT_RELOCALIZE success!
2094
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
2095
- pKFCur->mTimeStamp10.076733333333333
2096
- vpKFs.front()->mTimeStamp-946.86167545439378
2097
- vpKFs.back()->mTimeStamp-0.016675004168751784
2098
- pKFcur->GetMapPointMatches().size()1253
2099
- 1691 pKFcur->GetVelocity() 2870.41455078125
2100
- 88.027275085449219
2101
- -856.2911376953125
2102
- pKFcur->mnId600
2103
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 2
2104
- Fail to track local map!
2105
- Relocalized!!
2106
- INIT_RELOCALIZE success!
2107
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
2108
- pKFCur->mTimeStamp10.110100000000001
2109
- vpKFs.front()->mTimeStamp-956.95508379189585
2110
- vpKFs.back()->mTimeStamp-0.016675004168751784
2111
- pKFcur->GetMapPointMatches().size()1257
2112
- 1691 pKFcur->GetVelocity() 2883.343017578125
2113
- 80.149734497070312
2114
- -859.540771484375
2115
- pKFcur->mnId601
2116
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2117
- Fail to track local map!
2118
- Relocalized!!
2119
- INIT_RELOCALIZE success!
2120
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
2121
- pKFCur->mTimeStamp10.143466666666667
2122
- vpKFs.front()->mTimeStamp-967.08185879606458
2123
- vpKFs.back()->mTimeStamp-0.016675004168751784
2124
- pKFcur->GetMapPointMatches().size()1255
2125
- 1691 pKFcur->GetVelocity() 2894.112548828125
2126
- 71.600044250488281
2127
- -862.6337890625
2128
- pKFcur->mnId602
2129
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 3
2130
- Fail to track local map!
2131
- Relocalized!!
2132
- INIT_RELOCALIZE success!
2133
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
2134
- pKFCur->mTimeStamp10.176833333333333
2135
- vpKFs.front()->mTimeStamp-977.24200046689998
2136
- vpKFs.back()->mTimeStamp-0.016675004168751784
2137
- pKFcur->GetMapPointMatches().size()1254
2138
- 1691 pKFcur->GetVelocity() 2902.031494140625
2139
- 63.270011901855469
2140
- -865.4801025390625
2141
- pKFcur->mnId603
2142
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2143
- Fail to track local map!
2144
- Relocalized!!
2145
- INIT_RELOCALIZE success!
2146
- vpKFs.back()->mpImuPreintegrated0x556d419b6830
2147
- pKFCur->mTimeStamp10.2102
2148
- vpKFs.front()->mTimeStamp-987.43550880440205
2149
- vpKFs.back()->mTimeStamp-0.016675004168751784
2150
- pKFcur->GetMapPointMatches().size()1257
2151
- 1691 pKFcur->GetVelocity() 2906.081298828125
2152
- 55.530055999755859
2153
- -868.0732421875
2154
- pKFcur->mnId604
2155
- gopro_slam.cc Caught signal 2
 
1
+ version https://git-lfs.github.com/spec/v1
2
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5
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6
- Flushing on end after 88754049 bytes
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- Generated telemetry for raw_video.mp4
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- Telemetry saved as JSON to imu_data.json
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- Done
 
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1
- Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
2
-
3
- ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
- ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
- This program comes with ABSOLUTELY NO WARRANTY;
6
- This is free software, and you are welcome to redistribute it
7
- under certain conditions. See LICENSE.txt.
8
-
9
- Input sensor was set to: Monocular-Inertial
10
- Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_720.yaml
11
- -Loaded camera 1
12
- -Loaded image info
13
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14
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18
- ----------------------------------
19
- SLAM settings:
20
- -Camera 1 parameters (Kannala-Brandt): [ 282.907 282.907 480 360 -0.0174584 -0.0280825 0.0128327 -0.0045198 ]
21
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-
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- Loading ORB Vocabulary. This could take a while...
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38
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49
- video FPS 59.9401
50
- line 1873 keyframes 66MapPoints2425
51
- line 1877
52
- mlFrameTimes.size()= 0
53
- KeyFrame::nNextId=492
54
- Relocalized!!
55
- INIT_RELOCALIZE success!
56
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58
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- Video FPS: 59.9401
66
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67
- TRACK_REF_KF: Less than 15 matches!!
68
- Fail to track local map!
69
- Relocalization() failed.
70
- Fail to track local map!
71
- Relocalization() failed.
72
- Fail to track local map!
73
- Relocalization() failed.
74
- Fail to track local map!
75
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
76
- Relocalization() failed.
77
- Fail to track local map!
78
- Relocalization() failed.
79
- Fail to track local map!
80
- Relocalization() failed.
81
- Fail to track local map!
82
- Relocalization() failed.
83
- Fail to track local map!
84
- Relocalization() failed.
85
- Fail to track local map!
86
- Relocalized!!
87
- INIT_RELOCALIZE success!
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- 1691 pKFcur->GetVelocity() 0
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- 0
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- 0
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
100
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 11.890824018765338 FPS
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
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- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
106
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
107
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
108
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
109
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
110
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
111
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
112
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
113
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
114
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
115
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
116
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
117
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
118
- Video FPS: 59.940059940059939
119
- ORB-SLAM 3 running at: 9.4456509899212264 FPS
120
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
121
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
122
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
123
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
124
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
125
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
126
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
127
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
128
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
129
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
130
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
131
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
132
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
133
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
134
- Video FPS: 59.940059940059939
135
- ORB-SLAM 3 running at: 12.983194747466801 FPS
136
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
137
- No IMU Preintegration for KeyFrame 492, skipping inertial edge.
138
- Video FPS: 59.940059940059939
139
- ORB-SLAM 3 running at: 13.482888589691607 FPS
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 11.05597557513876 FPS
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 12.488778208340896 FPS
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- Video FPS: 59.940059940059939
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- ORB-SLAM 3 running at: 13.179094003182753 FPS
146
- Video FPS: 59.940059940059939
147
- ORB-SLAM 3 running at: 14.996907487706961 FPS
148
- Shutdown
149
- mpLocalMapper is not finished
150
- mpLoopCloser is not finished
151
- mpLocalMapper is not finished
152
- mpLocalMapper is not finished
153
- mpLocalMapper is not finished
154
- mpLocalMapper is not finished
155
- mpLocalMapper is not finished
156
- mpLocalMapper is not finished
157
-
158
- Saving camera trajectory to /data/camera_trajectory.csv ...
159
- There are 1 maps in the atlas
160
- Map 0 has 92 KFs
161
-
162
- CSV camera trajectory saved!
 
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bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/extract_gopro_imu_stdout.txt CHANGED
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6
- Flushing on end after 105856030 bytes
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- Generated telemetry for raw_video.mp4
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- Telemetry saved as JSON to imu_data.json
9
- Done
 
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bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.21.559883/slam_stderr.txt CHANGED
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2
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3
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6
- This is free software, and you are welcome to redistribute it
7
- under certain conditions. See LICENSE.txt.
8
-
9
- Input sensor was set to: Monocular-Inertial
10
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- -Loaded camera 1
12
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13
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14
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15
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16
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17
- -Loaded misc parameters
18
- ----------------------------------
19
- SLAM settings:
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33
- -Min FAST threshold: 7
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-
35
-
36
- Loading ORB Vocabulary. This could take a while...
37
- Vocabulary loaded!
38
-
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- Initialization of Atlas from file: /map/map_atlas.osa
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41
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43
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44
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45
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46
- Discard points further than 20 m from current camera
47
- Video opened using backend FFMPEG
48
- There are 844 frames in total
49
- video FPS 59.9401
50
- line 1873 keyframes 66MapPoints2425
51
- line 1877
52
- mlFrameTimes.size()= 0
53
- KeyFrame::nNextId=492
54
- Relocalization() failed.
55
- Fail to track local map!
56
- Video FPS: 59.9401
57
- ORB-SLAM 3 running at: 6.47618 FPS
58
- Relocalization() failed.
59
- Fail to track local map!
60
- Relocalization() failed.
61
- Fail to track local map!
62
- Relocalization() failed.
63
- Fail to track local map!
64
- Relocalization() failed.
65
- Fail to track local map!
66
- Relocalization() failed.
67
- Fail to track local map!
68
- Relocalization() failed.
69
- Fail to track local map!
70
- Relocalization() failed.
71
- Fail to track local map!
72
- Relocalization() failed.
73
- Fail to track local map!
74
- Relocalization() failed.
75
- Fail to track local map!
76
- Relocalization() failed.
77
- Fail to track local map!
78
- Relocalization() failed.
79
- Fail to track local map!
80
- Relocalization() failed.
81
- Fail to track local map!
82
- Relocalization() failed.
83
- Fail to track local map!
84
- Relocalization() failed.
85
- Fail to track local map!
86
- Relocalization() failed.
87
- Fail to track local map!
88
- Relocalization() failed.
89
- Fail to track local map!
90
- Relocalization() failed.
91
- Fail to track local map!
92
- Relocalization() failed.
93
- Fail to track local map!
94
- Relocalization() failed.
95
- Fail to track local map!
96
- Relocalization() failed.
97
- Fail to track local map!
98
- Relocalization() failed.
99
- Fail to track local map!
100
- Relocalization() failed.
101
- Fail to track local map!
102
- Relocalization() failed.
103
- Fail to track local map!
104
- Relocalization() failed.
105
- Fail to track local map!
106
- Relocalization() failed.
107
- Fail to track local map!
108
- Relocalization() failed.
109
- Fail to track local map!
110
- Relocalization() failed.
111
- Fail to track local map!
112
- Relocalization() failed.
113
- Fail to track local map!
114
- Relocalization() failed.
115
- Fail to track local map!
116
- Relocalization() failed.
117
- Fail to track local map!
118
- Relocalization() failed.
119
- Fail to track local map!
120
- Relocalization() failed.
121
- Fail to track local map!
122
- Relocalization() failed.
123
- Fail to track local map!
124
- Relocalization() failed.
125
- Fail to track local map!
126
- Relocalization() failed.
127
- Fail to track local map!
128
- Relocalization() failed.
129
- Fail to track local map!
130
- Relocalization() failed.
131
- Fail to track local map!
132
- Relocalization() failed.
133
- Fail to track local map!
134
- Relocalization() failed.
135
- Fail to track local map!
136
- Relocalization() failed.
137
- Fail to track local map!
138
- Relocalization() failed.
139
- Fail to track local map!
140
- Relocalization() failed.
141
- Fail to track local map!
142
- Relocalization() failed.
143
- Fail to track local map!
144
- Relocalization() failed.
145
- Fail to track local map!
146
- Relocalization() failed.
147
- Fail to track local map!
148
- Relocalization() failed.
149
- Fail to track local map!
150
- Relocalization() failed.
151
- Fail to track local map!
152
- Relocalization() failed.
153
- Fail to track local map!
154
- Relocalization() failed.
155
- Fail to track local map!
156
- Relocalization() failed.
157
- Fail to track local map!
158
- Relocalization() failed.
159
- Fail to track local map!
160
- Relocalization() failed.
161
- Fail to track local map!
162
- Relocalization() failed.
163
- Fail to track local map!
164
- Relocalization() failed.
165
- Fail to track local map!
166
- Relocalization() failed.
167
- Fail to track local map!
168
- Relocalization() failed.
169
- Fail to track local map!
170
- Relocalization() failed.
171
- Fail to track local map!
172
- Relocalization() failed.
173
- Fail to track local map!
174
- Relocalization() failed.
175
- Fail to track local map!
176
- Relocalization() failed.
177
- Fail to track local map!
178
- Relocalization() failed.
179
- Fail to track local map!
180
- Relocalization() failed.
181
- Fail to track local map!
182
- Relocalization() failed.
183
- Fail to track local map!
184
- Relocalization() failed.
185
- Fail to track local map!
186
- Relocalization() failed.
187
- Fail to track local map!
188
- Relocalization() failed.
189
- Fail to track local map!
190
- Relocalization() failed.
191
- Fail to track local map!
192
- Relocalization() failed.
193
- Fail to track local map!
194
- Relocalization() failed.
195
- Fail to track local map!
196
- Relocalization() failed.
197
- Fail to track local map!
198
- Relocalization() failed.
199
- Fail to track local map!
200
- Relocalization() failed.
201
- Fail to track local map!
202
- Relocalization() failed.
203
- Fail to track local map!
204
- Relocalization() failed.
205
- Fail to track local map!
206
- Relocalization() failed.
207
- Fail to track local map!
208
- Relocalization() failed.
209
- Fail to track local map!
210
- Relocalization() failed.
211
- Fail to track local map!
212
- Relocalization() failed.
213
- Fail to track local map!
214
- Relocalization() failed.
215
- Fail to track local map!
216
- Relocalization() failed.
217
- Fail to track local map!
218
- Relocalization() failed.
219
- Fail to track local map!
220
- Relocalization() failed.
221
- Fail to track local map!
222
- Relocalization() failed.
223
- Fail to track local map!
224
- Relocalization() failed.
225
- Fail to track local map!
226
- Relocalization() failed.
227
- Fail to track local map!
228
- Relocalization() failed.
229
- Fail to track local map!
230
- Relocalization() failed.
231
- Fail to track local map!
232
- Relocalization() failed.
233
- Fail to track local map!
234
- Relocalization() failed.
235
- Fail to track local map!
236
- Relocalization() failed.
237
- Fail to track local map!
238
- Relocalization() failed.
239
- Fail to track local map!
240
- Relocalization() failed.
241
- Fail to track local map!
242
- Relocalization() failed.
243
- Fail to track local map!
244
- Relocalization() failed.
245
- Fail to track local map!
246
- Relocalization() failed.
247
- Fail to track local map!
248
- Relocalization() failed.
249
- Fail to track local map!
250
- Relocalization() failed.
251
- Fail to track local map!
252
- Relocalization() failed.
253
- Fail to track local map!
254
- Relocalization() failed.
255
- Fail to track local map!
256
- Relocalization() failed.
257
- Fail to track local map!
258
- Video FPS: 59.940059940059939
259
- ORB-SLAM 3 running at: 13.098964220362618 FPS
260
- Relocalization() failed.
261
- Fail to track local map!
262
- Relocalization() failed.
263
- Fail to track local map!
264
- Relocalization() failed.
265
- Fail to track local map!
266
- Relocalization() failed.
267
- Fail to track local map!
268
- Relocalization() failed.
269
- Fail to track local map!
270
- Relocalization() failed.
271
- Fail to track local map!
272
- Relocalization() failed.
273
- Fail to track local map!
274
- Relocalization() failed.
275
- Fail to track local map!
276
- Relocalization() failed.
277
- Fail to track local map!
278
- Relocalization() failed.
279
- Fail to track local map!
280
- Relocalization() failed.
281
- Fail to track local map!
282
- Relocalization() failed.
283
- Fail to track local map!
284
- Relocalization() failed.
285
- Fail to track local map!
286
- Relocalization() failed.
287
- Fail to track local map!
288
- Relocalization() failed.
289
- Fail to track local map!
290
- Relocalization() failed.
291
- Fail to track local map!
292
- Relocalization() failed.
293
- Fail to track local map!
294
- Relocalization() failed.
295
- Fail to track local map!
296
- Relocalization() failed.
297
- Fail to track local map!
298
- Relocalization() failed.
299
- Fail to track local map!
300
- Relocalization() failed.
301
- Fail to track local map!
302
- Relocalization() failed.
303
- Fail to track local map!
304
- Relocalization() failed.
305
- Fail to track local map!
306
- Relocalization() failed.
307
- Fail to track local map!
308
- Relocalization() failed.
309
- Fail to track local map!
310
- Relocalization() failed.
311
- Fail to track local map!
312
- Relocalization() failed.
313
- Fail to track local map!
314
- Relocalization() failed.
315
- Fail to track local map!
316
- Relocalization() failed.
317
- Fail to track local map!
318
- Relocalization() failed.
319
- Fail to track local map!
320
- Relocalization() failed.
321
- Fail to track local map!
322
- Relocalization() failed.
323
- Fail to track local map!
324
- Relocalization() failed.
325
- Fail to track local map!
326
- Relocalization() failed.
327
- Fail to track local map!
328
- Relocalization() failed.
329
- Fail to track local map!
330
- Relocalization() failed.
331
- Fail to track local map!
332
- Relocalization() failed.
333
- Fail to track local map!
334
- Relocalization() failed.
335
- Fail to track local map!
336
- Relocalization() failed.
337
- Fail to track local map!
338
- Relocalization() failed.
339
- Fail to track local map!
340
- Relocalization() failed.
341
- Fail to track local map!
342
- Relocalization() failed.
343
- Fail to track local map!
344
- Relocalization() failed.
345
- Fail to track local map!
346
- Relocalization() failed.
347
- Fail to track local map!
348
- Relocalization() failed.
349
- Fail to track local map!
350
- Relocalization() failed.
351
- Fail to track local map!
352
- Relocalization() failed.
353
- Fail to track local map!
354
- Relocalization() failed.
355
- Fail to track local map!
356
- Relocalization() failed.
357
- Fail to track local map!
358
- Relocalization() failed.
359
- Fail to track local map!
360
- Relocalization() failed.
361
- Fail to track local map!
362
- Relocalization() failed.
363
- Fail to track local map!
364
- Relocalization() failed.
365
- Fail to track local map!
366
- Relocalization() failed.
367
- Fail to track local map!
368
- Relocalization() failed.
369
- Fail to track local map!
370
- Relocalization() failed.
371
- Fail to track local map!
372
- Relocalization() failed.
373
- Fail to track local map!
374
- Relocalization() failed.
375
- Fail to track local map!
376
- Relocalization() failed.
377
- Fail to track local map!
378
- Relocalization() failed.
379
- Fail to track local map!
380
- Relocalization() failed.
381
- Fail to track local map!
382
- Relocalization() failed.
383
- Fail to track local map!
384
- Relocalization() failed.
385
- Fail to track local map!
386
- Relocalization() failed.
387
- Fail to track local map!
388
- Relocalization() failed.
389
- Fail to track local map!
390
- Relocalization() failed.
391
- Fail to track local map!
392
- Relocalization() failed.
393
- Fail to track local map!
394
- Relocalization() failed.
395
- Fail to track local map!
396
- Relocalization() failed.
397
- Fail to track local map!
398
- Relocalization() failed.
399
- Fail to track local map!
400
- Relocalization() failed.
401
- Fail to track local map!
402
- Relocalization() failed.
403
- Fail to track local map!
404
- Relocalization() failed.
405
- Fail to track local map!
406
- Relocalization() failed.
407
- Fail to track local map!
408
- Relocalization() failed.
409
- Fail to track local map!
410
- Relocalization() failed.
411
- Fail to track local map!
412
- Relocalization() failed.
413
- Fail to track local map!
414
- Relocalization() failed.
415
- Fail to track local map!
416
- Relocalization() failed.
417
- Fail to track local map!
418
- Relocalization() failed.
419
- Fail to track local map!
420
- Relocalization() failed.
421
- Fail to track local map!
422
- Relocalization() failed.
423
- Fail to track local map!
424
- Relocalization() failed.
425
- Fail to track local map!
426
- Relocalization() failed.
427
- Fail to track local map!
428
- Relocalization() failed.
429
- Fail to track local map!
430
- Relocalization() failed.
431
- Fail to track local map!
432
- Relocalization() failed.
433
- Fail to track local map!
434
- Relocalization() failed.
435
- Fail to track local map!
436
- Relocalization() failed.
437
- Fail to track local map!
438
- Relocalization() failed.
439
- Fail to track local map!
440
- Relocalization() failed.
441
- Fail to track local map!
442
- Relocalization() failed.
443
- Fail to track local map!
444
- Relocalization() failed.
445
- Fail to track local map!
446
- Relocalization() failed.
447
- Fail to track local map!
448
- Relocalization() failed.
449
- Fail to track local map!
450
- Relocalization() failed.
451
- Fail to track local map!
452
- Relocalization() failed.
453
- Fail to track local map!
454
- Relocalization() failed.
455
- Fail to track local map!
456
- Relocalization() failed.
457
- Fail to track local map!
458
- Relocalization() failed.
459
- Fail to track local map!
460
- Video FPS: 59.940059940059939
461
- ORB-SLAM 3 running at: 12.918306053531134 FPS
462
- Relocalization() failed.
463
- Fail to track local map!
464
- Relocalization() failed.
465
- Fail to track local map!
466
- Relocalization() failed.
467
- Fail to track local map!
468
- Relocalization() failed.
469
- Fail to track local map!
470
- Relocalization() failed.
471
- Fail to track local map!
472
- Relocalization() failed.
473
- Fail to track local map!
474
- Relocalization() failed.
475
- Fail to track local map!
476
- Relocalization() failed.
477
- Fail to track local map!
478
- Relocalization() failed.
479
- Fail to track local map!
480
- Relocalization() failed.
481
- Fail to track local map!
482
- Relocalization() failed.
483
- Fail to track local map!
484
- Relocalization() failed.
485
- Fail to track local map!
486
- Relocalization() failed.
487
- Fail to track local map!
488
- Relocalization() failed.
489
- Fail to track local map!
490
- Relocalization() failed.
491
- Fail to track local map!
492
- Relocalization() failed.
493
- Fail to track local map!
494
- Relocalization() failed.
495
- Fail to track local map!
496
- Relocalization() failed.
497
- Fail to track local map!
498
- Relocalization() failed.
499
- Fail to track local map!
500
- Relocalization() failed.
501
- Fail to track local map!
502
- Relocalization() failed.
503
- Fail to track local map!
504
- Relocalization() failed.
505
- Fail to track local map!
506
- Relocalization() failed.
507
- Fail to track local map!
508
- Relocalization() failed.
509
- Fail to track local map!
510
- Relocalization() failed.
511
- Fail to track local map!
512
- Relocalization() failed.
513
- Fail to track local map!
514
- Relocalization() failed.
515
- Fail to track local map!
516
- Relocalization() failed.
517
- Fail to track local map!
518
- Relocalization() failed.
519
- Fail to track local map!
520
- Relocalization() failed.
521
- Fail to track local map!
522
- Relocalization() failed.
523
- Fail to track local map!
524
- Relocalization() failed.
525
- Fail to track local map!
526
- Relocalization() failed.
527
- Fail to track local map!
528
- Relocalization() failed.
529
- Fail to track local map!
530
- Relocalization() failed.
531
- Fail to track local map!
532
- Relocalization() failed.
533
- Fail to track local map!
534
- Relocalization() failed.
535
- Fail to track local map!
536
- Relocalization() failed.
537
- Fail to track local map!
538
- Relocalization() failed.
539
- Fail to track local map!
540
- Relocalization() failed.
541
- Fail to track local map!
542
- Relocalization() failed.
543
- Fail to track local map!
544
- Relocalization() failed.
545
- Fail to track local map!
546
- Relocalization() failed.
547
- Fail to track local map!
548
- Relocalization() failed.
549
- Fail to track local map!
550
- Relocalized!!
551
- INIT_RELOCALIZE success!
552
- vpKFs.back()->mpImuPreintegrated0x556afa4d7aa0
553
- pKFCur->mTimeStamp4.0874166666666669
554
- vpKFs.front()->mTimeStamp-63.213141670835412
555
- vpKFs.back()->mTimeStamp-0.016675004168746455
556
- pKFcur->GetMapPointMatches().size()1256
557
- 1691 pKFcur->GetVelocity() 0
558
- 0
559
- 0
560
- pKFcur->mnId492
561
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 2
562
- Fail to track local map!
563
- Relocalization() failed.
564
- Fail to track local map!
565
- Relocalization() failed.
566
- Fail to track local map!
567
- Relocalization() failed.
568
- Fail to track local map!
569
- Relocalization() failed.
570
- Fail to track local map!
571
- Relocalization() failed.
572
- Fail to track local map!
573
- Relocalization() failed.
574
- Fail to track local map!
575
- Relocalization() failed.
576
- Fail to track local map!
577
- Relocalization() failed.
578
- Fail to track local map!
579
- Relocalization() failed.
580
- Fail to track local map!
581
- Relocalization() failed.
582
- Fail to track local map!
583
- Relocalization() failed.
584
- Fail to track local map!
585
- Relocalization() failed.
586
- Fail to track local map!
587
- Relocalization() failed.
588
- Fail to track local map!
589
- Relocalization() failed.
590
- Fail to track local map!
591
- Relocalization() failed.
592
- Fail to track local map!
593
- Relocalization() failed.
594
- Fail to track local map!
595
- Relocalization() failed.
596
- Fail to track local map!
597
- Relocalization() failed.
598
- Fail to track local map!
599
- Relocalization() failed.
600
- Fail to track local map!
601
- Relocalization() failed.
602
- Fail to track local map!
603
- Relocalization() failed.
604
- Fail to track local map!
605
- Relocalization() failed.
606
- Fail to track local map!
607
- Relocalization() failed.
608
- Fail to track local map!
609
- Relocalization() failed.
610
- Fail to track local map!
611
- Relocalization() failed.
612
- Fail to track local map!
613
- Relocalization() failed.
614
- Fail to track local map!
615
- Relocalization() failed.
616
- Fail to track local map!
617
- Relocalization() failed.
618
- Fail to track local map!
619
- Relocalization() failed.
620
- Fail to track local map!
621
- Relocalization() failed.
622
- Fail to track local map!
623
- Relocalization() failed.
624
- Fail to track local map!
625
- Relocalization() failed.
626
- Fail to track local map!
627
- Relocalization() failed.
628
- Fail to track local map!
629
- Relocalization() failed.
630
- Fail to track local map!
631
- Relocalization() failed.
632
- Fail to track local map!
633
- Relocalization() failed.
634
- Fail to track local map!
635
- Relocalization() failed.
636
- Fail to track local map!
637
- Relocalization() failed.
638
- Fail to track local map!
639
- Relocalization() failed.
640
- Fail to track local map!
641
- Relocalization() failed.
642
- Fail to track local map!
643
- Relocalization() failed.
644
- Fail to track local map!
645
- Relocalization() failed.
646
- Fail to track local map!
647
- Relocalization() failed.
648
- Fail to track local map!
649
- Relocalization() failed.
650
- Fail to track local map!
651
- Relocalization() failed.
652
- Fail to track local map!
653
- Relocalization() failed.
654
- Fail to track local map!
655
- Relocalization() failed.
656
- Fail to track local map!
657
- Video FPS: 59.940059940059939
658
- ORB-SLAM 3 running at: 1.4894575842166613 FPS
659
- Relocalization() failed.
660
- Fail to track local map!
661
- Relocalization() failed.
662
- Fail to track local map!
663
- Relocalization() failed.
664
- Fail to track local map!
665
- Relocalization() failed.
666
- Fail to track local map!
667
- Relocalization() failed.
668
- Fail to track local map!
669
- Relocalization() failed.
670
- Fail to track local map!
671
- Relocalization() failed.
672
- Fail to track local map!
673
- Relocalization() failed.
674
- Fail to track local map!
675
- Relocalization() failed.
676
- Fail to track local map!
677
- Relocalization() failed.
678
- Fail to track local map!
679
- Relocalization() failed.
680
- Fail to track local map!
681
- Relocalization() failed.
682
- Fail to track local map!
683
- Relocalization() failed.
684
- Fail to track local map!
685
- Relocalization() failed.
686
- Fail to track local map!
687
- Relocalization() failed.
688
- Fail to track local map!
689
- Relocalization() failed.
690
- Fail to track local map!
691
- Relocalization() failed.
692
- Fail to track local map!
693
- Relocalization() failed.
694
- Fail to track local map!
695
- Relocalization() failed.
696
- Fail to track local map!
697
- Relocalized!!
698
- INIT_RELOCALIZE success!
699
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
700
- pKFCur->mTimeStamp5.3386666666666667
701
- vpKFs.front()->mTimeStamp-67.317233341670828
702
- vpKFs.back()->mTimeStamp-0.016675004168750895
703
- pKFcur->GetMapPointMatches().size()1251
704
- 1691 pKFcur->GetVelocity() 0.2774147093296051
705
- -4.1016745567321777
706
- -1.6610792875289917
707
- pKFcur->mnId493
708
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 26
709
- Fail to track local map!
710
- Relocalized!!
711
- INIT_RELOCALIZE success!
712
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
713
- pKFCur->mTimeStamp5.4220833333333331
714
- vpKFs.front()->mTimeStamp-72.672575012506243
715
- vpKFs.back()->mTimeStamp-0.016675004168750895
716
- pKFcur->GetMapPointMatches().size()1252
717
- 1691 pKFcur->GetVelocity() -1.0369912385940552
718
- 5.9302725791931152
719
- 6.572718620300293
720
- pKFcur->mnId494
721
- TRACK_REF_KF: Less than 15 matches!!
722
- Fail to track local map!
723
- Relocalized!!
724
- INIT_RELOCALIZE success!
725
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
726
- pKFCur->mTimeStamp5.4554499999999999
727
- vpKFs.front()->mTimeStamp-78.111333350008323
728
- vpKFs.back()->mTimeStamp-0.016675004168750895
729
- pKFcur->GetMapPointMatches().size()1255
730
- 1691 pKFcur->GetVelocity() -1.0369912385940552
731
- 5.9302725791931152
732
- 6.572718620300293
733
- pKFcur->mnId495
734
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 6
735
- Fail to track local map!
736
- Relocalized!!
737
- INIT_RELOCALIZE success!
738
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
739
- pKFCur->mTimeStamp5.4888166666666667
740
- vpKFs.front()->mTimeStamp-83.583458354177068
741
- vpKFs.back()->mTimeStamp-0.016675004168750895
742
- pKFcur->GetMapPointMatches().size()1257
743
- 1691 pKFcur->GetVelocity() 1.2280561923980713
744
- -6.9557681083679199
745
- -2.21600341796875
746
- pKFcur->mnId496
747
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 16
748
- Fail to track local map!
749
- Relocalized!!
750
- INIT_RELOCALIZE success!
751
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
752
- pKFCur->mTimeStamp5.5221833333333334
753
- vpKFs.front()->mTimeStamp-89.08895002501248
754
- vpKFs.back()->mTimeStamp-0.016675004168750895
755
- pKFcur->GetMapPointMatches().size()1252
756
- 1691 pKFcur->GetVelocity() -1.5098623037338257
757
- 8.4728126525878906
758
- 9.8037595748901367
759
- pKFcur->mnId497
760
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
761
- Fail to track local map!
762
- Relocalized!!
763
- INIT_RELOCALIZE success!
764
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
765
- pKFCur->mTimeStamp5.5555500000000002
766
- vpKFs.front()->mTimeStamp-94.627808362514571
767
- vpKFs.back()->mTimeStamp-0.016675004168750895
768
- pKFcur->GetMapPointMatches().size()1254
769
- 1691 pKFcur->GetVelocity() 24.766866683959961
770
- -9.2094316482543945
771
- -7.002769947052002
772
- pKFcur->mnId498
773
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
774
- Fail to track local map!
775
- Relocalized!!
776
- INIT_RELOCALIZE success!
777
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
778
- pKFCur->mTimeStamp5.588916666666667
779
- vpKFs.front()->mTimeStamp-100.20003336668333
780
- vpKFs.back()->mTimeStamp-0.016675004168750895
781
- pKFcur->GetMapPointMatches().size()1252
782
- 1691 pKFcur->GetVelocity() 51.639057159423828
783
- -26.740207672119141
784
- -24.051340103149414
785
- pKFcur->mnId499
786
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
787
- Fail to track local map!
788
- Relocalized!!
789
- INIT_RELOCALIZE success!
790
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
791
- pKFCur->mTimeStamp5.6222833333333337
792
- vpKFs.front()->mTimeStamp-105.80562503751875
793
- vpKFs.back()->mTimeStamp-0.016675004168750895
794
- pKFcur->GetMapPointMatches().size()1254
795
- 1691 pKFcur->GetVelocity() 78.601631164550781
796
- -43.671585083007812
797
- -40.805068969726562
798
- pKFcur->mnId500
799
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
800
- Fail to track local map!
801
- Relocalized!!
802
- INIT_RELOCALIZE success!
803
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
804
- pKFCur->mTimeStamp5.6556500000000005
805
- vpKFs.front()->mTimeStamp-111.44458337502084
806
- vpKFs.back()->mTimeStamp-0.016675004168750895
807
- pKFcur->GetMapPointMatches().size()1251
808
- 1691 pKFcur->GetVelocity() 104.57536315917969
809
- -58.506973266601562
810
- -55.967731475830078
811
- pKFcur->mnId501
812
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
813
- Fail to track local map!
814
- Relocalized!!
815
- INIT_RELOCALIZE success!
816
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
817
- pKFCur->mTimeStamp5.6890166666666664
818
- vpKFs.front()->mTimeStamp-117.1169083791896
819
- vpKFs.back()->mTimeStamp-0.016675004168750895
820
- pKFcur->GetMapPointMatches().size()1255
821
- 1691 pKFcur->GetVelocity() 131.26222229003906
822
- -72.928848266601562
823
- -71.363189697265625
824
- pKFcur->mnId502
825
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
826
- Fail to track local map!
827
- Relocalized!!
828
- INIT_RELOCALIZE success!
829
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
830
- pKFCur->mTimeStamp5.7223833333333332
831
- vpKFs.front()->mTimeStamp-122.82260005002502
832
- vpKFs.back()->mTimeStamp-0.016675004168750895
833
- pKFcur->GetMapPointMatches().size()1250
834
- 1691 pKFcur->GetVelocity() 157.7528076171875
835
- -86.779808044433594
836
- -86.349784851074219
837
- pKFcur->mnId503
838
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
839
- Fail to track local map!
840
- Relocalized!!
841
- INIT_RELOCALIZE success!
842
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
843
- pKFCur->mTimeStamp5.7557499999999999
844
- vpKFs.front()->mTimeStamp-128.5616583875271
845
- vpKFs.back()->mTimeStamp-0.016675004168750895
846
- pKFcur->GetMapPointMatches().size()1254
847
- 1691 pKFcur->GetVelocity() 184.58311462402344
848
- -100.00827026367188
849
- -101.25522613525391
850
- pKFcur->mnId504
851
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
852
- Fail to track local map!
853
- Relocalized!!
854
- INIT_RELOCALIZE success!
855
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
856
- pKFCur->mTimeStamp5.7891166666666667
857
- vpKFs.front()->mTimeStamp-134.33408339169586
858
- vpKFs.back()->mTimeStamp-0.016675004168750895
859
- pKFcur->GetMapPointMatches().size()1251
860
- 1691 pKFcur->GetVelocity() 211.33538818359375
861
- -112.39974975585938
862
- -115.76875305175781
863
- pKFcur->mnId505
864
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
865
- Fail to track local map!
866
- Relocalized!!
867
- INIT_RELOCALIZE success!
868
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
869
- pKFCur->mTimeStamp5.8224833333333335
870
- vpKFs.front()->mTimeStamp-140.13987506253127
871
- vpKFs.back()->mTimeStamp-0.016675004168750895
872
- pKFcur->GetMapPointMatches().size()1256
873
- 1691 pKFcur->GetVelocity() 237.68806457519531
874
- -123.83946228027344
875
- -129.71478271484375
876
- pKFcur->mnId506
877
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
878
- Fail to track local map!
879
- Relocalized!!
880
- INIT_RELOCALIZE success!
881
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
882
- pKFCur->mTimeStamp5.8558500000000002
883
- vpKFs.front()->mTimeStamp-145.97903340003336
884
- vpKFs.back()->mTimeStamp-0.016675004168750895
885
- pKFcur->GetMapPointMatches().size()1254
886
- 1691 pKFcur->GetVelocity() 264.789794921875
887
- -134.55656433105469
888
- -143.90080261230469
889
- pKFcur->mnId507
890
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
891
- Fail to track local map!
892
- Relocalized!!
893
- INIT_RELOCALIZE success!
894
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
895
- pKFCur->mTimeStamp5.889216666666667
896
- vpKFs.front()->mTimeStamp-151.85155840420211
897
- vpKFs.back()->mTimeStamp-0.016675004168750895
898
- pKFcur->GetMapPointMatches().size()1253
899
- 1691 pKFcur->GetVelocity() 293.03878784179688
900
- -145.02850341796875
901
- -158.72164916992188
902
- pKFcur->mnId508
903
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
904
- Fail to track local map!
905
- Relocalized!!
906
- INIT_RELOCALIZE success!
907
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
908
- pKFCur->mTimeStamp5.9225833333333338
909
- vpKFs.front()->mTimeStamp-157.75745007503753
910
- vpKFs.back()->mTimeStamp-0.016675004168750895
911
- pKFcur->GetMapPointMatches().size()1252
912
- 1691 pKFcur->GetVelocity() 321.87103271484375
913
- -155.53617858886719
914
- -173.89993286132812
915
- pKFcur->mnId509
916
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
917
- Fail to track local map!
918
- Relocalized!!
919
- INIT_RELOCALIZE success!
920
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
921
- pKFCur->mTimeStamp5.9559500000000005
922
- vpKFs.front()->mTimeStamp-163.69670841253961
923
- vpKFs.back()->mTimeStamp-0.016675004168750895
924
- pKFcur->GetMapPointMatches().size()1256
925
- 1691 pKFcur->GetVelocity() 351.93402099609375
926
- -164.5845947265625
927
- -189.52153015136719
928
- pKFcur->mnId510
929
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
930
- Fail to track local map!
931
- Relocalized!!
932
- INIT_RELOCALIZE success!
933
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
934
- pKFCur->mTimeStamp5.9893166666666664
935
- vpKFs.front()->mTimeStamp-169.66933341670835
936
- vpKFs.back()->mTimeStamp-0.016675004168750895
937
- pKFcur->GetMapPointMatches().size()1255
938
- 1691 pKFcur->GetVelocity() 382.85394287109375
939
- -173.73251342773438
940
- -205.67059326171875
941
- pKFcur->mnId511
942
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
943
- Fail to track local map!
944
- Relocalized!!
945
- INIT_RELOCALIZE success!
946
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
947
- pKFCur->mTimeStamp6.0226833333333332
948
- vpKFs.front()->mTimeStamp-175.67532508754377
949
- vpKFs.back()->mTimeStamp-0.016675004168750895
950
- pKFcur->GetMapPointMatches().size()1251
951
- 1691 pKFcur->GetVelocity() 414.05377197265625
952
- -182.0054931640625
953
- -221.66984558105469
954
- pKFcur->mnId512
955
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
956
- Fail to track local map!
957
- Relocalized!!
958
- INIT_RELOCALIZE success!
959
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
960
- pKFCur->mTimeStamp6.0560499999999999
961
- vpKFs.front()->mTimeStamp-181.71468342504585
962
- vpKFs.back()->mTimeStamp-0.016675004168750895
963
- pKFcur->GetMapPointMatches().size()1256
964
- 1691 pKFcur->GetVelocity() 444.64068603515625
965
- -190.674560546875
966
- -237.02218627929688
967
- pKFcur->mnId513
968
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
969
- Fail to track local map!
970
- Relocalized!!
971
- INIT_RELOCALIZE success!
972
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
973
- pKFCur->mTimeStamp6.0894166666666667
974
- vpKFs.front()->mTimeStamp-187.78740842921459
975
- vpKFs.back()->mTimeStamp-0.016675004168750895
976
- pKFcur->GetMapPointMatches().size()1252
977
- 1691 pKFcur->GetVelocity() 474.17047119140625
978
- -198.8671875
979
- -251.49752807617188
980
- pKFcur->mnId514
981
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
982
- Fail to track local map!
983
- Relocalized!!
984
- INIT_RELOCALIZE success!
985
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
986
- pKFCur->mTimeStamp6.1227833333333335
987
- vpKFs.front()->mTimeStamp-193.89350010005001
988
- vpKFs.back()->mTimeStamp-0.016675004168750895
989
- pKFcur->GetMapPointMatches().size()1254
990
- 1691 pKFcur->GetVelocity() 503.29849243164062
991
- -206.69757080078125
992
- -265.59744262695312
993
- pKFcur->mnId515
994
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
995
- Fail to track local map!
996
- Relocalized!!
997
- INIT_RELOCALIZE success!
998
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
999
- pKFCur->mTimeStamp6.1561500000000002
1000
- vpKFs.front()->mTimeStamp-200.03295843755208
1001
- vpKFs.back()->mTimeStamp-0.016675004168750895
1002
- pKFcur->GetMapPointMatches().size()1258
1003
- 1691 pKFcur->GetVelocity() 532.14178466796875
1004
- -214.49569702148438
1005
- -279.45730590820312
1006
- pKFcur->mnId516
1007
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1008
- Fail to track local map!
1009
- Relocalized!!
1010
- INIT_RELOCALIZE success!
1011
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1012
- pKFCur->mTimeStamp6.189516666666667
1013
- vpKFs.front()->mTimeStamp-206.20578344172083
1014
- vpKFs.back()->mTimeStamp-0.016675004168750895
1015
- pKFcur->GetMapPointMatches().size()1250
1016
- 1691 pKFcur->GetVelocity() 560.9786376953125
1017
- -222.84210205078125
1018
- -293.354736328125
1019
- pKFcur->mnId517
1020
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1021
- Fail to track local map!
1022
- Relocalized!!
1023
- INIT_RELOCALIZE success!
1024
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1025
- pKFCur->mTimeStamp6.2228833333333338
1026
- vpKFs.front()->mTimeStamp-212.41197511255623
1027
- vpKFs.back()->mTimeStamp-0.016675004168750895
1028
- pKFcur->GetMapPointMatches().size()1256
1029
- 1691 pKFcur->GetVelocity() 590.20465087890625
1030
- -231.89839172363281
1031
- -307.57479858398438
1032
- pKFcur->mnId518
1033
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1034
- Fail to track local map!
1035
- Relocalized!!
1036
- INIT_RELOCALIZE success!
1037
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1038
- pKFCur->mTimeStamp6.2562500000000005
1039
- vpKFs.front()->mTimeStamp-218.65153345005831
1040
- vpKFs.back()->mTimeStamp-0.016675004168750895
1041
- pKFcur->GetMapPointMatches().size()1250
1042
- 1691 pKFcur->GetVelocity() 619.8521728515625
1043
- -241.6055908203125
1044
- -322.13070678710938
1045
- pKFcur->mnId519
1046
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1047
- Fail to track local map!
1048
- Relocalized!!
1049
- INIT_RELOCALIZE success!
1050
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1051
- pKFCur->mTimeStamp6.2896166666666664
1052
- vpKFs.front()->mTimeStamp-224.92445845422705
1053
- vpKFs.back()->mTimeStamp-0.016675004168750895
1054
- pKFcur->GetMapPointMatches().size()1254
1055
- 1691 pKFcur->GetVelocity() 650.09747314453125
1056
- -251.69964599609375
1057
- -337.07693481445312
1058
- pKFcur->mnId520
1059
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1060
- Fail to track local map!
1061
- Relocalized!!
1062
- INIT_RELOCALIZE success!
1063
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1064
- pKFCur->mTimeStamp6.3229833333333332
1065
- vpKFs.front()->mTimeStamp-231.23075012506246
1066
- vpKFs.back()->mTimeStamp-0.016675004168750895
1067
- pKFcur->GetMapPointMatches().size()1255
1068
- 1691 pKFcur->GetVelocity() 680.81829833984375
1069
- -262.65325927734375
1070
- -352.4609375
1071
- pKFcur->mnId521
1072
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1073
- Fail to track local map!
1074
- Relocalized!!
1075
- INIT_RELOCALIZE success!
1076
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1077
- pKFCur->mTimeStamp6.3563499999999999
1078
- vpKFs.front()->mTimeStamp-237.57040846256453
1079
- vpKFs.back()->mTimeStamp-0.016675004168750895
1080
- pKFcur->GetMapPointMatches().size()1254
1081
- 1691 pKFcur->GetVelocity() 712.18194580078125
1082
- -273.91915893554688
1083
- -368.27178955078125
1084
- pKFcur->mnId522
1085
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1086
- Fail to track local map!
1087
- Relocalized!!
1088
- INIT_RELOCALIZE success!
1089
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1090
- pKFCur->mTimeStamp6.3897166666666667
1091
- vpKFs.front()->mTimeStamp-243.94343346673327
1092
- vpKFs.back()->mTimeStamp-0.016675004168750895
1093
- pKFcur->GetMapPointMatches().size()1255
1094
- 1691 pKFcur->GetVelocity() 743.72625732421875
1095
- -285.56185913085938
1096
- -384.22036743164062
1097
- pKFcur->mnId523
1098
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1099
- Fail to track local map!
1100
- Relocalized!!
1101
- INIT_RELOCALIZE success!
1102
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1103
- pKFCur->mTimeStamp6.4230833333333335
1104
- vpKFs.front()->mTimeStamp-250.34982513756867
1105
- vpKFs.back()->mTimeStamp-0.016675004168750895
1106
- pKFcur->GetMapPointMatches().size()1251
1107
- 1691 pKFcur->GetVelocity() 775.67083740234375
1108
- -297.88604736328125
1109
- -400.53890991210938
1110
- pKFcur->mnId524
1111
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1112
- Fail to track local map!
1113
- Relocalized!!
1114
- INIT_RELOCALIZE success!
1115
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1116
- pKFCur->mTimeStamp6.4564500000000002
1117
- vpKFs.front()->mTimeStamp-256.78958347507074
1118
- vpKFs.back()->mTimeStamp-0.016675004168750895
1119
- pKFcur->GetMapPointMatches().size()1250
1120
- 1691 pKFcur->GetVelocity() 807.9849853515625
1121
- -309.98794555664062
1122
- -416.97891235351562
1123
- pKFcur->mnId525
1124
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1125
- Fail to track local map!
1126
- Relocalized!!
1127
- INIT_RELOCALIZE success!
1128
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1129
- pKFCur->mTimeStamp6.489816666666667
1130
- vpKFs.front()->mTimeStamp-263.26270847923951
1131
- vpKFs.back()->mTimeStamp-0.016675004168750895
1132
- pKFcur->GetMapPointMatches().size()1252
1133
- 1691 pKFcur->GetVelocity() 840.41229248046875
1134
- -322.5350341796875
1135
- -433.53909301757812
1136
- pKFcur->mnId526
1137
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1138
- Fail to track local map!
1139
- Relocalized!!
1140
- INIT_RELOCALIZE success!
1141
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1142
- pKFCur->mTimeStamp6.5231833333333338
1143
- vpKFs.front()->mTimeStamp-269.76920015007494
1144
- vpKFs.back()->mTimeStamp-0.016675004168750895
1145
- pKFcur->GetMapPointMatches().size()1253
1146
- 1691 pKFcur->GetVelocity() 873.16375732421875
1147
- -335.90203857421875
1148
- -450.47018432617188
1149
- pKFcur->mnId527
1150
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1151
- Fail to track local map!
1152
- Relocalized!!
1153
- INIT_RELOCALIZE success!
1154
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1155
- pKFCur->mTimeStamp6.5565500000000005
1156
- vpKFs.front()->mTimeStamp-276.30905848757703
1157
- vpKFs.back()->mTimeStamp-0.016675004168750895
1158
- pKFcur->GetMapPointMatches().size()1254
1159
- 1691 pKFcur->GetVelocity() 906.0032958984375
1160
- -349.84930419921875
1161
- -467.552978515625
1162
- pKFcur->mnId528
1163
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1164
- Fail to track local map!
1165
- Relocalized!!
1166
- INIT_RELOCALIZE success!
1167
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1168
- pKFCur->mTimeStamp6.5899166666666664
1169
- vpKFs.front()->mTimeStamp-282.8822834917458
1170
- vpKFs.back()->mTimeStamp-0.016675004168750895
1171
- pKFcur->GetMapPointMatches().size()1251
1172
- 1691 pKFcur->GetVelocity() 938.8092041015625
1173
- -364.49874877929688
1174
- -484.74325561523438
1175
- pKFcur->mnId529
1176
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1177
- Fail to track local map!
1178
- Relocalized!!
1179
- INIT_RELOCALIZE success!
1180
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1181
- pKFCur->mTimeStamp6.6232833333333332
1182
- vpKFs.front()->mTimeStamp-289.48887516258122
1183
- vpKFs.back()->mTimeStamp-0.016675004168750895
1184
- pKFcur->GetMapPointMatches().size()1252
1185
- 1691 pKFcur->GetVelocity() 971.50555419921875
1186
- -379.60324096679688
1187
- -501.92153930664062
1188
- pKFcur->mnId530
1189
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1190
- Fail to track local map!
1191
- Relocalized!!
1192
- INIT_RELOCALIZE success!
1193
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1194
- pKFCur->mTimeStamp6.65665
1195
- vpKFs.front()->mTimeStamp-296.12883350008332
1196
- vpKFs.back()->mTimeStamp-0.016675004168750895
1197
- pKFcur->GetMapPointMatches().size()1252
1198
- 1691 pKFcur->GetVelocity() 1004.2467651367188
1199
- -395.56869506835938
1200
- -519.3265380859375
1201
- pKFcur->mnId531
1202
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1203
- Fail to track local map!
1204
- Video FPS: 59.940059940059939
1205
- ORB-SLAM 3 running at: 22.022350307147921 FPS
1206
- Relocalized!!
1207
- INIT_RELOCALIZE success!
1208
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1209
- pKFCur->mTimeStamp6.6900166666666667
1210
- vpKFs.front()->mTimeStamp-302.80215850425208
1211
- vpKFs.back()->mTimeStamp-0.016675004168750895
1212
- pKFcur->GetMapPointMatches().size()1253
1213
- 1691 pKFcur->GetVelocity() 1036.760986328125
1214
- -412.02633666992188
1215
- -536.65771484375
1216
- pKFcur->mnId532
1217
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1218
- Fail to track local map!
1219
- Relocalized!!
1220
- INIT_RELOCALIZE success!
1221
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1222
- pKFCur->mTimeStamp6.7233833333333335
1223
- vpKFs.front()->mTimeStamp-309.5088501750875
1224
- vpKFs.back()->mTimeStamp-0.016675004168750895
1225
- pKFcur->GetMapPointMatches().size()1254
1226
- 1691 pKFcur->GetVelocity() 1069.43994140625
1227
- -429.1060791015625
1228
- -554.24676513671875
1229
- pKFcur->mnId533
1230
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1231
- Fail to track local map!
1232
- Relocalized!!
1233
- INIT_RELOCALIZE success!
1234
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1235
- pKFCur->mTimeStamp6.7567500000000003
1236
- vpKFs.front()->mTimeStamp-316.24890851258959
1237
- vpKFs.back()->mTimeStamp-0.016675004168750895
1238
- pKFcur->GetMapPointMatches().size()1254
1239
- 1691 pKFcur->GetVelocity() 1102.037109375
1240
- -446.61770629882812
1241
- -571.854736328125
1242
- pKFcur->mnId534
1243
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1244
- Fail to track local map!
1245
- Relocalized!!
1246
- INIT_RELOCALIZE success!
1247
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1248
- pKFCur->mTimeStamp6.790116666666667
1249
- vpKFs.front()->mTimeStamp-323.02233351675835
1250
- vpKFs.back()->mTimeStamp-0.016675004168750895
1251
- pKFcur->GetMapPointMatches().size()1253
1252
- 1691 pKFcur->GetVelocity() 1134.5816650390625
1253
- -464.84732055664062
1254
- -589.61175537109375
1255
- pKFcur->mnId535
1256
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1257
- Fail to track local map!
1258
- Relocalized!!
1259
- INIT_RELOCALIZE success!
1260
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1261
- pKFCur->mTimeStamp6.8234833333333338
1262
- vpKFs.front()->mTimeStamp-329.82912518759377
1263
- vpKFs.back()->mTimeStamp-0.016675004168750895
1264
- pKFcur->GetMapPointMatches().size()1254
1265
- 1691 pKFcur->GetVelocity() 1166.90673828125
1266
- -483.58383178710938
1267
- -607.3321533203125
1268
- pKFcur->mnId536
1269
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1270
- Fail to track local map!
1271
- Relocalized!!
1272
- INIT_RELOCALIZE success!
1273
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1274
- pKFCur->mTimeStamp6.8568500000000006
1275
- vpKFs.front()->mTimeStamp-336.66928352509586
1276
- vpKFs.back()->mTimeStamp-0.016675004168750895
1277
- pKFcur->GetMapPointMatches().size()1254
1278
- 1691 pKFcur->GetVelocity() 1199.4638671875
1279
- -502.9923095703125
1280
- -625.383544921875
1281
- pKFcur->mnId537
1282
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1283
- Fail to track local map!
1284
- Relocalized!!
1285
- INIT_RELOCALIZE success!
1286
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1287
- pKFCur->mTimeStamp6.8902166666666664
1288
- vpKFs.front()->mTimeStamp-343.54280852926462
1289
- vpKFs.back()->mTimeStamp-0.016675004168750895
1290
- pKFcur->GetMapPointMatches().size()1254
1291
- 1691 pKFcur->GetVelocity() 1231.6998291015625
1292
- -523.22723388671875
1293
- -643.47296142578125
1294
- pKFcur->mnId538
1295
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1296
- Fail to track local map!
1297
- Relocalized!!
1298
- INIT_RELOCALIZE success!
1299
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1300
- pKFCur->mTimeStamp6.9235833333333332
1301
- vpKFs.front()->mTimeStamp-350.44970020010004
1302
- vpKFs.back()->mTimeStamp-0.016675004168750895
1303
- pKFcur->GetMapPointMatches().size()1257
1304
- 1691 pKFcur->GetVelocity() 1263.759521484375
1305
- -543.9547119140625
1306
- -661.57037353515625
1307
- pKFcur->mnId539
1308
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1309
- Fail to track local map!
1310
- Relocalized!!
1311
- INIT_RELOCALIZE success!
1312
- vpKFs.back()->mpImuPreintegrated0x556afb3c2810
1313
- pKFCur->mTimeStamp6.95695
1314
- vpKFs.front()->mTimeStamp-357.38995853760213
1315
- vpKFs.back()->mTimeStamp-0.016675004168750895
1316
- pKFcur->GetMapPointMatches().size()1256
1317
- 1691 pKFcur->GetVelocity() 1295.4737548828125
1318
- -565.4754638671875
1319
- -679.701171875
1320
- pKFcur->mnId540
1321
- gopro_slam.cc Caught signal 2
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:54137bf9c2ebbd53af674b57062abaed07b2af9ff7a96a0bf62c67279960d2f6
3
+ size 40708
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/extract_gopro_imu_stdout.txt CHANGED
@@ -1,9 +1,3 @@
1
- Input video path: /data/raw_video.mp4
2
- Output file will be: /data/imu_data.json
3
- Opening /data/raw_video.mp4
4
- Read stream data from raw_video.mp4
5
- Extracted information for raw_video.mp4
6
- Flushing on end after 185642298 bytes
7
- Generated telemetry for raw_video.mp4
8
- Telemetry saved as JSON to imu_data.json
9
- Done
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:1d055b70386982965859790b777d83d2231ce04288e8f5639d2d0be9bb574d38
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+ size 305
 
 
 
 
 
 
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/imu_data.json CHANGED
The diff for this file is too large to render. See raw diff
 
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/slam_stderr.txt CHANGED
@@ -1,5 +1,3 @@
1
- Camera.newHeight optional parameter does not exist...
2
- Camera.newWidth optional parameter does not exist...
3
- IMU.InsertKFsWhenLost optional parameter does not exist...
4
- System.LoadAtlasFromFile optional parameter does not exist...
5
- System.SaveAtlasToFile optional parameter does not exist...
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a
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+ size 288
 
 
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.13.45.817450/slam_stdout.txt CHANGED
The diff for this file is too large to render. See raw diff
 
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/extract_gopro_imu_stdout.txt CHANGED
@@ -1,9 +1,3 @@
1
- Input video path: /data/raw_video.mp4
2
- Output file will be: /data/imu_data.json
3
- Opening /data/raw_video.mp4
4
- Read stream data from raw_video.mp4
5
- Extracted information for raw_video.mp4
6
- Flushing on end after 199874308 bytes
7
- Generated telemetry for raw_video.mp4
8
- Telemetry saved as JSON to imu_data.json
9
- Done
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2167eb483007d9dcd7ce17fb77a515c8bda6f830f6ca8397945c2165be779cbe
3
+ size 305
 
 
 
 
 
 
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/imu_data.json CHANGED
The diff for this file is too large to render. See raw diff
 
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/slam_stderr.txt CHANGED
@@ -1,5 +1,3 @@
1
- Camera.newHeight optional parameter does not exist...
2
- Camera.newWidth optional parameter does not exist...
3
- IMU.InsertKFsWhenLost optional parameter does not exist...
4
- System.LoadAtlasFromFile optional parameter does not exist...
5
- System.SaveAtlasToFile optional parameter does not exist...
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a
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+ size 288
 
 
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.22.437367/slam_stdout.txt CHANGED
The diff for this file is too large to render. See raw diff
 
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/camera_trajectory.csv CHANGED
@@ -1,1256 +1,3 @@
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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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- 0,0.000000,6,true,false,0,0,0,0,0,0,0
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- 1,0.016683,2,false,false,-0.069985256,0.225918993,0.182199225,-0.027095869,-0.066636138,-0.041560180,0.996543169
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- 2,0.033367,2,false,false,-0.071772382,0.210733354,0.193049818,0.026956292,0.067197859,0.041021995,-0.996531487
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- 4,0.066733,2,false,false,-13.496035576,-11.632238388,8.882770538,0.004762204,-0.275129944,0.073634014,-0.958571315
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- 5,0.083417,2,false,false,-0.072971381,0.211320668,0.193274722,0.028416550,0.069495283,0.040878411,-0.996339262
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- 6,0.100100,2,false,false,-0.073513560,0.211645469,0.193471506,0.029206930,0.070374086,0.040969089,-0.996250987
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- 7,0.116783,2,false,false,-0.074211873,0.211939141,0.193843439,0.029883532,0.071396001,0.040887803,-0.996161520
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+ size 51523
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/extract_gopro_imu_stdout.txt CHANGED
@@ -1,9 +1,3 @@
1
- Input video path: /data/raw_video.mp4
2
- Output file will be: /data/imu_data.json
3
- Opening /data/raw_video.mp4
4
- Read stream data from raw_video.mp4
5
- Extracted information for raw_video.mp4
6
- Flushing on end after 157417680 bytes
7
- Generated telemetry for raw_video.mp4
8
- Telemetry saved as JSON to imu_data.json
9
- Done
 
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bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/imu_data.json CHANGED
The diff for this file is too large to render. See raw diff
 
bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/slam_stderr.txt CHANGED
@@ -1,5 +1,3 @@
1
- Camera.newHeight optional parameter does not exist...
2
- Camera.newWidth optional parameter does not exist...
3
- IMU.InsertKFsWhenLost optional parameter does not exist...
4
- System.LoadAtlasFromFile optional parameter does not exist...
5
- System.SaveAtlasToFile optional parameter does not exist...
 
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bimanual_cloth_folding/sessions/20231228_zhenjia/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/slam_stdout.txt CHANGED
@@ -1,2668 +1,3 @@
1
- Mask img size mismatch! Converting [2704 x 2028] to [640 x 480]
2
-
3
- ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
- ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
- This program comes with ABSOLUTELY NO WARRANTY;
6
- This is free software, and you are welcome to redistribute it
7
- under certain conditions. See LICENSE.txt.
8
-
9
- Input sensor was set to: Monocular-Inertial
10
- Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_480.yaml
11
- -Loaded camera 1
12
- -Loaded image info
13
- -Loaded IMU calibration
14
- -Loaded ORB settings
15
- -Loaded viewer settings
16
- -Loaded Atlas settings
17
- -Loaded misc parameters
18
- ----------------------------------
19
- SLAM settings:
20
- -Camera 1 parameters (Kannala-Brandt): [ 188.605 188.605 320.574 239.405 -0.0174584 -0.0280825 0.0128327 -0.0045198 ]
21
- -Original image size: [ 640 , 480 ]
22
- -Current image size: [ 640 , 480 ]
23
- -Sequence FPS: 60
24
- -Gyro noise: 0.0015
25
- -Accelerometer noise: 0.017
26
- -Gyro walk: 5e-05
27
- -Accelerometer walk: 0.0055
28
- -IMU frequency: 200
29
- -Features per image: 1250
30
- -ORB scale factor: 1.2
31
- -ORB number of scales: 6
32
- -Initial FAST threshold: 20
33
- -Min FAST threshold: 7
34
-
35
-
36
- Loading ORB Vocabulary. This could take a while...
37
- Vocabulary loaded!
38
-
39
- Initialization of Atlas from file: /map/map_atlas.osa
40
- Starting to read the save binary file
41
- End to load the save binary file
42
- Change to map with id: 0
43
- Atlas loaded!
44
- There are 2 cameras in the atlas
45
- Camera 0 is fisheye
46
- Camera 0 is fisheye
47
- Discard points further than 20 m from current camera
48
- Video opened using backend FFMPEG
49
- There are 1255 frames in total
50
- video FPS 59.9401
51
- line 1873 keyframes 66MapPoints2425
52
- line 1877
53
- mlFrameTimes.size()= 0
54
- KeyFrame::nNextId=492
55
- Relocalization() failed.
56
- Fail to track local map!
57
- Video FPS: 59.9401
58
- ORB-SLAM 3 running at: 18.5205 FPS
59
- Relocalized!!
60
- INIT_RELOCALIZE success!
61
- vpKFs.back()->mpImuPreintegrated0x56377b39bfb0
62
- pKFCur->mTimeStamp0.016683333333333335
63
- vpKFs.front()->mTimeStamp-63.213141670835412
64
- vpKFs.back()->mTimeStamp-0.016675004168746455
65
- pKFcur->GetMapPointMatches().size()1256
66
- 1691 pKFcur->GetVelocity() 0
67
- 0
68
- 0
69
- pKFcur->mnId492
70
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 28
71
- Fail to track local map!
72
- Relocalization() failed.
73
- Fail to track local map!
74
- Relocalization() failed.
75
- Fail to track local map!
76
- Relocalization() failed.
77
- Fail to track local map!
78
- Relocalization() failed.
79
- Fail to track local map!
80
- Relocalization() failed.
81
- Fail to track local map!
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- Relocalization() failed.
83
- Fail to track local map!
84
- Relocalization() failed.
85
- Fail to track local map!
86
- Relocalization() failed.
87
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- Relocalization() failed.
89
- Fail to track local map!
90
- Relocalization() failed.
91
- Fail to track local map!
92
- Relocalization() failed.
93
- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
96
- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
205
- Fail to track local map!
206
- Relocalization() failed.
207
- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
215
- Fail to track local map!
216
- Relocalization() failed.
217
- Fail to track local map!
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- Relocalization() failed.
219
- Fail to track local map!
220
- Relocalization() failed.
221
- Fail to track local map!
222
- Relocalization() failed.
223
- Fail to track local map!
224
- Relocalization() failed.
225
- Fail to track local map!
226
- Relocalization() failed.
227
- Fail to track local map!
228
- Relocalization() failed.
229
- Fail to track local map!
230
- Relocalization() failed.
231
- Fail to track local map!
232
- Relocalization() failed.
233
- Fail to track local map!
234
- Relocalization() failed.
235
- Fail to track local map!
236
- Relocalization() failed.
237
- Fail to track local map!
238
- Relocalization() failed.
239
- Fail to track local map!
240
- Relocalization() failed.
241
- Fail to track local map!
242
- Relocalization() failed.
243
- Fail to track local map!
244
- Relocalization() failed.
245
- Fail to track local map!
246
- Relocalization() failed.
247
- Fail to track local map!
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- Relocalization() failed.
249
- Fail to track local map!
250
- Relocalization() failed.
251
- Fail to track local map!
252
- Relocalization() failed.
253
- Fail to track local map!
254
- Relocalization() failed.
255
- Fail to track local map!
256
- Video FPS: 59.940059940059939
257
- ORB-SLAM 3 running at: 34.234091623027332 FPS
258
- Relocalization() failed.
259
- Fail to track local map!
260
- Relocalization() failed.
261
- Fail to track local map!
262
- Relocalization() failed.
263
- Fail to track local map!
264
- Relocalization() failed.
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- Fail to track local map!
266
- Relocalization() failed.
267
- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
285
- Fail to track local map!
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- Relocalization() failed.
287
- Fail to track local map!
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Fail to track local map!
352
- Relocalization() failed.
353
- Fail to track local map!
354
- Relocalization() failed.
355
- Fail to track local map!
356
- Relocalization() failed.
357
- Fail to track local map!
358
- Relocalization() failed.
359
- Fail to track local map!
360
- Relocalization() failed.
361
- Fail to track local map!
362
- Relocalization() failed.
363
- Fail to track local map!
364
- Relocalization() failed.
365
- Fail to track local map!
366
- Relocalization() failed.
367
- Fail to track local map!
368
- Relocalization() failed.
369
- Fail to track local map!
370
- Relocalization() failed.
371
- Fail to track local map!
372
- Relocalization() failed.
373
- Fail to track local map!
374
- Relocalization() failed.
375
- Fail to track local map!
376
- Relocalization() failed.
377
- Fail to track local map!
378
- Relocalization() failed.
379
- Fail to track local map!
380
- Relocalization() failed.
381
- Fail to track local map!
382
- Relocalization() failed.
383
- Fail to track local map!
384
- Relocalization() failed.
385
- Fail to track local map!
386
- Relocalization() failed.
387
- Fail to track local map!
388
- Relocalization() failed.
389
- Fail to track local map!
390
- Relocalization() failed.
391
- Fail to track local map!
392
- Relocalization() failed.
393
- Fail to track local map!
394
- Relocalization() failed.
395
- Fail to track local map!
396
- Relocalization() failed.
397
- Fail to track local map!
398
- Relocalization() failed.
399
- Fail to track local map!
400
- Relocalization() failed.
401
- Fail to track local map!
402
- Relocalization() failed.
403
- Fail to track local map!
404
- Relocalization() failed.
405
- Fail to track local map!
406
- Relocalization() failed.
407
- Fail to track local map!
408
- Relocalization() failed.
409
- Fail to track local map!
410
- Relocalization() failed.
411
- Fail to track local map!
412
- Relocalization() failed.
413
- Fail to track local map!
414
- Relocalization() failed.
415
- Fail to track local map!
416
- Relocalization() failed.
417
- Fail to track local map!
418
- Relocalization() failed.
419
- Fail to track local map!
420
- Relocalization() failed.
421
- Fail to track local map!
422
- Relocalization() failed.
423
- Fail to track local map!
424
- Relocalization() failed.
425
- Fail to track local map!
426
- Relocalization() failed.
427
- Fail to track local map!
428
- Relocalization() failed.
429
- Fail to track local map!
430
- Relocalization() failed.
431
- Fail to track local map!
432
- Relocalization() failed.
433
- Fail to track local map!
434
- Relocalization() failed.
435
- Fail to track local map!
436
- Relocalization() failed.
437
- Fail to track local map!
438
- Relocalization() failed.
439
- Fail to track local map!
440
- Relocalization() failed.
441
- Fail to track local map!
442
- Relocalization() failed.
443
- Fail to track local map!
444
- Relocalization() failed.
445
- Fail to track local map!
446
- Relocalization() failed.
447
- Fail to track local map!
448
- Relocalization() failed.
449
- Fail to track local map!
450
- Relocalization() failed.
451
- Fail to track local map!
452
- Relocalization() failed.
453
- Fail to track local map!
454
- Relocalization() failed.
455
- Fail to track local map!
456
- Relocalization() failed.
457
- Fail to track local map!
458
- Video FPS: 59.940059940059939
459
- ORB-SLAM 3 running at: 30.251825879202762 FPS
460
- Relocalization() failed.
461
- Fail to track local map!
462
- Relocalization() failed.
463
- Fail to track local map!
464
- Relocalization() failed.
465
- Fail to track local map!
466
- Relocalization() failed.
467
- Fail to track local map!
468
- Relocalization() failed.
469
- Fail to track local map!
470
- Relocalization() failed.
471
- Fail to track local map!
472
- Relocalization() failed.
473
- Fail to track local map!
474
- Relocalization() failed.
475
- Fail to track local map!
476
- Relocalization() failed.
477
- Fail to track local map!
478
- Relocalization() failed.
479
- Fail to track local map!
480
- Relocalization() failed.
481
- Fail to track local map!
482
- Relocalization() failed.
483
- Fail to track local map!
484
- Relocalization() failed.
485
- Fail to track local map!
486
- Relocalization() failed.
487
- Fail to track local map!
488
- Relocalization() failed.
489
- Fail to track local map!
490
- Relocalization() failed.
491
- Fail to track local map!
492
- Relocalization() failed.
493
- Fail to track local map!
494
- Relocalization() failed.
495
- Fail to track local map!
496
- Relocalization() failed.
497
- Fail to track local map!
498
- Relocalization() failed.
499
- Fail to track local map!
500
- Relocalization() failed.
501
- Fail to track local map!
502
- Relocalization() failed.
503
- Fail to track local map!
504
- Relocalization() failed.
505
- Fail to track local map!
506
- Relocalization() failed.
507
- Fail to track local map!
508
- Relocalization() failed.
509
- Fail to track local map!
510
- Relocalization() failed.
511
- Fail to track local map!
512
- Relocalization() failed.
513
- Fail to track local map!
514
- Relocalization() failed.
515
- Fail to track local map!
516
- Relocalization() failed.
517
- Fail to track local map!
518
- Relocalization() failed.
519
- Fail to track local map!
520
- Relocalization() failed.
521
- Fail to track local map!
522
- Relocalization() failed.
523
- Fail to track local map!
524
- Relocalization() failed.
525
- Fail to track local map!
526
- Relocalization() failed.
527
- Fail to track local map!
528
- Relocalization() failed.
529
- Fail to track local map!
530
- Relocalization() failed.
531
- Fail to track local map!
532
- Relocalization() failed.
533
- Fail to track local map!
534
- Relocalization() failed.
535
- Fail to track local map!
536
- Relocalization() failed.
537
- Fail to track local map!
538
- Relocalization() failed.
539
- Fail to track local map!
540
- Relocalization() failed.
541
- Fail to track local map!
542
- Relocalization() failed.
543
- Fail to track local map!
544
- Relocalization() failed.
545
- Fail to track local map!
546
- Relocalization() failed.
547
- Fail to track local map!
548
- Relocalization() failed.
549
- Fail to track local map!
550
- Relocalization() failed.
551
- Fail to track local map!
552
- Relocalization() failed.
553
- Fail to track local map!
554
- Relocalization() failed.
555
- Fail to track local map!
556
- Relocalization() failed.
557
- Fail to track local map!
558
- Relocalization() failed.
559
- Fail to track local map!
560
- Relocalization() failed.
561
- Fail to track local map!
562
- Relocalization() failed.
563
- Fail to track local map!
564
- Relocalization() failed.
565
- Fail to track local map!
566
- Relocalization() failed.
567
- Fail to track local map!
568
- Relocalization() failed.
569
- Fail to track local map!
570
- Relocalization() failed.
571
- Fail to track local map!
572
- Relocalization() failed.
573
- Fail to track local map!
574
- Relocalization() failed.
575
- Fail to track local map!
576
- Relocalization() failed.
577
- Fail to track local map!
578
- Relocalization() failed.
579
- Fail to track local map!
580
- Relocalization() failed.
581
- Fail to track local map!
582
- Relocalization() failed.
583
- Fail to track local map!
584
- Relocalization() failed.
585
- Fail to track local map!
586
- Relocalization() failed.
587
- Fail to track local map!
588
- Relocalization() failed.
589
- Fail to track local map!
590
- Relocalization() failed.
591
- Fail to track local map!
592
- Relocalization() failed.
593
- Fail to track local map!
594
- Relocalization() failed.
595
- Fail to track local map!
596
- Relocalization() failed.
597
- Fail to track local map!
598
- Relocalization() failed.
599
- Fail to track local map!
600
- Relocalization() failed.
601
- Fail to track local map!
602
- Relocalization() failed.
603
- Fail to track local map!
604
- Relocalization() failed.
605
- Fail to track local map!
606
- Relocalization() failed.
607
- Fail to track local map!
608
- Relocalization() failed.
609
- Fail to track local map!
610
- Relocalization() failed.
611
- Fail to track local map!
612
- Relocalization() failed.
613
- Fail to track local map!
614
- Relocalization() failed.
615
- Fail to track local map!
616
- Relocalization() failed.
617
- Fail to track local map!
618
- Relocalization() failed.
619
- Fail to track local map!
620
- Relocalization() failed.
621
- Fail to track local map!
622
- Relocalization() failed.
623
- Fail to track local map!
624
- Relocalization() failed.
625
- Fail to track local map!
626
- Relocalization() failed.
627
- Fail to track local map!
628
- Relocalization() failed.
629
- Fail to track local map!
630
- Relocalization() failed.
631
- Fail to track local map!
632
- Relocalization() failed.
633
- Fail to track local map!
634
- Relocalization() failed.
635
- Fail to track local map!
636
- Relocalization() failed.
637
- Fail to track local map!
638
- Relocalization() failed.
639
- Fail to track local map!
640
- Relocalization() failed.
641
- Fail to track local map!
642
- Relocalization() failed.
643
- Fail to track local map!
644
- Relocalization() failed.
645
- Fail to track local map!
646
- Relocalization() failed.
647
- Fail to track local map!
648
- Relocalization() failed.
649
- Fail to track local map!
650
- Relocalization() failed.
651
- Fail to track local map!
652
- Relocalization() failed.
653
- Fail to track local map!
654
- Relocalization() failed.
655
- Fail to track local map!
656
- Relocalization() failed.
657
- Fail to track local map!
658
- Relocalization() failed.
659
- Fail to track local map!
660
- Video FPS: 59.940059940059939
661
- ORB-SLAM 3 running at: 41.934488265052806 FPS
662
- Relocalization() failed.
663
- Fail to track local map!
664
- Relocalization() failed.
665
- Fail to track local map!
666
- Relocalization() failed.
667
- Fail to track local map!
668
- Relocalization() failed.
669
- Fail to track local map!
670
- Relocalization() failed.
671
- Fail to track local map!
672
- Relocalization() failed.
673
- Fail to track local map!
674
- Relocalization() failed.
675
- Fail to track local map!
676
- Relocalization() failed.
677
- Fail to track local map!
678
- Relocalization() failed.
679
- Fail to track local map!
680
- Relocalization() failed.
681
- Fail to track local map!
682
- Relocalization() failed.
683
- Fail to track local map!
684
- Relocalization() failed.
685
- Fail to track local map!
686
- Relocalization() failed.
687
- Fail to track local map!
688
- Relocalization() failed.
689
- Fail to track local map!
690
- Relocalization() failed.
691
- Fail to track local map!
692
- Relocalization() failed.
693
- Fail to track local map!
694
- Relocalization() failed.
695
- Fail to track local map!
696
- Relocalization() failed.
697
- Fail to track local map!
698
- Relocalization() failed.
699
- Fail to track local map!
700
- Relocalization() failed.
701
- Fail to track local map!
702
- Relocalization() failed.
703
- Fail to track local map!
704
- Relocalization() failed.
705
- Fail to track local map!
706
- Relocalization() failed.
707
- Fail to track local map!
708
- Relocalization() failed.
709
- Fail to track local map!
710
- Relocalization() failed.
711
- Fail to track local map!
712
- Relocalization() failed.
713
- Fail to track local map!
714
- Relocalization() failed.
715
- Fail to track local map!
716
- Relocalization() failed.
717
- Fail to track local map!
718
- Relocalization() failed.
719
- Fail to track local map!
720
- Relocalization() failed.
721
- Fail to track local map!
722
- Relocalization() failed.
723
- Fail to track local map!
724
- Relocalization() failed.
725
- Fail to track local map!
726
- Relocalization() failed.
727
- Fail to track local map!
728
- Relocalization() failed.
729
- Fail to track local map!
730
- Relocalization() failed.
731
- Fail to track local map!
732
- Relocalization() failed.
733
- Fail to track local map!
734
- Relocalization() failed.
735
- Fail to track local map!
736
- Relocalization() failed.
737
- Fail to track local map!
738
- Relocalization() failed.
739
- Fail to track local map!
740
- Relocalization() failed.
741
- Fail to track local map!
742
- Relocalization() failed.
743
- Fail to track local map!
744
- Relocalization() failed.
745
- Fail to track local map!
746
- Relocalization() failed.
747
- Fail to track local map!
748
- Relocalization() failed.
749
- Fail to track local map!
750
- Relocalization() failed.
751
- Fail to track local map!
752
- Relocalization() failed.
753
- Fail to track local map!
754
- Relocalization() failed.
755
- Fail to track local map!
756
- Relocalization() failed.
757
- Fail to track local map!
758
- Relocalization() failed.
759
- Fail to track local map!
760
- Relocalization() failed.
761
- Fail to track local map!
762
- Relocalization() failed.
763
- Fail to track local map!
764
- Relocalization() failed.
765
- Fail to track local map!
766
- Relocalization() failed.
767
- Fail to track local map!
768
- Relocalization() failed.
769
- Fail to track local map!
770
- Relocalized!!
771
- INIT_RELOCALIZE success!
772
- vpKFs.back()->mpImuPreintegrated0x56377be64860
773
- pKFCur->mTimeStamp5.9225833333333338
774
- vpKFs.front()->mTimeStamp-63.246500008337499
775
- vpKFs.back()->mTimeStamp-0.016675004168751041
776
- pKFcur->GetMapPointMatches().size()1255
777
- 1691 pKFcur->GetVelocity() -0.06290753185749054
778
- -0.53634130954742432
779
- 0.17405770719051361
780
- pKFcur->mnId493
781
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 5
782
- Fail to track local map!
783
- Relocalized!!
784
- INIT_RELOCALIZE success!
785
- vpKFs.back()->mpImuPreintegrated0x56377be64860
786
- pKFCur->mTimeStamp5.9559500000000005
787
- vpKFs.front()->mTimeStamp-69.185758345839588
788
- vpKFs.back()->mTimeStamp-0.016675004168750895
789
- pKFcur->GetMapPointMatches().size()1252
790
- 1691 pKFcur->GetVelocity() 0.28283795714378357
791
- 0.78056466579437256
792
- 8.2140407562255859
793
- pKFcur->mnId494
794
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
795
- Fail to track local map!
796
- Relocalization() failed.
797
- Fail to track local map!
798
- Relocalization() failed.
799
- Fail to track local map!
800
- Relocalization() failed.
801
- Fail to track local map!
802
- Relocalization() failed.
803
- Fail to track local map!
804
- Relocalization() failed.
805
- Fail to track local map!
806
- Relocalized!!
807
- INIT_RELOCALIZE success!
808
- vpKFs.back()->mpImuPreintegrated0x56377be64860
809
- pKFCur->mTimeStamp6.0727333333333338
810
- vpKFs.front()->mTimeStamp-75.158383350008336
811
- vpKFs.back()->mTimeStamp-0.016675004168750895
812
- pKFcur->GetMapPointMatches().size()1252
813
- 1691 pKFcur->GetVelocity() -41.723556518554688
814
- -11.947544097900391
815
- -11.051963806152344
816
- pKFcur->mnId495
817
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
818
- Fail to track local map!
819
- Relocalized!!
820
- INIT_RELOCALIZE success!
821
- vpKFs.back()->mpImuPreintegrated0x56377be64860
822
- pKFCur->mTimeStamp6.1061000000000005
823
- vpKFs.front()->mTimeStamp-81.247791687510414
824
- vpKFs.back()->mTimeStamp-0.016675004168750895
825
- pKFcur->GetMapPointMatches().size()1251
826
- 1691 pKFcur->GetVelocity() -96.439216613769531
827
- -14.849076271057129
828
- -46.058074951171875
829
- pKFcur->mnId496
830
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
831
- Fail to track local map!
832
- Relocalized!!
833
- INIT_RELOCALIZE success!
834
- vpKFs.back()->mpImuPreintegrated0x56377be64860
835
- pKFCur->mTimeStamp6.1394666666666664
836
- vpKFs.front()->mTimeStamp-87.370566691679159
837
- vpKFs.back()->mTimeStamp-0.016675004168750895
838
- pKFcur->GetMapPointMatches().size()1254
839
- 1691 pKFcur->GetVelocity() -151.81935119628906
840
- -16.976779937744141
841
- -81.981338500976562
842
- pKFcur->mnId497
843
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
844
- Fail to track local map!
845
- Relocalization() failed.
846
- Fail to track local map!
847
- Relocalized!!
848
- INIT_RELOCALIZE success!
849
- vpKFs.back()->mpImuPreintegrated0x56377be64860
850
- pKFCur->mTimeStamp6.189516666666667
851
- vpKFs.front()->mTimeStamp-93.526708362514569
852
- vpKFs.back()->mTimeStamp-0.016675004168750895
853
- pKFcur->GetMapPointMatches().size()1251
854
- 1691 pKFcur->GetVelocity() -207.72503662109375
855
- -18.38939094543457
856
- -118.61349487304688
857
- pKFcur->mnId498
858
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
859
- Fail to track local map!
860
- Relocalization() failed.
861
- Fail to track local map!
862
- Relocalization() failed.
863
- Fail to track local map!
864
- Relocalized!!
865
- INIT_RELOCALIZE success!
866
- vpKFs.back()->mpImuPreintegrated0x56377be64860
867
- pKFCur->mTimeStamp6.2562500000000005
868
- vpKFs.front()->mTimeStamp-99.732900033349992
869
- vpKFs.back()->mTimeStamp-0.016675004168750895
870
- pKFcur->GetMapPointMatches().size()1250
871
- 1691 pKFcur->GetVelocity() -258.6165771484375
872
- -31.349315643310547
873
- -148.04136657714844
874
- pKFcur->mnId499
875
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
876
- Fail to track local map!
877
- Relocalized!!
878
- INIT_RELOCALIZE success!
879
- vpKFs.back()->mpImuPreintegrated0x56377be64860
880
- pKFCur->mTimeStamp6.2896166666666664
881
- vpKFs.front()->mTimeStamp-106.00582503751875
882
- vpKFs.back()->mTimeStamp-0.016675004168750895
883
- pKFcur->GetMapPointMatches().size()1253
884
- 1691 pKFcur->GetVelocity() -311.25115966796875
885
- -41.456207275390625
886
- -178.84568786621094
887
- pKFcur->mnId500
888
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
889
- Fail to track local map!
890
- Relocalization() failed.
891
- Fail to track local map!
892
- Relocalization() failed.
893
- Fail to track local map!
894
- Relocalization() failed.
895
- Fail to track local map!
896
- Relocalization() failed.
897
- Fail to track local map!
898
- Relocalization() failed.
899
- Fail to track local map!
900
- Relocalization() failed.
901
- Fail to track local map!
902
- Relocalization() failed.
903
- Fail to track local map!
904
- Relocalization() failed.
905
- Fail to track local map!
906
- Relocalization() failed.
907
- Fail to track local map!
908
- Relocalization() failed.
909
- Fail to track local map!
910
- Relocalization() failed.
911
- Fail to track local map!
912
- Relocalization() failed.
913
- Fail to track local map!
914
- Relocalization() failed.
915
- Fail to track local map!
916
- Relocalization() failed.
917
- Fail to track local map!
918
- Relocalization() failed.
919
- Fail to track local map!
920
- Relocalization() failed.
921
- Fail to track local map!
922
- Relocalization() failed.
923
- Fail to track local map!
924
- Relocalization() failed.
925
- Fail to track local map!
926
- Relocalization() failed.
927
- Fail to track local map!
928
- Relocalization() failed.
929
- Fail to track local map!
930
- Relocalization() failed.
931
- Fail to track local map!
932
- Relocalization() failed.
933
- Fail to track local map!
934
- Video FPS: 59.940059940059939
935
- ORB-SLAM 3 running at: 23.850860758484085 FPS
936
- Relocalization() failed.
937
- Fail to track local map!
938
- Relocalization() failed.
939
- Fail to track local map!
940
- Relocalization() failed.
941
- Fail to track local map!
942
- Relocalization() failed.
943
- Fail to track local map!
944
- Relocalization() failed.
945
- Fail to track local map!
946
- Relocalization() failed.
947
- Fail to track local map!
948
- Relocalization() failed.
949
- Fail to track local map!
950
- Relocalization() failed.
951
- Fail to track local map!
952
- Relocalization() failed.
953
- Fail to track local map!
954
- Relocalization() failed.
955
- Fail to track local map!
956
- Relocalization() failed.
957
- Fail to track local map!
958
- Relocalization() failed.
959
- Fail to track local map!
960
- Relocalization() failed.
961
- Fail to track local map!
962
- Relocalization() failed.
963
- Fail to track local map!
964
- Relocalization() failed.
965
- Fail to track local map!
966
- Relocalization() failed.
967
- Fail to track local map!
968
- Relocalization() failed.
969
- Fail to track local map!
970
- Relocalization() failed.
971
- Fail to track local map!
972
- Relocalization() failed.
973
- Fail to track local map!
974
- Relocalization() failed.
975
- Fail to track local map!
976
- Relocalization() failed.
977
- Fail to track local map!
978
- Relocalization() failed.
979
- Fail to track local map!
980
- Relocalization() failed.
981
- Fail to track local map!
982
- Relocalization() failed.
983
- Fail to track local map!
984
- Relocalization() failed.
985
- Fail to track local map!
986
- Relocalization() failed.
987
- Fail to track local map!
988
- Relocalization() failed.
989
- Fail to track local map!
990
- Relocalization() failed.
991
- Fail to track local map!
992
- Relocalization() failed.
993
- Fail to track local map!
994
- Relocalization() failed.
995
- Fail to track local map!
996
- Relocalization() failed.
997
- Fail to track local map!
998
- Relocalization() failed.
999
- Fail to track local map!
1000
- Relocalization() failed.
1001
- Fail to track local map!
1002
- Relocalization() failed.
1003
- Fail to track local map!
1004
- Relocalization() failed.
1005
- Fail to track local map!
1006
- Relocalization() failed.
1007
- Fail to track local map!
1008
- Relocalization() failed.
1009
- Fail to track local map!
1010
- Relocalization() failed.
1011
- Fail to track local map!
1012
- Relocalization() failed.
1013
- Fail to track local map!
1014
- Relocalization() failed.
1015
- Fail to track local map!
1016
- Relocalization() failed.
1017
- Fail to track local map!
1018
- Relocalization() failed.
1019
- Fail to track local map!
1020
- Relocalization() failed.
1021
- Fail to track local map!
1022
- Relocalization() failed.
1023
- Fail to track local map!
1024
- Relocalization() failed.
1025
- Fail to track local map!
1026
- Relocalization() failed.
1027
- Fail to track local map!
1028
- Relocalization() failed.
1029
- Fail to track local map!
1030
- Relocalization() failed.
1031
- Fail to track local map!
1032
- Relocalization() failed.
1033
- Fail to track local map!
1034
- Relocalization() failed.
1035
- Fail to track local map!
1036
- Relocalization() failed.
1037
- Fail to track local map!
1038
- Relocalization() failed.
1039
- Fail to track local map!
1040
- Relocalization() failed.
1041
- Fail to track local map!
1042
- Relocalization() failed.
1043
- Fail to track local map!
1044
- Relocalization() failed.
1045
- Fail to track local map!
1046
- Relocalization() failed.
1047
- Fail to track local map!
1048
- Relocalization() failed.
1049
- Fail to track local map!
1050
- Relocalization() failed.
1051
- Fail to track local map!
1052
- Relocalization() failed.
1053
- Fail to track local map!
1054
- Relocalization() failed.
1055
- Fail to track local map!
1056
- Relocalization() failed.
1057
- Fail to track local map!
1058
- Relocalization() failed.
1059
- Fail to track local map!
1060
- Relocalization() failed.
1061
- Fail to track local map!
1062
- Relocalization() failed.
1063
- Fail to track local map!
1064
- Relocalization() failed.
1065
- Fail to track local map!
1066
- Relocalization() failed.
1067
- Fail to track local map!
1068
- Relocalization() failed.
1069
- Fail to track local map!
1070
- Relocalization() failed.
1071
- Fail to track local map!
1072
- Relocalization() failed.
1073
- Fail to track local map!
1074
- Relocalization() failed.
1075
- Fail to track local map!
1076
- Relocalization() failed.
1077
- Fail to track local map!
1078
- Relocalization() failed.
1079
- Fail to track local map!
1080
- Relocalization() failed.
1081
- Fail to track local map!
1082
- Relocalization() failed.
1083
- Fail to track local map!
1084
- Relocalization() failed.
1085
- Fail to track local map!
1086
- Relocalization() failed.
1087
- Fail to track local map!
1088
- Relocalization() failed.
1089
- Fail to track local map!
1090
- Relocalization() failed.
1091
- Fail to track local map!
1092
- Relocalization() failed.
1093
- Fail to track local map!
1094
- Relocalization() failed.
1095
- Fail to track local map!
1096
- Relocalization() failed.
1097
- Fail to track local map!
1098
- Relocalization() failed.
1099
- Fail to track local map!
1100
- Relocalization() failed.
1101
- Fail to track local map!
1102
- Relocalization() failed.
1103
- Fail to track local map!
1104
- Relocalization() failed.
1105
- Fail to track local map!
1106
- Relocalization() failed.
1107
- Fail to track local map!
1108
- Relocalization() failed.
1109
- Fail to track local map!
1110
- Relocalization() failed.
1111
- Fail to track local map!
1112
- Relocalization() failed.
1113
- Fail to track local map!
1114
- Relocalization() failed.
1115
- Fail to track local map!
1116
- Relocalization() failed.
1117
- Fail to track local map!
1118
- Relocalization() failed.
1119
- Fail to track local map!
1120
- Relocalization() failed.
1121
- Fail to track local map!
1122
- Relocalization() failed.
1123
- Fail to track local map!
1124
- Relocalization() failed.
1125
- Fail to track local map!
1126
- Relocalization() failed.
1127
- Fail to track local map!
1128
- Relocalization() failed.
1129
- Fail to track local map!
1130
- Relocalization() failed.
1131
- Fail to track local map!
1132
- Relocalization() failed.
1133
- Fail to track local map!
1134
- Relocalization() failed.
1135
- Fail to track local map!
1136
- Video FPS: 59.940059940059939
1137
- ORB-SLAM 3 running at: 40.740481057896666 FPS
1138
- Relocalization() failed.
1139
- Fail to track local map!
1140
- Relocalization() failed.
1141
- Fail to track local map!
1142
- Relocalization() failed.
1143
- Fail to track local map!
1144
- Relocalization() failed.
1145
- Fail to track local map!
1146
- Relocalization() failed.
1147
- Fail to track local map!
1148
- Relocalization() failed.
1149
- Fail to track local map!
1150
- Relocalization() failed.
1151
- Fail to track local map!
1152
- Relocalization() failed.
1153
- Fail to track local map!
1154
- Relocalization() failed.
1155
- Fail to track local map!
1156
- Relocalization() failed.
1157
- Fail to track local map!
1158
- Relocalization() failed.
1159
- Fail to track local map!
1160
- Relocalization() failed.
1161
- Fail to track local map!
1162
- Relocalization() failed.
1163
- Fail to track local map!
1164
- Relocalization() failed.
1165
- Fail to track local map!
1166
- Relocalization() failed.
1167
- Fail to track local map!
1168
- Relocalization() failed.
1169
- Fail to track local map!
1170
- Relocalization() failed.
1171
- Fail to track local map!
1172
- Relocalization() failed.
1173
- Fail to track local map!
1174
- Relocalization() failed.
1175
- Fail to track local map!
1176
- Relocalization() failed.
1177
- Fail to track local map!
1178
- Relocalization() failed.
1179
- Fail to track local map!
1180
- Relocalization() failed.
1181
- Fail to track local map!
1182
- Relocalization() failed.
1183
- Fail to track local map!
1184
- Relocalization() failed.
1185
- Fail to track local map!
1186
- Relocalization() failed.
1187
- Fail to track local map!
1188
- Relocalization() failed.
1189
- Fail to track local map!
1190
- Relocalization() failed.
1191
- Fail to track local map!
1192
- Relocalization() failed.
1193
- Fail to track local map!
1194
- Relocalization() failed.
1195
- Fail to track local map!
1196
- Relocalization() failed.
1197
- Fail to track local map!
1198
- Relocalization() failed.
1199
- Fail to track local map!
1200
- Relocalization() failed.
1201
- Fail to track local map!
1202
- Relocalization() failed.
1203
- Fail to track local map!
1204
- Relocalization() failed.
1205
- Fail to track local map!
1206
- Relocalization() failed.
1207
- Fail to track local map!
1208
- Relocalization() failed.
1209
- Fail to track local map!
1210
- Relocalization() failed.
1211
- Fail to track local map!
1212
- Relocalization() failed.
1213
- Fail to track local map!
1214
- Relocalization() failed.
1215
- Fail to track local map!
1216
- Relocalization() failed.
1217
- Fail to track local map!
1218
- Relocalization() failed.
1219
- Fail to track local map!
1220
- Relocalization() failed.
1221
- Fail to track local map!
1222
- Relocalization() failed.
1223
- Fail to track local map!
1224
- Relocalization() failed.
1225
- Fail to track local map!
1226
- Relocalization() failed.
1227
- Fail to track local map!
1228
- Relocalization() failed.
1229
- Fail to track local map!
1230
- Relocalization() failed.
1231
- Fail to track local map!
1232
- Relocalization() failed.
1233
- Fail to track local map!
1234
- Relocalization() failed.
1235
- Fail to track local map!
1236
- Relocalization() failed.
1237
- Fail to track local map!
1238
- Relocalization() failed.
1239
- Fail to track local map!
1240
- Relocalization() failed.
1241
- Fail to track local map!
1242
- Relocalization() failed.
1243
- Fail to track local map!
1244
- Relocalization() failed.
1245
- Fail to track local map!
1246
- Relocalization() failed.
1247
- Fail to track local map!
1248
- Relocalization() failed.
1249
- Fail to track local map!
1250
- Relocalization() failed.
1251
- Fail to track local map!
1252
- Relocalization() failed.
1253
- Fail to track local map!
1254
- Relocalization() failed.
1255
- Fail to track local map!
1256
- Relocalization() failed.
1257
- Fail to track local map!
1258
- Relocalization() failed.
1259
- Fail to track local map!
1260
- Relocalization() failed.
1261
- Fail to track local map!
1262
- Relocalization() failed.
1263
- Fail to track local map!
1264
- Relocalization() failed.
1265
- Fail to track local map!
1266
- Relocalization() failed.
1267
- Fail to track local map!
1268
- Relocalization() failed.
1269
- Fail to track local map!
1270
- Relocalization() failed.
1271
- Fail to track local map!
1272
- Relocalization() failed.
1273
- Fail to track local map!
1274
- Relocalization() failed.
1275
- Fail to track local map!
1276
- Relocalization() failed.
1277
- Fail to track local map!
1278
- Relocalization() failed.
1279
- Fail to track local map!
1280
- Relocalization() failed.
1281
- Fail to track local map!
1282
- Relocalization() failed.
1283
- Fail to track local map!
1284
- Relocalization() failed.
1285
- Fail to track local map!
1286
- Relocalization() failed.
1287
- Fail to track local map!
1288
- Relocalization() failed.
1289
- Fail to track local map!
1290
- Relocalization() failed.
1291
- Fail to track local map!
1292
- Relocalization() failed.
1293
- Fail to track local map!
1294
- Relocalization() failed.
1295
- Fail to track local map!
1296
- Relocalization() failed.
1297
- Fail to track local map!
1298
- Relocalization() failed.
1299
- Fail to track local map!
1300
- Relocalization() failed.
1301
- Fail to track local map!
1302
- Relocalization() failed.
1303
- Fail to track local map!
1304
- Relocalization() failed.
1305
- Fail to track local map!
1306
- Relocalization() failed.
1307
- Fail to track local map!
1308
- Relocalization() failed.
1309
- Fail to track local map!
1310
- Relocalization() failed.
1311
- Fail to track local map!
1312
- Relocalization() failed.
1313
- Fail to track local map!
1314
- Relocalization() failed.
1315
- Fail to track local map!
1316
- Relocalization() failed.
1317
- Fail to track local map!
1318
- Relocalization() failed.
1319
- Fail to track local map!
1320
- Relocalization() failed.
1321
- Fail to track local map!
1322
- Relocalization() failed.
1323
- Fail to track local map!
1324
- Relocalization() failed.
1325
- Fail to track local map!
1326
- Relocalization() failed.
1327
- Fail to track local map!
1328
- Relocalization() failed.
1329
- Fail to track local map!
1330
- Relocalization() failed.
1331
- Fail to track local map!
1332
- Relocalization() failed.
1333
- Fail to track local map!
1334
- Relocalization() failed.
1335
- Fail to track local map!
1336
- Relocalization() failed.
1337
- Fail to track local map!
1338
- Video FPS: 59.940059940059939
1339
- ORB-SLAM 3 running at: 35.961925958206415 FPS
1340
- Relocalization() failed.
1341
- Fail to track local map!
1342
- Relocalization() failed.
1343
- Fail to track local map!
1344
- Relocalization() failed.
1345
- Fail to track local map!
1346
- Relocalization() failed.
1347
- Fail to track local map!
1348
- Relocalization() failed.
1349
- Fail to track local map!
1350
- Relocalization() failed.
1351
- Fail to track local map!
1352
- Relocalization() failed.
1353
- Fail to track local map!
1354
- Relocalization() failed.
1355
- Fail to track local map!
1356
- Relocalization() failed.
1357
- Fail to track local map!
1358
- Relocalization() failed.
1359
- Fail to track local map!
1360
- Relocalization() failed.
1361
- Fail to track local map!
1362
- Relocalization() failed.
1363
- Fail to track local map!
1364
- Relocalization() failed.
1365
- Fail to track local map!
1366
- Relocalization() failed.
1367
- Fail to track local map!
1368
- Relocalization() failed.
1369
- Fail to track local map!
1370
- Relocalization() failed.
1371
- Fail to track local map!
1372
- Relocalization() failed.
1373
- Fail to track local map!
1374
- Relocalization() failed.
1375
- Fail to track local map!
1376
- Relocalization() failed.
1377
- Fail to track local map!
1378
- Relocalization() failed.
1379
- Fail to track local map!
1380
- Relocalization() failed.
1381
- Fail to track local map!
1382
- Relocalization() failed.
1383
- Fail to track local map!
1384
- Relocalization() failed.
1385
- Fail to track local map!
1386
- Relocalization() failed.
1387
- Fail to track local map!
1388
- Relocalization() failed.
1389
- Fail to track local map!
1390
- Relocalization() failed.
1391
- Fail to track local map!
1392
- Relocalization() failed.
1393
- Fail to track local map!
1394
- Relocalization() failed.
1395
- Fail to track local map!
1396
- Relocalization() failed.
1397
- Fail to track local map!
1398
- Relocalization() failed.
1399
- Fail to track local map!
1400
- Relocalization() failed.
1401
- Fail to track local map!
1402
- Relocalization() failed.
1403
- Fail to track local map!
1404
- Relocalization() failed.
1405
- Fail to track local map!
1406
- Relocalization() failed.
1407
- Fail to track local map!
1408
- Relocalization() failed.
1409
- Fail to track local map!
1410
- Relocalization() failed.
1411
- Fail to track local map!
1412
- Relocalization() failed.
1413
- Fail to track local map!
1414
- Relocalization() failed.
1415
- Fail to track local map!
1416
- Relocalization() failed.
1417
- Fail to track local map!
1418
- Relocalization() failed.
1419
- Fail to track local map!
1420
- Relocalization() failed.
1421
- Fail to track local map!
1422
- Relocalization() failed.
1423
- Fail to track local map!
1424
- Relocalization() failed.
1425
- Fail to track local map!
1426
- Relocalization() failed.
1427
- Fail to track local map!
1428
- Relocalization() failed.
1429
- Fail to track local map!
1430
- Relocalization() failed.
1431
- Fail to track local map!
1432
- Relocalization() failed.
1433
- Fail to track local map!
1434
- Relocalization() failed.
1435
- Fail to track local map!
1436
- Relocalization() failed.
1437
- Fail to track local map!
1438
- Relocalization() failed.
1439
- Fail to track local map!
1440
- Relocalization() failed.
1441
- Fail to track local map!
1442
- Relocalization() failed.
1443
- Fail to track local map!
1444
- Relocalization() failed.
1445
- Fail to track local map!
1446
- Relocalization() failed.
1447
- Fail to track local map!
1448
- Relocalization() failed.
1449
- Fail to track local map!
1450
- Relocalization() failed.
1451
- Fail to track local map!
1452
- Relocalization() failed.
1453
- Fail to track local map!
1454
- Relocalization() failed.
1455
- Fail to track local map!
1456
- Relocalization() failed.
1457
- Fail to track local map!
1458
- Relocalization() failed.
1459
- Fail to track local map!
1460
- Relocalization() failed.
1461
- Fail to track local map!
1462
- Relocalization() failed.
1463
- Fail to track local map!
1464
- Relocalization() failed.
1465
- Fail to track local map!
1466
- Relocalization() failed.
1467
- Fail to track local map!
1468
- Relocalization() failed.
1469
- Fail to track local map!
1470
- Relocalization() failed.
1471
- Fail to track local map!
1472
- Relocalization() failed.
1473
- Fail to track local map!
1474
- Relocalization() failed.
1475
- Fail to track local map!
1476
- Relocalization() failed.
1477
- Fail to track local map!
1478
- Relocalization() failed.
1479
- Fail to track local map!
1480
- Relocalization() failed.
1481
- Fail to track local map!
1482
- Relocalization() failed.
1483
- Fail to track local map!
1484
- Relocalization() failed.
1485
- Fail to track local map!
1486
- Relocalization() failed.
1487
- Fail to track local map!
1488
- Relocalization() failed.
1489
- Fail to track local map!
1490
- Relocalization() failed.
1491
- Fail to track local map!
1492
- Relocalization() failed.
1493
- Fail to track local map!
1494
- Relocalization() failed.
1495
- Fail to track local map!
1496
- Relocalization() failed.
1497
- Fail to track local map!
1498
- Relocalization() failed.
1499
- Fail to track local map!
1500
- Relocalization() failed.
1501
- Fail to track local map!
1502
- Relocalization() failed.
1503
- Fail to track local map!
1504
- Relocalization() failed.
1505
- Fail to track local map!
1506
- Relocalization() failed.
1507
- Fail to track local map!
1508
- Relocalization() failed.
1509
- Fail to track local map!
1510
- Relocalization() failed.
1511
- Fail to track local map!
1512
- Relocalization() failed.
1513
- Fail to track local map!
1514
- Relocalization() failed.
1515
- Fail to track local map!
1516
- Relocalization() failed.
1517
- Fail to track local map!
1518
- Relocalization() failed.
1519
- Fail to track local map!
1520
- Relocalization() failed.
1521
- Fail to track local map!
1522
- Relocalization() failed.
1523
- Fail to track local map!
1524
- Relocalization() failed.
1525
- Fail to track local map!
1526
- Relocalization() failed.
1527
- Fail to track local map!
1528
- Relocalization() failed.
1529
- Fail to track local map!
1530
- Relocalization() failed.
1531
- Fail to track local map!
1532
- Relocalization() failed.
1533
- Fail to track local map!
1534
- Relocalization() failed.
1535
- Fail to track local map!
1536
- Relocalization() failed.
1537
- Fail to track local map!
1538
- Relocalization() failed.
1539
- Fail to track local map!
1540
- Video FPS: 59.940059940059939
1541
- ORB-SLAM 3 running at: 20.210522503446704 FPS
1542
- Relocalization() failed.
1543
- Fail to track local map!
1544
- Relocalization() failed.
1545
- Fail to track local map!
1546
- Relocalization() failed.
1547
- Fail to track local map!
1548
- Relocalization() failed.
1549
- Fail to track local map!
1550
- Relocalization() failed.
1551
- Fail to track local map!
1552
- Relocalization() failed.
1553
- Fail to track local map!
1554
- Relocalization() failed.
1555
- Fail to track local map!
1556
- Relocalization() failed.
1557
- Fail to track local map!
1558
- Relocalization() failed.
1559
- Fail to track local map!
1560
- Relocalization() failed.
1561
- Fail to track local map!
1562
- Relocalization() failed.
1563
- Fail to track local map!
1564
- Relocalization() failed.
1565
- Fail to track local map!
1566
- Relocalization() failed.
1567
- Fail to track local map!
1568
- Relocalization() failed.
1569
- Fail to track local map!
1570
- Relocalization() failed.
1571
- Fail to track local map!
1572
- Relocalization() failed.
1573
- Fail to track local map!
1574
- Relocalization() failed.
1575
- Fail to track local map!
1576
- Relocalization() failed.
1577
- Fail to track local map!
1578
- Relocalization() failed.
1579
- Fail to track local map!
1580
- Relocalization() failed.
1581
- Fail to track local map!
1582
- Relocalization() failed.
1583
- Fail to track local map!
1584
- Relocalization() failed.
1585
- Fail to track local map!
1586
- Relocalization() failed.
1587
- Fail to track local map!
1588
- Relocalization() failed.
1589
- Fail to track local map!
1590
- Relocalization() failed.
1591
- Fail to track local map!
1592
- Relocalization() failed.
1593
- Fail to track local map!
1594
- Relocalization() failed.
1595
- Fail to track local map!
1596
- Relocalization() failed.
1597
- Fail to track local map!
1598
- Relocalization() failed.
1599
- Fail to track local map!
1600
- Relocalization() failed.
1601
- Fail to track local map!
1602
- Relocalization() failed.
1603
- Fail to track local map!
1604
- Relocalization() failed.
1605
- Fail to track local map!
1606
- Relocalization() failed.
1607
- Fail to track local map!
1608
- Relocalization() failed.
1609
- Fail to track local map!
1610
- Relocalization() failed.
1611
- Fail to track local map!
1612
- Relocalization() failed.
1613
- Fail to track local map!
1614
- Relocalization() failed.
1615
- Fail to track local map!
1616
- Relocalization() failed.
1617
- Fail to track local map!
1618
- Relocalization() failed.
1619
- Fail to track local map!
1620
- Relocalization() failed.
1621
- Fail to track local map!
1622
- Relocalization() failed.
1623
- Fail to track local map!
1624
- Relocalization() failed.
1625
- Fail to track local map!
1626
- Relocalization() failed.
1627
- Fail to track local map!
1628
- Relocalization() failed.
1629
- Fail to track local map!
1630
- Relocalization() failed.
1631
- Fail to track local map!
1632
- Relocalization() failed.
1633
- Fail to track local map!
1634
- Relocalization() failed.
1635
- Fail to track local map!
1636
- Relocalization() failed.
1637
- Fail to track local map!
1638
- Relocalization() failed.
1639
- Fail to track local map!
1640
- Relocalization() failed.
1641
- Fail to track local map!
1642
- Relocalization() failed.
1643
- Fail to track local map!
1644
- Relocalization() failed.
1645
- Fail to track local map!
1646
- Relocalization() failed.
1647
- Fail to track local map!
1648
- Relocalization() failed.
1649
- Fail to track local map!
1650
- Relocalization() failed.
1651
- Fail to track local map!
1652
- Relocalization() failed.
1653
- Fail to track local map!
1654
- Relocalization() failed.
1655
- Fail to track local map!
1656
- Relocalization() failed.
1657
- Fail to track local map!
1658
- Relocalization() failed.
1659
- Fail to track local map!
1660
- Relocalization() failed.
1661
- Fail to track local map!
1662
- Relocalization() failed.
1663
- Fail to track local map!
1664
- Relocalization() failed.
1665
- Fail to track local map!
1666
- Relocalization() failed.
1667
- Fail to track local map!
1668
- Relocalization() failed.
1669
- Fail to track local map!
1670
- Relocalization() failed.
1671
- Fail to track local map!
1672
- Relocalization() failed.
1673
- Fail to track local map!
1674
- Relocalization() failed.
1675
- Fail to track local map!
1676
- Relocalization() failed.
1677
- Fail to track local map!
1678
- Relocalization() failed.
1679
- Fail to track local map!
1680
- Relocalization() failed.
1681
- Fail to track local map!
1682
- Relocalization() failed.
1683
- Fail to track local map!
1684
- Relocalization() failed.
1685
- Fail to track local map!
1686
- Relocalization() failed.
1687
- Fail to track local map!
1688
- Relocalization() failed.
1689
- Fail to track local map!
1690
- Relocalization() failed.
1691
- Fail to track local map!
1692
- Relocalization() failed.
1693
- Fail to track local map!
1694
- Relocalization() failed.
1695
- Fail to track local map!
1696
- Relocalization() failed.
1697
- Fail to track local map!
1698
- Relocalization() failed.
1699
- Fail to track local map!
1700
- Relocalization() failed.
1701
- Fail to track local map!
1702
- Relocalization() failed.
1703
- Fail to track local map!
1704
- Relocalization() failed.
1705
- Fail to track local map!
1706
- Relocalization() failed.
1707
- Fail to track local map!
1708
- Relocalization() failed.
1709
- Fail to track local map!
1710
- Relocalization() failed.
1711
- Fail to track local map!
1712
- Relocalization() failed.
1713
- Fail to track local map!
1714
- Relocalization() failed.
1715
- Fail to track local map!
1716
- Relocalization() failed.
1717
- Fail to track local map!
1718
- Relocalization() failed.
1719
- Fail to track local map!
1720
- Relocalization() failed.
1721
- Fail to track local map!
1722
- Relocalization() failed.
1723
- Fail to track local map!
1724
- Relocalization() failed.
1725
- Fail to track local map!
1726
- Relocalization() failed.
1727
- Fail to track local map!
1728
- Relocalization() failed.
1729
- Fail to track local map!
1730
- Relocalization() failed.
1731
- Fail to track local map!
1732
- Relocalization() failed.
1733
- Fail to track local map!
1734
- Relocalization() failed.
1735
- Fail to track local map!
1736
- Relocalization() failed.
1737
- Fail to track local map!
1738
- Relocalization() failed.
1739
- Fail to track local map!
1740
- Relocalization() failed.
1741
- Fail to track local map!
1742
- Video FPS: 59.940059940059939
1743
- ORB-SLAM 3 running at: 21.907586919391711 FPS
1744
- Relocalization() failed.
1745
- Fail to track local map!
1746
- Relocalization() failed.
1747
- Fail to track local map!
1748
- Relocalization() failed.
1749
- Fail to track local map!
1750
- Relocalization() failed.
1751
- Fail to track local map!
1752
- Relocalization() failed.
1753
- Fail to track local map!
1754
- Relocalization() failed.
1755
- Fail to track local map!
1756
- Relocalization() failed.
1757
- Fail to track local map!
1758
- Relocalization() failed.
1759
- Fail to track local map!
1760
- Relocalization() failed.
1761
- Fail to track local map!
1762
- Relocalization() failed.
1763
- Fail to track local map!
1764
- Relocalization() failed.
1765
- Fail to track local map!
1766
- Relocalization() failed.
1767
- Fail to track local map!
1768
- Relocalization() failed.
1769
- Fail to track local map!
1770
- Relocalization() failed.
1771
- Fail to track local map!
1772
- Relocalization() failed.
1773
- Fail to track local map!
1774
- Relocalization() failed.
1775
- Fail to track local map!
1776
- Relocalization() failed.
1777
- Fail to track local map!
1778
- Relocalization() failed.
1779
- Fail to track local map!
1780
- Relocalization() failed.
1781
- Fail to track local map!
1782
- Relocalization() failed.
1783
- Fail to track local map!
1784
- Relocalization() failed.
1785
- Fail to track local map!
1786
- Relocalization() failed.
1787
- Fail to track local map!
1788
- Relocalization() failed.
1789
- Fail to track local map!
1790
- Relocalization() failed.
1791
- Fail to track local map!
1792
- Relocalization() failed.
1793
- Fail to track local map!
1794
- Relocalization() failed.
1795
- Fail to track local map!
1796
- Relocalization() failed.
1797
- Fail to track local map!
1798
- Relocalization() failed.
1799
- Fail to track local map!
1800
- Relocalization() failed.
1801
- Fail to track local map!
1802
- Relocalization() failed.
1803
- Fail to track local map!
1804
- Relocalization() failed.
1805
- Fail to track local map!
1806
- Relocalization() failed.
1807
- Fail to track local map!
1808
- Relocalization() failed.
1809
- Fail to track local map!
1810
- Relocalization() failed.
1811
- Fail to track local map!
1812
- Relocalization() failed.
1813
- Fail to track local map!
1814
- Relocalization() failed.
1815
- Fail to track local map!
1816
- Relocalization() failed.
1817
- Fail to track local map!
1818
- Relocalization() failed.
1819
- Fail to track local map!
1820
- Relocalization() failed.
1821
- Fail to track local map!
1822
- Relocalization() failed.
1823
- Fail to track local map!
1824
- Relocalization() failed.
1825
- Fail to track local map!
1826
- Relocalization() failed.
1827
- Fail to track local map!
1828
- Relocalization() failed.
1829
- Fail to track local map!
1830
- Relocalization() failed.
1831
- Fail to track local map!
1832
- Relocalization() failed.
1833
- Fail to track local map!
1834
- Relocalization() failed.
1835
- Fail to track local map!
1836
- Relocalization() failed.
1837
- Fail to track local map!
1838
- Relocalization() failed.
1839
- Fail to track local map!
1840
- Relocalization() failed.
1841
- Fail to track local map!
1842
- Relocalization() failed.
1843
- Fail to track local map!
1844
- Relocalization() failed.
1845
- Fail to track local map!
1846
- Relocalization() failed.
1847
- Fail to track local map!
1848
- Relocalization() failed.
1849
- Fail to track local map!
1850
- Relocalization() failed.
1851
- Fail to track local map!
1852
- Relocalization() failed.
1853
- Fail to track local map!
1854
- Relocalization() failed.
1855
- Fail to track local map!
1856
- Relocalization() failed.
1857
- Fail to track local map!
1858
- Relocalization() failed.
1859
- Fail to track local map!
1860
- Relocalization() failed.
1861
- Fail to track local map!
1862
- Relocalization() failed.
1863
- Fail to track local map!
1864
- Relocalization() failed.
1865
- Fail to track local map!
1866
- Relocalization() failed.
1867
- Fail to track local map!
1868
- Relocalization() failed.
1869
- Fail to track local map!
1870
- Relocalization() failed.
1871
- Fail to track local map!
1872
- Relocalization() failed.
1873
- Fail to track local map!
1874
- Relocalization() failed.
1875
- Fail to track local map!
1876
- Relocalization() failed.
1877
- Fail to track local map!
1878
- Relocalization() failed.
1879
- Fail to track local map!
1880
- Relocalization() failed.
1881
- Fail to track local map!
1882
- Relocalization() failed.
1883
- Fail to track local map!
1884
- Relocalization() failed.
1885
- Fail to track local map!
1886
- Relocalization() failed.
1887
- Fail to track local map!
1888
- Relocalization() failed.
1889
- Fail to track local map!
1890
- Relocalization() failed.
1891
- Fail to track local map!
1892
- Relocalization() failed.
1893
- Fail to track local map!
1894
- Relocalization() failed.
1895
- Fail to track local map!
1896
- Relocalization() failed.
1897
- Fail to track local map!
1898
- Relocalization() failed.
1899
- Fail to track local map!
1900
- Relocalization() failed.
1901
- Fail to track local map!
1902
- Relocalization() failed.
1903
- Fail to track local map!
1904
- Relocalization() failed.
1905
- Fail to track local map!
1906
- Relocalization() failed.
1907
- Fail to track local map!
1908
- Relocalization() failed.
1909
- Fail to track local map!
1910
- Relocalization() failed.
1911
- Fail to track local map!
1912
- Relocalization() failed.
1913
- Fail to track local map!
1914
- Relocalization() failed.
1915
- Fail to track local map!
1916
- Relocalization() failed.
1917
- Fail to track local map!
1918
- Relocalization() failed.
1919
- Fail to track local map!
1920
- Relocalization() failed.
1921
- Fail to track local map!
1922
- Relocalization() failed.
1923
- Fail to track local map!
1924
- Relocalization() failed.
1925
- Fail to track local map!
1926
- Relocalization() failed.
1927
- Fail to track local map!
1928
- Relocalization() failed.
1929
- Fail to track local map!
1930
- Relocalization() failed.
1931
- Fail to track local map!
1932
- Relocalization() failed.
1933
- Fail to track local map!
1934
- Relocalization() failed.
1935
- Fail to track local map!
1936
- Relocalization() failed.
1937
- Fail to track local map!
1938
- Relocalization() failed.
1939
- Fail to track local map!
1940
- Relocalization() failed.
1941
- Fail to track local map!
1942
- Relocalization() failed.
1943
- Fail to track local map!
1944
- Video FPS: 59.940059940059939
1945
- ORB-SLAM 3 running at: 20.151890846880189 FPS
1946
- Relocalization() failed.
1947
- Fail to track local map!
1948
- Relocalization() failed.
1949
- Fail to track local map!
1950
- Relocalization() failed.
1951
- Fail to track local map!
1952
- Relocalization() failed.
1953
- Fail to track local map!
1954
- Relocalization() failed.
1955
- Fail to track local map!
1956
- Relocalization() failed.
1957
- Fail to track local map!
1958
- Relocalization() failed.
1959
- Fail to track local map!
1960
- Relocalization() failed.
1961
- Fail to track local map!
1962
- Relocalization() failed.
1963
- Fail to track local map!
1964
- Relocalization() failed.
1965
- Fail to track local map!
1966
- Relocalization() failed.
1967
- Fail to track local map!
1968
- Relocalization() failed.
1969
- Fail to track local map!
1970
- Relocalization() failed.
1971
- Fail to track local map!
1972
- Relocalization() failed.
1973
- Fail to track local map!
1974
- Relocalization() failed.
1975
- Fail to track local map!
1976
- Relocalization() failed.
1977
- Fail to track local map!
1978
- Relocalization() failed.
1979
- Fail to track local map!
1980
- Relocalization() failed.
1981
- Fail to track local map!
1982
- Relocalization() failed.
1983
- Fail to track local map!
1984
- Relocalization() failed.
1985
- Fail to track local map!
1986
- Relocalization() failed.
1987
- Fail to track local map!
1988
- Relocalization() failed.
1989
- Fail to track local map!
1990
- Relocalization() failed.
1991
- Fail to track local map!
1992
- Relocalization() failed.
1993
- Fail to track local map!
1994
- Relocalization() failed.
1995
- Fail to track local map!
1996
- Relocalization() failed.
1997
- Fail to track local map!
1998
- Relocalization() failed.
1999
- Fail to track local map!
2000
- Relocalization() failed.
2001
- Fail to track local map!
2002
- Relocalization() failed.
2003
- Fail to track local map!
2004
- Relocalization() failed.
2005
- Fail to track local map!
2006
- Relocalization() failed.
2007
- Fail to track local map!
2008
- Relocalization() failed.
2009
- Fail to track local map!
2010
- Relocalization() failed.
2011
- Fail to track local map!
2012
- Relocalization() failed.
2013
- Fail to track local map!
2014
- Relocalization() failed.
2015
- Fail to track local map!
2016
- Relocalization() failed.
2017
- Fail to track local map!
2018
- Relocalization() failed.
2019
- Fail to track local map!
2020
- Relocalization() failed.
2021
- Fail to track local map!
2022
- Relocalization() failed.
2023
- Fail to track local map!
2024
- Relocalization() failed.
2025
- Fail to track local map!
2026
- Relocalization() failed.
2027
- Fail to track local map!
2028
- Relocalization() failed.
2029
- Fail to track local map!
2030
- Relocalization() failed.
2031
- Fail to track local map!
2032
- Relocalization() failed.
2033
- Fail to track local map!
2034
- Relocalization() failed.
2035
- Fail to track local map!
2036
- Relocalization() failed.
2037
- Fail to track local map!
2038
- Relocalization() failed.
2039
- Fail to track local map!
2040
- Relocalization() failed.
2041
- Fail to track local map!
2042
- Relocalization() failed.
2043
- Fail to track local map!
2044
- Relocalization() failed.
2045
- Fail to track local map!
2046
- Relocalization() failed.
2047
- Fail to track local map!
2048
- Relocalization() failed.
2049
- Fail to track local map!
2050
- Relocalization() failed.
2051
- Fail to track local map!
2052
- Relocalization() failed.
2053
- Fail to track local map!
2054
- Relocalization() failed.
2055
- Fail to track local map!
2056
- Relocalization() failed.
2057
- Fail to track local map!
2058
- Relocalization() failed.
2059
- Fail to track local map!
2060
- Relocalization() failed.
2061
- Fail to track local map!
2062
- Relocalization() failed.
2063
- Fail to track local map!
2064
- Relocalization() failed.
2065
- Fail to track local map!
2066
- Relocalization() failed.
2067
- Fail to track local map!
2068
- Relocalization() failed.
2069
- Fail to track local map!
2070
- Relocalization() failed.
2071
- Fail to track local map!
2072
- Relocalization() failed.
2073
- Fail to track local map!
2074
- Relocalization() failed.
2075
- Fail to track local map!
2076
- Relocalization() failed.
2077
- Fail to track local map!
2078
- Relocalization() failed.
2079
- Fail to track local map!
2080
- Relocalization() failed.
2081
- Fail to track local map!
2082
- Relocalization() failed.
2083
- Fail to track local map!
2084
- Relocalization() failed.
2085
- Fail to track local map!
2086
- Relocalization() failed.
2087
- Fail to track local map!
2088
- Relocalization() failed.
2089
- Fail to track local map!
2090
- Relocalization() failed.
2091
- Fail to track local map!
2092
- Relocalization() failed.
2093
- Fail to track local map!
2094
- Relocalization() failed.
2095
- Fail to track local map!
2096
- Relocalization() failed.
2097
- Fail to track local map!
2098
- Relocalization() failed.
2099
- Fail to track local map!
2100
- Relocalization() failed.
2101
- Fail to track local map!
2102
- Relocalization() failed.
2103
- Fail to track local map!
2104
- Relocalization() failed.
2105
- Fail to track local map!
2106
- Relocalization() failed.
2107
- Fail to track local map!
2108
- Relocalization() failed.
2109
- Fail to track local map!
2110
- Relocalization() failed.
2111
- Fail to track local map!
2112
- Relocalization() failed.
2113
- Fail to track local map!
2114
- Relocalization() failed.
2115
- Fail to track local map!
2116
- Relocalization() failed.
2117
- Fail to track local map!
2118
- Relocalization() failed.
2119
- Fail to track local map!
2120
- Relocalization() failed.
2121
- Fail to track local map!
2122
- Relocalization() failed.
2123
- Fail to track local map!
2124
- Relocalization() failed.
2125
- Fail to track local map!
2126
- Relocalization() failed.
2127
- Fail to track local map!
2128
- Relocalization() failed.
2129
- Fail to track local map!
2130
- Relocalization() failed.
2131
- Fail to track local map!
2132
- Relocalization() failed.
2133
- Fail to track local map!
2134
- Relocalization() failed.
2135
- Fail to track local map!
2136
- Relocalization() failed.
2137
- Fail to track local map!
2138
- Relocalization() failed.
2139
- Fail to track local map!
2140
- Relocalization() failed.
2141
- Fail to track local map!
2142
- Relocalization() failed.
2143
- Fail to track local map!
2144
- Relocalization() failed.
2145
- Fail to track local map!
2146
- Video FPS: 59.940059940059939
2147
- ORB-SLAM 3 running at: 20.423847112635801 FPS
2148
- Relocalization() failed.
2149
- Fail to track local map!
2150
- Relocalization() failed.
2151
- Fail to track local map!
2152
- Relocalization() failed.
2153
- Fail to track local map!
2154
- Relocalization() failed.
2155
- Fail to track local map!
2156
- Relocalization() failed.
2157
- Fail to track local map!
2158
- Relocalization() failed.
2159
- Fail to track local map!
2160
- Relocalization() failed.
2161
- Fail to track local map!
2162
- Relocalization() failed.
2163
- Fail to track local map!
2164
- Relocalization() failed.
2165
- Fail to track local map!
2166
- Relocalization() failed.
2167
- Fail to track local map!
2168
- Relocalization() failed.
2169
- Fail to track local map!
2170
- Relocalization() failed.
2171
- Fail to track local map!
2172
- Relocalization() failed.
2173
- Fail to track local map!
2174
- Relocalization() failed.
2175
- Fail to track local map!
2176
- Relocalization() failed.
2177
- Fail to track local map!
2178
- Relocalization() failed.
2179
- Fail to track local map!
2180
- Relocalization() failed.
2181
- Fail to track local map!
2182
- Relocalization() failed.
2183
- Fail to track local map!
2184
- Relocalization() failed.
2185
- Fail to track local map!
2186
- Relocalization() failed.
2187
- Fail to track local map!
2188
- Relocalization() failed.
2189
- Fail to track local map!
2190
- Relocalization() failed.
2191
- Fail to track local map!
2192
- Relocalization() failed.
2193
- Fail to track local map!
2194
- Relocalization() failed.
2195
- Fail to track local map!
2196
- Relocalization() failed.
2197
- Fail to track local map!
2198
- Relocalization() failed.
2199
- Fail to track local map!
2200
- Relocalization() failed.
2201
- Fail to track local map!
2202
- Relocalization() failed.
2203
- Fail to track local map!
2204
- Relocalization() failed.
2205
- Fail to track local map!
2206
- Relocalization() failed.
2207
- Fail to track local map!
2208
- Relocalization() failed.
2209
- Fail to track local map!
2210
- Relocalization() failed.
2211
- Fail to track local map!
2212
- Relocalization() failed.
2213
- Fail to track local map!
2214
- Relocalization() failed.
2215
- Fail to track local map!
2216
- Relocalization() failed.
2217
- Fail to track local map!
2218
- Relocalization() failed.
2219
- Fail to track local map!
2220
- Relocalization() failed.
2221
- Fail to track local map!
2222
- Relocalization() failed.
2223
- Fail to track local map!
2224
- Relocalization() failed.
2225
- Fail to track local map!
2226
- Relocalization() failed.
2227
- Fail to track local map!
2228
- Relocalization() failed.
2229
- Fail to track local map!
2230
- Relocalization() failed.
2231
- Fail to track local map!
2232
- Relocalization() failed.
2233
- Fail to track local map!
2234
- Relocalization() failed.
2235
- Fail to track local map!
2236
- Relocalization() failed.
2237
- Fail to track local map!
2238
- Relocalization() failed.
2239
- Fail to track local map!
2240
- Relocalization() failed.
2241
- Fail to track local map!
2242
- Relocalization() failed.
2243
- Fail to track local map!
2244
- Relocalization() failed.
2245
- Fail to track local map!
2246
- Relocalization() failed.
2247
- Fail to track local map!
2248
- Relocalization() failed.
2249
- Fail to track local map!
2250
- Relocalization() failed.
2251
- Fail to track local map!
2252
- Relocalization() failed.
2253
- Fail to track local map!
2254
- Relocalization() failed.
2255
- Fail to track local map!
2256
- Relocalization() failed.
2257
- Fail to track local map!
2258
- Relocalization() failed.
2259
- Fail to track local map!
2260
- Relocalization() failed.
2261
- Fail to track local map!
2262
- Relocalization() failed.
2263
- Fail to track local map!
2264
- Relocalization() failed.
2265
- Fail to track local map!
2266
- Relocalization() failed.
2267
- Fail to track local map!
2268
- Relocalization() failed.
2269
- Fail to track local map!
2270
- Relocalization() failed.
2271
- Fail to track local map!
2272
- Relocalization() failed.
2273
- Fail to track local map!
2274
- Relocalization() failed.
2275
- Fail to track local map!
2276
- Relocalization() failed.
2277
- Fail to track local map!
2278
- Relocalization() failed.
2279
- Fail to track local map!
2280
- Relocalization() failed.
2281
- Fail to track local map!
2282
- Relocalization() failed.
2283
- Fail to track local map!
2284
- Relocalization() failed.
2285
- Fail to track local map!
2286
- Relocalization() failed.
2287
- Fail to track local map!
2288
- Relocalization() failed.
2289
- Fail to track local map!
2290
- Relocalization() failed.
2291
- Fail to track local map!
2292
- Relocalization() failed.
2293
- Fail to track local map!
2294
- Relocalization() failed.
2295
- Fail to track local map!
2296
- Relocalization() failed.
2297
- Fail to track local map!
2298
- Relocalization() failed.
2299
- Fail to track local map!
2300
- Relocalization() failed.
2301
- Fail to track local map!
2302
- Relocalization() failed.
2303
- Fail to track local map!
2304
- Relocalization() failed.
2305
- Fail to track local map!
2306
- Relocalization() failed.
2307
- Fail to track local map!
2308
- Relocalization() failed.
2309
- Fail to track local map!
2310
- Relocalization() failed.
2311
- Fail to track local map!
2312
- Relocalization() failed.
2313
- Fail to track local map!
2314
- Relocalization() failed.
2315
- Fail to track local map!
2316
- Relocalization() failed.
2317
- Fail to track local map!
2318
- Relocalization() failed.
2319
- Fail to track local map!
2320
- Relocalization() failed.
2321
- Fail to track local map!
2322
- Relocalization() failed.
2323
- Fail to track local map!
2324
- Relocalization() failed.
2325
- Fail to track local map!
2326
- Relocalization() failed.
2327
- Fail to track local map!
2328
- Relocalization() failed.
2329
- Fail to track local map!
2330
- Relocalization() failed.
2331
- Fail to track local map!
2332
- Relocalization() failed.
2333
- Fail to track local map!
2334
- Relocalization() failed.
2335
- Fail to track local map!
2336
- Relocalization() failed.
2337
- Fail to track local map!
2338
- Relocalization() failed.
2339
- Fail to track local map!
2340
- Relocalization() failed.
2341
- Fail to track local map!
2342
- Relocalization() failed.
2343
- Fail to track local map!
2344
- Relocalization() failed.
2345
- Fail to track local map!
2346
- Relocalization() failed.
2347
- Fail to track local map!
2348
- Video FPS: 59.940059940059939
2349
- ORB-SLAM 3 running at: 21.264032773147985 FPS
2350
- Relocalization() failed.
2351
- Fail to track local map!
2352
- Relocalization() failed.
2353
- Fail to track local map!
2354
- Relocalization() failed.
2355
- Fail to track local map!
2356
- Relocalization() failed.
2357
- Fail to track local map!
2358
- Relocalization() failed.
2359
- Fail to track local map!
2360
- Relocalization() failed.
2361
- Fail to track local map!
2362
- Relocalization() failed.
2363
- Fail to track local map!
2364
- Relocalization() failed.
2365
- Fail to track local map!
2366
- Relocalization() failed.
2367
- Fail to track local map!
2368
- Relocalization() failed.
2369
- Fail to track local map!
2370
- Relocalization() failed.
2371
- Fail to track local map!
2372
- Relocalization() failed.
2373
- Fail to track local map!
2374
- Relocalization() failed.
2375
- Fail to track local map!
2376
- Relocalization() failed.
2377
- Fail to track local map!
2378
- Relocalization() failed.
2379
- Fail to track local map!
2380
- Relocalization() failed.
2381
- Fail to track local map!
2382
- Relocalization() failed.
2383
- Fail to track local map!
2384
- Relocalization() failed.
2385
- Fail to track local map!
2386
- Relocalization() failed.
2387
- Fail to track local map!
2388
- Relocalization() failed.
2389
- Fail to track local map!
2390
- Relocalization() failed.
2391
- Fail to track local map!
2392
- Relocalization() failed.
2393
- Fail to track local map!
2394
- Relocalization() failed.
2395
- Fail to track local map!
2396
- Relocalization() failed.
2397
- Fail to track local map!
2398
- Relocalization() failed.
2399
- Fail to track local map!
2400
- Relocalization() failed.
2401
- Fail to track local map!
2402
- Relocalization() failed.
2403
- Fail to track local map!
2404
- Relocalization() failed.
2405
- Fail to track local map!
2406
- Relocalization() failed.
2407
- Fail to track local map!
2408
- Relocalization() failed.
2409
- Fail to track local map!
2410
- Relocalization() failed.
2411
- Fail to track local map!
2412
- Relocalization() failed.
2413
- Fail to track local map!
2414
- Relocalization() failed.
2415
- Fail to track local map!
2416
- Relocalization() failed.
2417
- Fail to track local map!
2418
- Relocalization() failed.
2419
- Fail to track local map!
2420
- Relocalization() failed.
2421
- Fail to track local map!
2422
- Relocalization() failed.
2423
- Fail to track local map!
2424
- Relocalization() failed.
2425
- Fail to track local map!
2426
- Relocalization() failed.
2427
- Fail to track local map!
2428
- Relocalization() failed.
2429
- Fail to track local map!
2430
- Relocalization() failed.
2431
- Fail to track local map!
2432
- Relocalization() failed.
2433
- Fail to track local map!
2434
- Relocalization() failed.
2435
- Fail to track local map!
2436
- Relocalization() failed.
2437
- Fail to track local map!
2438
- Relocalization() failed.
2439
- Fail to track local map!
2440
- Relocalization() failed.
2441
- Fail to track local map!
2442
- Relocalization() failed.
2443
- Fail to track local map!
2444
- Relocalization() failed.
2445
- Fail to track local map!
2446
- Relocalization() failed.
2447
- Fail to track local map!
2448
- Relocalization() failed.
2449
- Fail to track local map!
2450
- Relocalization() failed.
2451
- Fail to track local map!
2452
- Relocalization() failed.
2453
- Fail to track local map!
2454
- Relocalization() failed.
2455
- Fail to track local map!
2456
- Relocalization() failed.
2457
- Fail to track local map!
2458
- Relocalization() failed.
2459
- Fail to track local map!
2460
- Relocalization() failed.
2461
- Fail to track local map!
2462
- Relocalization() failed.
2463
- Fail to track local map!
2464
- Relocalization() failed.
2465
- Fail to track local map!
2466
- Relocalization() failed.
2467
- Fail to track local map!
2468
- Relocalization() failed.
2469
- Fail to track local map!
2470
- Relocalization() failed.
2471
- Fail to track local map!
2472
- Relocalization() failed.
2473
- Fail to track local map!
2474
- Relocalization() failed.
2475
- Fail to track local map!
2476
- Relocalization() failed.
2477
- Fail to track local map!
2478
- Relocalization() failed.
2479
- Fail to track local map!
2480
- Relocalization() failed.
2481
- Fail to track local map!
2482
- Relocalization() failed.
2483
- Fail to track local map!
2484
- Relocalization() failed.
2485
- Fail to track local map!
2486
- Relocalization() failed.
2487
- Fail to track local map!
2488
- Relocalization() failed.
2489
- Fail to track local map!
2490
- Relocalization() failed.
2491
- Fail to track local map!
2492
- Relocalization() failed.
2493
- Fail to track local map!
2494
- Relocalization() failed.
2495
- Fail to track local map!
2496
- Relocalization() failed.
2497
- Fail to track local map!
2498
- Relocalization() failed.
2499
- Fail to track local map!
2500
- Relocalization() failed.
2501
- Fail to track local map!
2502
- Relocalization() failed.
2503
- Fail to track local map!
2504
- Relocalization() failed.
2505
- Fail to track local map!
2506
- Relocalization() failed.
2507
- Fail to track local map!
2508
- Relocalization() failed.
2509
- Fail to track local map!
2510
- Relocalization() failed.
2511
- Fail to track local map!
2512
- Relocalization() failed.
2513
- Fail to track local map!
2514
- Relocalization() failed.
2515
- Fail to track local map!
2516
- Relocalization() failed.
2517
- Fail to track local map!
2518
- Relocalization() failed.
2519
- Fail to track local map!
2520
- Relocalization() failed.
2521
- Fail to track local map!
2522
- Relocalization() failed.
2523
- Fail to track local map!
2524
- Relocalization() failed.
2525
- Fail to track local map!
2526
- Relocalization() failed.
2527
- Fail to track local map!
2528
- Relocalization() failed.
2529
- Fail to track local map!
2530
- Relocalization() failed.
2531
- Fail to track local map!
2532
- Relocalization() failed.
2533
- Fail to track local map!
2534
- Relocalization() failed.
2535
- Fail to track local map!
2536
- Relocalization() failed.
2537
- Fail to track local map!
2538
- Relocalization() failed.
2539
- Fail to track local map!
2540
- Relocalization() failed.
2541
- Fail to track local map!
2542
- Relocalization() failed.
2543
- Fail to track local map!
2544
- Relocalization() failed.
2545
- Fail to track local map!
2546
- Relocalization() failed.
2547
- Fail to track local map!
2548
- Relocalization() failed.
2549
- Fail to track local map!
2550
- Video FPS: 59.940059940059939
2551
- ORB-SLAM 3 running at: 30.601421050429888 FPS
2552
- Relocalization() failed.
2553
- Fail to track local map!
2554
- Relocalization() failed.
2555
- Fail to track local map!
2556
- Relocalization() failed.
2557
- Fail to track local map!
2558
- Relocalization() failed.
2559
- Fail to track local map!
2560
- Relocalization() failed.
2561
- Fail to track local map!
2562
- Relocalization() failed.
2563
- Fail to track local map!
2564
- Relocalization() failed.
2565
- Fail to track local map!
2566
- Relocalization() failed.
2567
- Fail to track local map!
2568
- Relocalization() failed.
2569
- Fail to track local map!
2570
- Relocalization() failed.
2571
- Fail to track local map!
2572
- Relocalization() failed.
2573
- Fail to track local map!
2574
- Relocalization() failed.
2575
- Fail to track local map!
2576
- Relocalization() failed.
2577
- Fail to track local map!
2578
- Relocalization() failed.
2579
- Fail to track local map!
2580
- Relocalization() failed.
2581
- Fail to track local map!
2582
- Relocalization() failed.
2583
- Fail to track local map!
2584
- Relocalization() failed.
2585
- Fail to track local map!
2586
- Relocalization() failed.
2587
- Fail to track local map!
2588
- Relocalization() failed.
2589
- Fail to track local map!
2590
- Relocalization() failed.
2591
- Fail to track local map!
2592
- Relocalization() failed.
2593
- Fail to track local map!
2594
- Relocalization() failed.
2595
- Fail to track local map!
2596
- Relocalization() failed.
2597
- Fail to track local map!
2598
- Relocalization() failed.
2599
- Fail to track local map!
2600
- Relocalization() failed.
2601
- Fail to track local map!
2602
- Relocalization() failed.
2603
- Fail to track local map!
2604
- Relocalization() failed.
2605
- Fail to track local map!
2606
- Relocalization() failed.
2607
- Fail to track local map!
2608
- Relocalization() failed.
2609
- Fail to track local map!
2610
- Relocalization() failed.
2611
- Fail to track local map!
2612
- Relocalization() failed.
2613
- Fail to track local map!
2614
- Relocalization() failed.
2615
- Fail to track local map!
2616
- Relocalization() failed.
2617
- Fail to track local map!
2618
- Relocalization() failed.
2619
- Fail to track local map!
2620
- Relocalization() failed.
2621
- Fail to track local map!
2622
- Relocalization() failed.
2623
- Fail to track local map!
2624
- Relocalization() failed.
2625
- Fail to track local map!
2626
- Relocalization() failed.
2627
- Fail to track local map!
2628
- Relocalization() failed.
2629
- Fail to track local map!
2630
- Relocalization() failed.
2631
- Fail to track local map!
2632
- Relocalization() failed.
2633
- Fail to track local map!
2634
- Relocalization() failed.
2635
- Fail to track local map!
2636
- Relocalization() failed.
2637
- Fail to track local map!
2638
- Relocalization() failed.
2639
- Fail to track local map!
2640
- Relocalization() failed.
2641
- Fail to track local map!
2642
- Relocalization() failed.
2643
- Fail to track local map!
2644
- Relocalization() failed.
2645
- Fail to track local map!
2646
- Relocalization() failed.
2647
- Fail to track local map!
2648
- Relocalization() failed.
2649
- Fail to track local map!
2650
- Relocalization() failed.
2651
- Fail to track local map!
2652
- Relocalization() failed.
2653
- Fail to track local map!
2654
- Relocalization() failed.
2655
- Fail to track local map!
2656
- Relocalization() failed.
2657
- Fail to track local map!
2658
- Relocalization() failed.
2659
- Fail to track local map!
2660
- Shutdown
2661
- mpLocalMapper is not finished
2662
- mpLoopCloser is not finished
2663
-
2664
- Saving camera trajectory to /data/camera_trajectory.csv ...
2665
- There are 1 maps in the atlas
2666
- Map 0 has 71 KFs
2667
-
2668
- CSV camera trajectory saved!
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f4202ab5caa85494f5d56485458acb68558a4feab5b521ae37a21f22af52d862
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