Upload raw data (part 19)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.03.08.710717/slam_stderr.txt +3 -5
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.03.08.710717/slam_stdout.txt +3 -143
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.03.42.027333/camera_trajectory.csv +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.03.42.027333/extract_gopro_imu_stdout.txt +3 -9
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.03.42.027333/imu_data.json +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.03.42.027333/slam_stderr.txt +3 -5
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.03.42.027333/slam_stdout.txt +3 -146
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.04.56.151383/camera_trajectory.csv +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.04.56.151383/extract_gopro_imu_stdout.txt +3 -9
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.04.56.151383/imu_data.json +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.04.56.151383/slam_stderr.txt +3 -5
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.04.56.151383/slam_stdout.txt +3 -182
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.05.26.581783/camera_trajectory.csv +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.05.26.581783/extract_gopro_imu_stdout.txt +3 -9
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.05.26.581783/imu_data.json +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.05.26.581783/slam_stderr.txt +3 -5
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.05.26.581783/slam_stdout.txt +3 -256
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.05.54.759933/camera_trajectory.csv +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.05.54.759933/extract_gopro_imu_stdout.txt +3 -9
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.05.54.759933/imu_data.json +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.05.54.759933/slam_stderr.txt +3 -5
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.05.54.759933/slam_stdout.txt +3 -147
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.06.42.857983/camera_trajectory.csv +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.06.42.857983/extract_gopro_imu_stdout.txt +3 -9
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.06.42.857983/imu_data.json +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.06.42.857983/slam_stderr.txt +3 -5
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.06.42.857983/slam_stdout.txt +3 -230
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.08.14.182550/camera_trajectory.csv +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.08.14.182550/extract_gopro_imu_stdout.txt +3 -9
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.08.14.182550/imu_data.json +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.08.14.182550/slam_stderr.txt +3 -5
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.08.14.182550/slam_stdout.txt +3 -227
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.08.45.180183/extract_gopro_imu_stdout.txt +3 -9
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.08.45.180183/imu_data.json +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.08.45.180183/slam_stderr.txt +3 -5
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.08.45.180183/slam_stdout.txt +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.09.18.263233/camera_trajectory.csv +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.09.18.263233/extract_gopro_imu_stdout.txt +3 -9
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.09.18.263233/imu_data.json +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.09.18.263233/slam_stderr.txt +3 -5
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.09.18.263233/slam_stdout.txt +3 -148
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.09.51.629900/camera_trajectory.csv +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.09.51.629900/extract_gopro_imu_stdout.txt +3 -9
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.09.51.629900/imu_data.json +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.09.51.629900/slam_stderr.txt +3 -5
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.09.51.629900/slam_stdout.txt +3 -309
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.10.26.414650/camera_trajectory.csv +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.10.26.414650/extract_gopro_imu_stdout.txt +3 -9
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.10.26.414650/imu_data.json +0 -0
- bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.10.26.414650/slam_stderr.txt +3 -5
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.03.08.710717/slam_stderr.txt
CHANGED
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System.LoadAtlasFromFile optional parameter does not exist...
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System.SaveAtlasToFile optional parameter does not exist...
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version https://git-lfs.github.com/spec/v1
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oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a
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size 288
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bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.03.08.710717/slam_stdout.txt
CHANGED
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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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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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Loading ORB Vocabulary. This could take a while...
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Vocabulary loaded!
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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 1196 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()->mpImuPreintegrated0x563aaf984bb0
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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()4985
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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: 3.49458 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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Video FPS: 59.940059940059939
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ORB-SLAM 3 running at: 10.894845047412621 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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Video FPS: 59.940059940059939
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ORB-SLAM 3 running at: 18.477987395351768 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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Video FPS: 59.940059940059939
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ORB-SLAM 3 running at: 14.315052986810755 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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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: 14.919086186874623 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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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: 13.588172441626368 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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Video FPS: 59.940059940059939
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ORB-SLAM 3 running at: 18.664556576330522 FPS
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Video FPS: 59.940059940059939
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ORB-SLAM 3 running at: 14.673346580528449 FPS
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Video FPS: 59.940059940059939
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ORB-SLAM 3 running at: 14.134312976912039 FPS
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Video FPS: 59.940059940059939
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ORB-SLAM 3 running at: 19.813139507465561 FPS
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Video FPS: 59.940059940059939
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ORB-SLAM 3 running at: 18.530666056439479 FPS
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Video FPS: 59.940059940059939
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ORB-SLAM 3 running at: 22.688463079880812 FPS
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Shutdown
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mpLocalMapper is not finished
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mpLoopCloser is not finished
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Saving camera trajectory to /data/camera_trajectory.csv ...
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There are 1 maps in the atlas
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Map 0 has 94 KFs
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-
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CSV camera trajectory saved!
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version https://git-lfs.github.com/spec/v1
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oid sha256:fe801677222c72f8f8798d725b90862bf81710ce7cd1aec69da11a4baf7297e0
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size 6112
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.03.42.027333/camera_trajectory.csv
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.03.42.027333/extract_gopro_imu_stdout.txt
CHANGED
|
@@ -1,9 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
Read stream data from raw_video.mp4
|
| 5 |
-
Extracted information for raw_video.mp4
|
| 6 |
-
Flushing on end after 160079687 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 sha256:435831d47fcc8c1de47cc66b9557f2b9a1e921fda45d0cab80a0ae508038716a
|
| 3 |
+
size 305
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.03.42.027333/imu_data.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.03.42.027333/slam_stderr.txt
CHANGED
|
@@ -1,5 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 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_cheng/demos/demo_C3444250470334_2023.12.28_17.03.42.027333/slam_stdout.txt
CHANGED
|
@@ -1,146 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 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 1273 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 |
-
Relocalized!!
|
| 55 |
-
INIT_RELOCALIZE success!
|
| 56 |
-
vpKFs.back()->mpImuPreintegrated0x5566ccaa5bb0
|
| 57 |
-
pKFCur->mTimeStamp0
|
| 58 |
-
vpKFs.front()->mTimeStamp-63.2131
|
| 59 |
-
vpKFs.back()->mTimeStamp-0.016675
|
| 60 |
-
pKFcur->GetMapPointMatches().size()5082
|
| 61 |
-
1691 pKFcur->GetVelocity() 0
|
| 62 |
-
0
|
| 63 |
-
0
|
| 64 |
-
pKFcur->mnId492
|
| 65 |
-
Video FPS: 59.9401
|
| 66 |
-
ORB-SLAM 3 running at: 1.10446 FPS
|
| 67 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 68 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 69 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 70 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 71 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 72 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 73 |
-
Video FPS: 59.940059940059939
|
| 74 |
-
ORB-SLAM 3 running at: 6.952001608137012 FPS
|
| 75 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 76 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 77 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 78 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 79 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 80 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 81 |
-
Video FPS: 59.940059940059939
|
| 82 |
-
ORB-SLAM 3 running at: 14.499705706723123 FPS
|
| 83 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 84 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 85 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 86 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 87 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 88 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 89 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 90 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 91 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 92 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 93 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 94 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 95 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 96 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 97 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 98 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 99 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 100 |
-
Video FPS: 59.940059940059939
|
| 101 |
-
ORB-SLAM 3 running at: 7.3955540872258121 FPS
|
| 102 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 103 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 104 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 105 |
-
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 |
-
Video FPS: 59.940059940059939
|
| 113 |
-
ORB-SLAM 3 running at: 9.0566258922576512 FPS
|
| 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 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 119 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 120 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 121 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 122 |
-
Video FPS: 59.940059940059939
|
| 123 |
-
ORB-SLAM 3 running at: 7.8714000260212744 FPS
|
| 124 |
-
Video FPS: 59.940059940059939
|
| 125 |
-
ORB-SLAM 3 running at: 9.0642142383595932 FPS
|
| 126 |
-
Video FPS: 59.940059940059939
|
| 127 |
-
ORB-SLAM 3 running at: 5.8540410424827121 FPS
|
| 128 |
-
Video FPS: 59.940059940059939
|
| 129 |
-
ORB-SLAM 3 running at: 8.0434553142904157 FPS
|
| 130 |
-
Video FPS: 59.940059940059939
|
| 131 |
-
ORB-SLAM 3 running at: 9.0756916312321412 FPS
|
| 132 |
-
Video FPS: 59.940059940059939
|
| 133 |
-
ORB-SLAM 3 running at: 11.12458731257504 FPS
|
| 134 |
-
Video FPS: 59.940059940059939
|
| 135 |
-
ORB-SLAM 3 running at: 10.927476925457768 FPS
|
| 136 |
-
Video FPS: 59.940059940059939
|
| 137 |
-
ORB-SLAM 3 running at: 7.3485136969681646 FPS
|
| 138 |
-
Shutdown
|
| 139 |
-
mpLocalMapper is not finished
|
| 140 |
-
mpLoopCloser is not finished
|
| 141 |
-
|
| 142 |
-
Saving camera trajectory to /data/camera_trajectory.csv ...
|
| 143 |
-
There are 1 maps in the atlas
|
| 144 |
-
Map 0 has 98 KFs
|
| 145 |
-
|
| 146 |
-
CSV camera trajectory saved!
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c973455409ff2a3dced95c0da5625285d515bb0f517b96e574f3949e9190e670
|
| 3 |
+
size 6250
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.04.56.151383/camera_trajectory.csv
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.04.56.151383/extract_gopro_imu_stdout.txt
CHANGED
|
@@ -1,9 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
Read stream data from raw_video.mp4
|
| 5 |
-
Extracted information for raw_video.mp4
|
| 6 |
-
Flushing on end after 136572358 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:c287406284c20ab729f9743903d80106c25741c71a30cd9f2a08b2ffe196f7ee
|
| 3 |
+
size 305
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.04.56.151383/imu_data.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.04.56.151383/slam_stderr.txt
CHANGED
|
@@ -1,5 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 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_cheng/demos/demo_C3444250470334_2023.12.28_17.04.56.151383/slam_stdout.txt
CHANGED
|
@@ -1,182 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 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 1085 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 |
-
Relocalized!!
|
| 55 |
-
INIT_RELOCALIZE success!
|
| 56 |
-
vpKFs.back()->mpImuPreintegrated0x559dd8641b80
|
| 57 |
-
pKFCur->mTimeStamp0
|
| 58 |
-
vpKFs.front()->mTimeStamp-63.2131
|
| 59 |
-
vpKFs.back()->mTimeStamp-0.016675
|
| 60 |
-
pKFcur->GetMapPointMatches().size()5112
|
| 61 |
-
1691 pKFcur->GetVelocity() 0
|
| 62 |
-
0
|
| 63 |
-
0
|
| 64 |
-
pKFcur->mnId492
|
| 65 |
-
Video FPS: 59.9401
|
| 66 |
-
ORB-SLAM 3 running at: 1.76021 FPS
|
| 67 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 68 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 69 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 70 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 71 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 72 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 73 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 74 |
-
Video FPS: 59.940059940059939
|
| 75 |
-
ORB-SLAM 3 running at: 5.4264910188941791 FPS
|
| 76 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 77 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 78 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 79 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 80 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 81 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 82 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 83 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 84 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 85 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 86 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 87 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 88 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 89 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 90 |
-
Video FPS: 59.940059940059939
|
| 91 |
-
ORB-SLAM 3 running at: 5.8683935517950818 FPS
|
| 92 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 93 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 94 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 95 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 96 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 97 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 98 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 99 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 100 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 101 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 102 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 103 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 104 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 105 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 106 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 107 |
-
Video FPS: 59.940059940059939
|
| 108 |
-
ORB-SLAM 3 running at: 6.6452854165370558 FPS
|
| 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 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 119 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 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 |
-
Video FPS: 59.940059940059939
|
| 125 |
-
ORB-SLAM 3 running at: 10.561638355138893 FPS
|
| 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 |
-
Video FPS: 59.940059940059939
|
| 133 |
-
ORB-SLAM 3 running at: 9.4774041814534709 FPS
|
| 134 |
-
Video FPS: 59.940059940059939
|
| 135 |
-
ORB-SLAM 3 running at: 9.1450584786251454 FPS
|
| 136 |
-
Video FPS: 59.940059940059939
|
| 137 |
-
ORB-SLAM 3 running at: 8.2468363898583039 FPS
|
| 138 |
-
Video FPS: 59.940059940059939
|
| 139 |
-
ORB-SLAM 3 running at: 6.6904723037896723 FPS
|
| 140 |
-
Video FPS: 59.940059940059939
|
| 141 |
-
ORB-SLAM 3 running at: 9.8707923156671491 FPS
|
| 142 |
-
Video FPS: 59.940059940059939
|
| 143 |
-
ORB-SLAM 3 running at: 13.840230291467085 FPS
|
| 144 |
-
Shutdown
|
| 145 |
-
mpLocalMapper is not finished
|
| 146 |
-
mpLoopCloser is not finished
|
| 147 |
-
mpLocalMapper is not finished
|
| 148 |
-
mpLocalMapper is not finished
|
| 149 |
-
mpLocalMapper is not finished
|
| 150 |
-
mpLocalMapper 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 |
-
mpLocalMapper is not finished
|
| 158 |
-
mpLocalMapper is not finished
|
| 159 |
-
mpLocalMapper is not finished
|
| 160 |
-
mpLocalMapper is not finished
|
| 161 |
-
mpLocalMapper is not finished
|
| 162 |
-
mpLocalMapper is not finished
|
| 163 |
-
mpLocalMapper is not finished
|
| 164 |
-
mpLocalMapper is not finished
|
| 165 |
-
mpLocalMapper is not finished
|
| 166 |
-
mpLocalMapper is not finished
|
| 167 |
-
mpLocalMapper is not finished
|
| 168 |
-
mpLocalMapper is not finished
|
| 169 |
-
mpLocalMapper is not finished
|
| 170 |
-
mpLocalMapper is not finished
|
| 171 |
-
mpLocalMapper is not finished
|
| 172 |
-
mpLocalMapper is not finished
|
| 173 |
-
mpLocalMapper is not finished
|
| 174 |
-
mpLocalMapper is not finished
|
| 175 |
-
mpLocalMapper is not finished
|
| 176 |
-
mpLocalMapper is not finished
|
| 177 |
-
|
| 178 |
-
Saving camera trajectory to /data/camera_trajectory.csv ...
|
| 179 |
-
There are 1 maps in the atlas
|
| 180 |
-
Map 0 has 96 KFs
|
| 181 |
-
|
| 182 |
-
CSV camera trajectory saved!
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f469388dd817e9a238688fc31d272f15208b4e158800ecd268937f6ea9a14419
|
| 3 |
+
size 7640
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.05.26.581783/camera_trajectory.csv
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.05.26.581783/extract_gopro_imu_stdout.txt
CHANGED
|
@@ -1,9 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
Read stream data from raw_video.mp4
|
| 5 |
-
Extracted information for raw_video.mp4
|
| 6 |
-
Flushing on end after 132695226 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 sha256:9d9ded691499a112746257216580fbe37178d1fd143d84599c0d8b9f7d4d72ca
|
| 3 |
+
size 305
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.05.26.581783/imu_data.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.05.26.581783/slam_stderr.txt
CHANGED
|
@@ -1,5 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 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_cheng/demos/demo_C3444250470334_2023.12.28_17.05.26.581783/slam_stdout.txt
CHANGED
|
@@ -1,256 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 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 1055 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 |
-
Relocalized!!
|
| 55 |
-
INIT_RELOCALIZE success!
|
| 56 |
-
vpKFs.back()->mpImuPreintegrated0x557028b92a90
|
| 57 |
-
pKFCur->mTimeStamp0
|
| 58 |
-
vpKFs.front()->mTimeStamp-63.2131
|
| 59 |
-
vpKFs.back()->mTimeStamp-0.016675
|
| 60 |
-
pKFcur->GetMapPointMatches().size()5070
|
| 61 |
-
1691 pKFcur->GetVelocity() 0
|
| 62 |
-
0
|
| 63 |
-
0
|
| 64 |
-
pKFcur->mnId492
|
| 65 |
-
Video FPS: 59.9401
|
| 66 |
-
ORB-SLAM 3 running at: 1.89197 FPS
|
| 67 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 68 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 69 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 70 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 71 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 72 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 73 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 74 |
-
Video FPS: 59.940059940059939
|
| 75 |
-
ORB-SLAM 3 running at: 8.24861578741179 FPS
|
| 76 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 77 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 78 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 79 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 80 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 81 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 82 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 83 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 84 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 85 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 86 |
-
Video FPS: 59.940059940059939
|
| 87 |
-
ORB-SLAM 3 running at: 9.63657238029033 FPS
|
| 88 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 89 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 90 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 91 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 92 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 93 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 94 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 95 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 96 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 97 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 98 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 99 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 100 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 101 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 102 |
-
Video FPS: 59.940059940059939
|
| 103 |
-
ORB-SLAM 3 running at: 9.4014711346819784 FPS
|
| 104 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 105 |
-
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 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 119 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 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 |
-
Video FPS: 59.940059940059939
|
| 124 |
-
ORB-SLAM 3 running at: 6.7776628700345531 FPS
|
| 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 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 135 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 136 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 137 |
-
Video FPS: 59.940059940059939
|
| 138 |
-
ORB-SLAM 3 running at: 10.030185643089164 FPS
|
| 139 |
-
Video FPS: 59.940059940059939
|
| 140 |
-
ORB-SLAM 3 running at: 7.7218288975686189 FPS
|
| 141 |
-
Video FPS: 59.940059940059939
|
| 142 |
-
ORB-SLAM 3 running at: 6.9356433538493594 FPS
|
| 143 |
-
Video FPS: 59.940059940059939
|
| 144 |
-
ORB-SLAM 3 running at: 9.2161258276921973 FPS
|
| 145 |
-
Video FPS: 59.940059940059939
|
| 146 |
-
ORB-SLAM 3 running at: 9.1437515794116404 FPS
|
| 147 |
-
Video FPS: 59.940059940059939
|
| 148 |
-
ORB-SLAM 3 running at: 10.059577141449838 FPS
|
| 149 |
-
Shutdown
|
| 150 |
-
mpLocalMapper is not finished
|
| 151 |
-
mpLoopCloser is not finished
|
| 152 |
-
mpLocalMapper is not finished
|
| 153 |
-
mpLocalMapper is not finished
|
| 154 |
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mpLocalMapper is not finished
|
| 155 |
-
mpLocalMapper is not finished
|
| 156 |
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mpLocalMapper is not finished
|
| 157 |
-
mpLocalMapper is not finished
|
| 158 |
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mpLocalMapper is not finished
|
| 159 |
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mpLocalMapper is not finished
|
| 160 |
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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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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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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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mpLocalMapper is not finished
|
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mpLocalMapper is not finished
|
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mpLocalMapper is not finished
|
| 179 |
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mpLocalMapper is not finished
|
| 180 |
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mpLocalMapper is not finished
|
| 181 |
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mpLocalMapper is not finished
|
| 182 |
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mpLocalMapper is not finished
|
| 183 |
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mpLocalMapper is not finished
|
| 184 |
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mpLocalMapper is not finished
|
| 185 |
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mpLocalMapper is not finished
|
| 186 |
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mpLocalMapper is not finished
|
| 187 |
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mpLocalMapper is not finished
|
| 188 |
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mpLocalMapper is not finished
|
| 189 |
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mpLocalMapper is not finished
|
| 190 |
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mpLocalMapper is not finished
|
| 191 |
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mpLocalMapper is not finished
|
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mpLocalMapper is not finished
|
| 193 |
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mpLocalMapper is not finished
|
| 194 |
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mpLocalMapper is not finished
|
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mpLocalMapper is not finished
|
| 196 |
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mpLocalMapper is not finished
|
| 197 |
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mpLocalMapper is not finished
|
| 198 |
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mpLocalMapper is not finished
|
| 199 |
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mpLocalMapper is not finished
|
| 200 |
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mpLocalMapper is not finished
|
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mpLocalMapper is not finished
|
| 202 |
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mpLocalMapper is not finished
|
| 203 |
-
mpLocalMapper is not finished
|
| 204 |
-
mpLocalMapper is not finished
|
| 205 |
-
mpLocalMapper is not finished
|
| 206 |
-
mpLocalMapper is not finished
|
| 207 |
-
mpLocalMapper is not finished
|
| 208 |
-
mpLocalMapper is not finished
|
| 209 |
-
mpLocalMapper is not finished
|
| 210 |
-
mpLocalMapper is not finished
|
| 211 |
-
mpLocalMapper is not finished
|
| 212 |
-
mpLocalMapper is not finished
|
| 213 |
-
mpLocalMapper is not finished
|
| 214 |
-
mpLocalMapper is not finished
|
| 215 |
-
mpLocalMapper is not finished
|
| 216 |
-
mpLocalMapper is not finished
|
| 217 |
-
mpLocalMapper is not finished
|
| 218 |
-
mpLocalMapper is not finished
|
| 219 |
-
mpLocalMapper is not finished
|
| 220 |
-
mpLocalMapper is not finished
|
| 221 |
-
mpLocalMapper is not finished
|
| 222 |
-
mpLocalMapper is not finished
|
| 223 |
-
mpLocalMapper is not finished
|
| 224 |
-
mpLocalMapper is not finished
|
| 225 |
-
mpLocalMapper is not finished
|
| 226 |
-
mpLocalMapper is not finished
|
| 227 |
-
mpLocalMapper is not finished
|
| 228 |
-
mpLocalMapper is not finished
|
| 229 |
-
mpLocalMapper is not finished
|
| 230 |
-
mpLocalMapper is not finished
|
| 231 |
-
mpLocalMapper is not finished
|
| 232 |
-
mpLocalMapper is not finished
|
| 233 |
-
mpLocalMapper is not finished
|
| 234 |
-
mpLocalMapper is not finished
|
| 235 |
-
mpLocalMapper is not finished
|
| 236 |
-
mpLocalMapper is not finished
|
| 237 |
-
mpLocalMapper is not finished
|
| 238 |
-
mpLocalMapper is not finished
|
| 239 |
-
mpLocalMapper is not finished
|
| 240 |
-
mpLocalMapper is not finished
|
| 241 |
-
mpLocalMapper is not finished
|
| 242 |
-
mpLocalMapper is not finished
|
| 243 |
-
mpLocalMapper is not finished
|
| 244 |
-
mpLocalMapper is not finished
|
| 245 |
-
mpLocalMapper is not finished
|
| 246 |
-
mpLocalMapper is not finished
|
| 247 |
-
mpLocalMapper is not finished
|
| 248 |
-
mpLocalMapper is not finished
|
| 249 |
-
mpLocalMapper is not finished
|
| 250 |
-
mpLocalMapper is not finished
|
| 251 |
-
|
| 252 |
-
Saving camera trajectory to /data/camera_trajectory.csv ...
|
| 253 |
-
There are 1 maps in the atlas
|
| 254 |
-
Map 0 has 90 KFs
|
| 255 |
-
|
| 256 |
-
CSV camera trajectory saved!
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d279b4e2108ebf6c870ef795ee5b743a3a7f3195d8b2e7de727d028f620961ce
|
| 3 |
+
size 10026
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|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.05.54.759933/camera_trajectory.csv
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.05.54.759933/extract_gopro_imu_stdout.txt
CHANGED
|
@@ -1,9 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
Read stream data from raw_video.mp4
|
| 5 |
-
Extracted information for raw_video.mp4
|
| 6 |
-
Flushing on end after 157929939 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 sha256:777129ac5ca69cf286926df07ff45e16d85ecb5618237f4d2199d1a36aa991d5
|
| 3 |
+
size 305
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.05.54.759933/imu_data.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.05.54.759933/slam_stderr.txt
CHANGED
|
@@ -1,5 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 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_cheng/demos/demo_C3444250470334_2023.12.28_17.05.54.759933/slam_stdout.txt
CHANGED
|
@@ -1,147 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 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 1257 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 |
-
Relocalized!!
|
| 55 |
-
INIT_RELOCALIZE success!
|
| 56 |
-
vpKFs.back()->mpImuPreintegrated0x55b8fa57cbb0
|
| 57 |
-
pKFCur->mTimeStamp0
|
| 58 |
-
vpKFs.front()->mTimeStamp-63.2131
|
| 59 |
-
vpKFs.back()->mTimeStamp-0.016675
|
| 60 |
-
pKFcur->GetMapPointMatches().size()5129
|
| 61 |
-
1691 pKFcur->GetVelocity() 0
|
| 62 |
-
0
|
| 63 |
-
0
|
| 64 |
-
pKFcur->mnId492
|
| 65 |
-
Video FPS: 59.9401
|
| 66 |
-
ORB-SLAM 3 running at: 2.56305 FPS
|
| 67 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 68 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 69 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 70 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 71 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 72 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 73 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 74 |
-
Video FPS: 59.940059940059939
|
| 75 |
-
ORB-SLAM 3 running at: 7.3603695211690994 FPS
|
| 76 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 77 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 78 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 79 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 80 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 81 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 82 |
-
Video FPS: 59.940059940059939
|
| 83 |
-
ORB-SLAM 3 running at: 7.4016750567984193 FPS
|
| 84 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 85 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 86 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 87 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 88 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 89 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 90 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 91 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 92 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 93 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 94 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 95 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 96 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 97 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 98 |
-
Video FPS: 59.940059940059939
|
| 99 |
-
ORB-SLAM 3 running at: 6.4315817212080661 FPS
|
| 100 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 101 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 102 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 103 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 104 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 105 |
-
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 |
-
Video FPS: 59.940059940059939
|
| 115 |
-
ORB-SLAM 3 running at: 2.8389059765951679 FPS
|
| 116 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 117 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 118 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 119 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 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 |
-
Video FPS: 59.940059940059939
|
| 124 |
-
ORB-SLAM 3 running at: 8.6828933793745495 FPS
|
| 125 |
-
Video FPS: 59.940059940059939
|
| 126 |
-
ORB-SLAM 3 running at: 8.8001193084975373 FPS
|
| 127 |
-
Video FPS: 59.940059940059939
|
| 128 |
-
ORB-SLAM 3 running at: 6.6854712482049594 FPS
|
| 129 |
-
Video FPS: 59.940059940059939
|
| 130 |
-
ORB-SLAM 3 running at: 6.1509269428450093 FPS
|
| 131 |
-
Video FPS: 59.940059940059939
|
| 132 |
-
ORB-SLAM 3 running at: 11.2390114358852 FPS
|
| 133 |
-
Video FPS: 59.940059940059939
|
| 134 |
-
ORB-SLAM 3 running at: 8.5582037015086829 FPS
|
| 135 |
-
Video FPS: 59.940059940059939
|
| 136 |
-
ORB-SLAM 3 running at: 9.2280884001037062 FPS
|
| 137 |
-
Video FPS: 59.940059940059939
|
| 138 |
-
ORB-SLAM 3 running at: 9.9499467926595262 FPS
|
| 139 |
-
Shutdown
|
| 140 |
-
mpLocalMapper is not finished
|
| 141 |
-
mpLoopCloser is not finished
|
| 142 |
-
|
| 143 |
-
Saving camera trajectory to /data/camera_trajectory.csv ...
|
| 144 |
-
There are 1 maps in the atlas
|
| 145 |
-
Map 0 has 105 KFs
|
| 146 |
-
|
| 147 |
-
CSV camera trajectory saved!
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:092c4465211be8092dcfb7621c51565b9676913617e95834b86df9a849cc7946
|
| 3 |
+
size 6315
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.06.42.857983/camera_trajectory.csv
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.06.42.857983/extract_gopro_imu_stdout.txt
CHANGED
|
@@ -1,9 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
Read stream data from raw_video.mp4
|
| 5 |
-
Extracted information for raw_video.mp4
|
| 6 |
-
Flushing on end after 168061882 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 sha256:0a40303edd30d9c51e6109eb2e55a0cb8f5cfe6870481426392de4260400d8ef
|
| 3 |
+
size 305
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.06.42.857983/imu_data.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.06.42.857983/slam_stderr.txt
CHANGED
|
@@ -1,5 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 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_cheng/demos/demo_C3444250470334_2023.12.28_17.06.42.857983/slam_stdout.txt
CHANGED
|
@@ -1,230 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 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 1337 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 |
-
Relocalized!!
|
| 55 |
-
INIT_RELOCALIZE success!
|
| 56 |
-
vpKFs.back()->mpImuPreintegrated0x5645b6405b90
|
| 57 |
-
pKFCur->mTimeStamp0
|
| 58 |
-
vpKFs.front()->mTimeStamp-63.2131
|
| 59 |
-
vpKFs.back()->mTimeStamp-0.016675
|
| 60 |
-
pKFcur->GetMapPointMatches().size()5219
|
| 61 |
-
1691 pKFcur->GetVelocity() 0
|
| 62 |
-
0
|
| 63 |
-
0
|
| 64 |
-
pKFcur->mnId492
|
| 65 |
-
Video FPS: 59.9401
|
| 66 |
-
ORB-SLAM 3 running at: 4.33688 FPS
|
| 67 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 68 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 69 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 70 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 71 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 72 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 73 |
-
Video FPS: 59.940059940059939
|
| 74 |
-
ORB-SLAM 3 running at: 10.436201387586902 FPS
|
| 75 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 76 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 77 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 78 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 79 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 80 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 81 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 82 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 83 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 84 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 85 |
-
Video FPS: 59.940059940059939
|
| 86 |
-
ORB-SLAM 3 running at: 12.573118341056498 FPS
|
| 87 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 88 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 89 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 90 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 91 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 92 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 93 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 94 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 95 |
-
Video FPS: 59.940059940059939
|
| 96 |
-
ORB-SLAM 3 running at: 11.60999181437527 FPS
|
| 97 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 98 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 99 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 100 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 101 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 102 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 103 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 104 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 105 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 106 |
-
Video FPS: 59.940059940059939
|
| 107 |
-
ORB-SLAM 3 running at: 17.801864887761912 FPS
|
| 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 |
-
Video FPS: 59.940059940059939
|
| 118 |
-
ORB-SLAM 3 running at: 13.200172457613125 FPS
|
| 119 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 120 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 121 |
-
Video FPS: 59.940059940059939
|
| 122 |
-
ORB-SLAM 3 running at: 11.844772643616329 FPS
|
| 123 |
-
Video FPS: 59.940059940059939
|
| 124 |
-
ORB-SLAM 3 running at: 13.856018563961127 FPS
|
| 125 |
-
Video FPS: 59.940059940059939
|
| 126 |
-
ORB-SLAM 3 running at: 12.7447990737182 FPS
|
| 127 |
-
Video FPS: 59.940059940059939
|
| 128 |
-
ORB-SLAM 3 running at: 11.722126018082763 FPS
|
| 129 |
-
Video FPS: 59.940059940059939
|
| 130 |
-
ORB-SLAM 3 running at: 18.725726659781465 FPS
|
| 131 |
-
Video FPS: 59.940059940059939
|
| 132 |
-
ORB-SLAM 3 running at: 18.599508355475738 FPS
|
| 133 |
-
Video FPS: 59.940059940059939
|
| 134 |
-
ORB-SLAM 3 running at: 20.210104243717687 FPS
|
| 135 |
-
Video FPS: 59.940059940059939
|
| 136 |
-
ORB-SLAM 3 running at: 17.692838001102089 FPS
|
| 137 |
-
Shutdown
|
| 138 |
-
mpLocalMapper is not finished
|
| 139 |
-
mpLoopCloser is not finished
|
| 140 |
-
mpLocalMapper is not finished
|
| 141 |
-
mpLocalMapper is not finished
|
| 142 |
-
mpLocalMapper is not finished
|
| 143 |
-
mpLocalMapper is not finished
|
| 144 |
-
mpLocalMapper is not finished
|
| 145 |
-
mpLocalMapper is not finished
|
| 146 |
-
mpLocalMapper is not finished
|
| 147 |
-
mpLocalMapper is not finished
|
| 148 |
-
mpLocalMapper is not finished
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| 149 |
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mpLocalMapper is not finished
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mpLocalMapper is not finished
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| 151 |
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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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| 155 |
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mpLocalMapper is not finished
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| 156 |
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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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mpLocalMapper is not finished
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mpLocalMapper is not finished
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mpLocalMapper is not finished
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| 168 |
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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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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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| 180 |
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mpLocalMapper is not finished
|
| 181 |
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mpLocalMapper is not finished
|
| 182 |
-
mpLocalMapper is not finished
|
| 183 |
-
mpLocalMapper is not finished
|
| 184 |
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mpLocalMapper is not finished
|
| 185 |
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mpLocalMapper is not finished
|
| 186 |
-
mpLocalMapper is not finished
|
| 187 |
-
mpLocalMapper is not finished
|
| 188 |
-
mpLocalMapper is not finished
|
| 189 |
-
mpLocalMapper is not finished
|
| 190 |
-
mpLocalMapper is not finished
|
| 191 |
-
mpLocalMapper is not finished
|
| 192 |
-
mpLocalMapper is not finished
|
| 193 |
-
mpLocalMapper is not finished
|
| 194 |
-
mpLocalMapper is not finished
|
| 195 |
-
mpLocalMapper is not finished
|
| 196 |
-
mpLocalMapper is not finished
|
| 197 |
-
mpLocalMapper is not finished
|
| 198 |
-
mpLocalMapper is not finished
|
| 199 |
-
mpLocalMapper is not finished
|
| 200 |
-
mpLocalMapper is not finished
|
| 201 |
-
mpLocalMapper is not finished
|
| 202 |
-
mpLocalMapper is not finished
|
| 203 |
-
mpLocalMapper is not finished
|
| 204 |
-
mpLocalMapper is not finished
|
| 205 |
-
mpLocalMapper is not finished
|
| 206 |
-
mpLocalMapper is not finished
|
| 207 |
-
mpLocalMapper is not finished
|
| 208 |
-
mpLocalMapper is not finished
|
| 209 |
-
mpLocalMapper is not finished
|
| 210 |
-
mpLocalMapper is not finished
|
| 211 |
-
mpLocalMapper is not finished
|
| 212 |
-
mpLocalMapper is not finished
|
| 213 |
-
mpLocalMapper is not finished
|
| 214 |
-
mpLocalMapper is not finished
|
| 215 |
-
mpLocalMapper is not finished
|
| 216 |
-
mpLocalMapper is not finished
|
| 217 |
-
mpLocalMapper is not finished
|
| 218 |
-
mpLocalMapper is not finished
|
| 219 |
-
mpLocalMapper is not finished
|
| 220 |
-
mpLocalMapper is not finished
|
| 221 |
-
mpLocalMapper is not finished
|
| 222 |
-
mpLocalMapper is not finished
|
| 223 |
-
mpLocalMapper is not finished
|
| 224 |
-
mpLocalMapper is not finished
|
| 225 |
-
|
| 226 |
-
Saving camera trajectory to /data/camera_trajectory.csv ...
|
| 227 |
-
There are 1 maps in the atlas
|
| 228 |
-
Map 0 has 91 KFs
|
| 229 |
-
|
| 230 |
-
CSV camera trajectory saved!
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:50d4ba00e5b2e031bce7260f7f5dea8aded98574084921ec5cb539c8fb6c2403
|
| 3 |
+
size 8683
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|
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|
|
|
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|
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|
|
|
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|
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|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.08.14.182550/camera_trajectory.csv
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.08.14.182550/extract_gopro_imu_stdout.txt
CHANGED
|
@@ -1,9 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
Read stream data from raw_video.mp4
|
| 5 |
-
Extracted information for raw_video.mp4
|
| 6 |
-
Flushing on end after 151944932 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:f0e41d9180bc8c48f065d22f38de2b9253193492af02cc57e46cb38116a95b0f
|
| 3 |
+
size 305
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.08.14.182550/imu_data.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.08.14.182550/slam_stderr.txt
CHANGED
|
@@ -1,5 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 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_cheng/demos/demo_C3444250470334_2023.12.28_17.08.14.182550/slam_stdout.txt
CHANGED
|
@@ -1,227 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 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 1209 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 |
-
Relocalized!!
|
| 55 |
-
INIT_RELOCALIZE success!
|
| 56 |
-
vpKFs.back()->mpImuPreintegrated0x55c5c7d99b70
|
| 57 |
-
pKFCur->mTimeStamp0
|
| 58 |
-
vpKFs.front()->mTimeStamp-63.2131
|
| 59 |
-
vpKFs.back()->mTimeStamp-0.016675
|
| 60 |
-
pKFcur->GetMapPointMatches().size()4991
|
| 61 |
-
1691 pKFcur->GetVelocity() 0
|
| 62 |
-
0
|
| 63 |
-
0
|
| 64 |
-
pKFcur->mnId492
|
| 65 |
-
Video FPS: 59.9401
|
| 66 |
-
ORB-SLAM 3 running at: 2.02858 FPS
|
| 67 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 68 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 69 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 70 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 71 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 72 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 73 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 74 |
-
Video FPS: 59.940059940059939
|
| 75 |
-
ORB-SLAM 3 running at: 5.6716235030217668 FPS
|
| 76 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 77 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 78 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 79 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 80 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 81 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 82 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 83 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 84 |
-
Video FPS: 59.940059940059939
|
| 85 |
-
ORB-SLAM 3 running at: 5.9339580612292142 FPS
|
| 86 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 87 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 88 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 89 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 90 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 91 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 92 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 93 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 94 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 95 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 96 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 97 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 98 |
-
Video FPS: 59.940059940059939
|
| 99 |
-
ORB-SLAM 3 running at: 7.826682621515725 FPS
|
| 100 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 101 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 102 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 103 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 104 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 105 |
-
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 |
-
Video FPS: 59.940059940059939
|
| 114 |
-
ORB-SLAM 3 running at: 4.5015031576896769 FPS
|
| 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 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 119 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 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 |
-
Video FPS: 59.940059940059939
|
| 130 |
-
ORB-SLAM 3 running at: 3.8417486754831907 FPS
|
| 131 |
-
Video FPS: 59.940059940059939
|
| 132 |
-
ORB-SLAM 3 running at: 6.9996910126396292 FPS
|
| 133 |
-
Video FPS: 59.940059940059939
|
| 134 |
-
ORB-SLAM 3 running at: 5.1664494923790292 FPS
|
| 135 |
-
Video FPS: 59.940059940059939
|
| 136 |
-
ORB-SLAM 3 running at: 8.7977045521953876 FPS
|
| 137 |
-
Video FPS: 59.940059940059939
|
| 138 |
-
ORB-SLAM 3 running at: 10.273568274497908 FPS
|
| 139 |
-
Video FPS: 59.940059940059939
|
| 140 |
-
ORB-SLAM 3 running at: 13.017366781439922 FPS
|
| 141 |
-
Video FPS: 59.940059940059939
|
| 142 |
-
ORB-SLAM 3 running at: 13.666179512920962 FPS
|
| 143 |
-
Video FPS: 59.940059940059939
|
| 144 |
-
ORB-SLAM 3 running at: 13.343843656268671 FPS
|
| 145 |
-
Shutdown
|
| 146 |
-
mpLocalMapper is not finished
|
| 147 |
-
mpLoopCloser is not finished
|
| 148 |
-
mpLocalMapper is not finished
|
| 149 |
-
mpLocalMapper is not finished
|
| 150 |
-
mpLocalMapper 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 |
-
mpLocalMapper is not finished
|
| 158 |
-
mpLocalMapper is not finished
|
| 159 |
-
mpLocalMapper is not finished
|
| 160 |
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mpLocalMapper is not finished
|
| 161 |
-
mpLocalMapper is not finished
|
| 162 |
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mpLocalMapper is not finished
|
| 163 |
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mpLocalMapper is not finished
|
| 164 |
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mpLocalMapper is not finished
|
| 165 |
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mpLocalMapper is not finished
|
| 166 |
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mpLocalMapper is not finished
|
| 167 |
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mpLocalMapper is not finished
|
| 168 |
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mpLocalMapper is not finished
|
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mpLocalMapper is not finished
|
| 170 |
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mpLocalMapper is not finished
|
| 171 |
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mpLocalMapper is not finished
|
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mpLocalMapper is not finished
|
| 173 |
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mpLocalMapper is not finished
|
| 174 |
-
mpLocalMapper is not finished
|
| 175 |
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mpLocalMapper is not finished
|
| 176 |
-
mpLocalMapper is not finished
|
| 177 |
-
mpLocalMapper is not finished
|
| 178 |
-
mpLocalMapper is not finished
|
| 179 |
-
mpLocalMapper is not finished
|
| 180 |
-
mpLocalMapper is not finished
|
| 181 |
-
mpLocalMapper is not finished
|
| 182 |
-
mpLocalMapper is not finished
|
| 183 |
-
mpLocalMapper is not finished
|
| 184 |
-
mpLocalMapper is not finished
|
| 185 |
-
mpLocalMapper is not finished
|
| 186 |
-
mpLocalMapper is not finished
|
| 187 |
-
mpLocalMapper is not finished
|
| 188 |
-
mpLocalMapper is not finished
|
| 189 |
-
mpLocalMapper is not finished
|
| 190 |
-
mpLocalMapper is not finished
|
| 191 |
-
mpLocalMapper is not finished
|
| 192 |
-
mpLocalMapper is not finished
|
| 193 |
-
mpLocalMapper is not finished
|
| 194 |
-
mpLocalMapper is not finished
|
| 195 |
-
mpLocalMapper is not finished
|
| 196 |
-
mpLocalMapper is not finished
|
| 197 |
-
mpLocalMapper is not finished
|
| 198 |
-
mpLocalMapper is not finished
|
| 199 |
-
mpLocalMapper is not finished
|
| 200 |
-
mpLocalMapper is not finished
|
| 201 |
-
mpLocalMapper is not finished
|
| 202 |
-
mpLocalMapper is not finished
|
| 203 |
-
mpLocalMapper is not finished
|
| 204 |
-
mpLocalMapper is not finished
|
| 205 |
-
mpLocalMapper is not finished
|
| 206 |
-
mpLocalMapper is not finished
|
| 207 |
-
mpLocalMapper is not finished
|
| 208 |
-
mpLocalMapper is not finished
|
| 209 |
-
mpLocalMapper is not finished
|
| 210 |
-
mpLocalMapper is not finished
|
| 211 |
-
mpLocalMapper is not finished
|
| 212 |
-
mpLocalMapper is not finished
|
| 213 |
-
mpLocalMapper is not finished
|
| 214 |
-
mpLocalMapper is not finished
|
| 215 |
-
mpLocalMapper is not finished
|
| 216 |
-
mpLocalMapper is not finished
|
| 217 |
-
mpLocalMapper is not finished
|
| 218 |
-
mpLocalMapper is not finished
|
| 219 |
-
mpLocalMapper is not finished
|
| 220 |
-
mpLocalMapper is not finished
|
| 221 |
-
mpLocalMapper is not finished
|
| 222 |
-
|
| 223 |
-
Saving camera trajectory to /data/camera_trajectory.csv ...
|
| 224 |
-
There are 1 maps in the atlas
|
| 225 |
-
Map 0 has 98 KFs
|
| 226 |
-
|
| 227 |
-
CSV camera trajectory saved!
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:95f15927c8c9f93a51db4962b34f04a09452357a07f7a02ab96fe6c1b626748c
|
| 3 |
+
size 8919
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|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.08.45.180183/extract_gopro_imu_stdout.txt
CHANGED
|
@@ -1,9 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
Read stream data from raw_video.mp4
|
| 5 |
-
Extracted information for raw_video.mp4
|
| 6 |
-
Flushing on end after 101928452 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 sha256:3447a8cebd3049b45ad33b85d0b52a89799f01c77f11f9846152d132dcec6615
|
| 3 |
+
size 305
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.08.45.180183/imu_data.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.08.45.180183/slam_stderr.txt
CHANGED
|
@@ -1,5 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 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_cheng/demos/demo_C3444250470334_2023.12.28_17.08.45.180183/slam_stdout.txt
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.09.18.263233/camera_trajectory.csv
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.09.18.263233/extract_gopro_imu_stdout.txt
CHANGED
|
@@ -1,9 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
Read stream data from raw_video.mp4
|
| 5 |
-
Extracted information for raw_video.mp4
|
| 6 |
-
Flushing on end after 145036544 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:bc19392b2b72c5d305b3ed2c6eaaf172fe7d9d35521f054c2cabf187396f85e6
|
| 3 |
+
size 305
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.09.18.263233/imu_data.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.09.18.263233/slam_stderr.txt
CHANGED
|
@@ -1,5 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 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_cheng/demos/demo_C3444250470334_2023.12.28_17.09.18.263233/slam_stdout.txt
CHANGED
|
@@ -1,148 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 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 1155 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 |
-
Relocalized!!
|
| 55 |
-
INIT_RELOCALIZE success!
|
| 56 |
-
vpKFs.back()->mpImuPreintegrated0x5633921c3b80
|
| 57 |
-
pKFCur->mTimeStamp0
|
| 58 |
-
vpKFs.front()->mTimeStamp-63.2131
|
| 59 |
-
vpKFs.back()->mTimeStamp-0.016675
|
| 60 |
-
pKFcur->GetMapPointMatches().size()5085
|
| 61 |
-
1691 pKFcur->GetVelocity() 0
|
| 62 |
-
0
|
| 63 |
-
0
|
| 64 |
-
pKFcur->mnId492
|
| 65 |
-
Video FPS: 59.9401
|
| 66 |
-
ORB-SLAM 3 running at: 4.83541 FPS
|
| 67 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 68 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 69 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 70 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 71 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 72 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 73 |
-
Video FPS: 59.940059940059939
|
| 74 |
-
ORB-SLAM 3 running at: 14.327896431545696 FPS
|
| 75 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 76 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 77 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 78 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 79 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 80 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 81 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 82 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 83 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 84 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 85 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 86 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 87 |
-
Video FPS: 59.940059940059939
|
| 88 |
-
ORB-SLAM 3 running at: 16.151072741330623 FPS
|
| 89 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 90 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 91 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 92 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 93 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 94 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 95 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 96 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 97 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 98 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 99 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 100 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 101 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 102 |
-
Video FPS: 59.940059940059939
|
| 103 |
-
ORB-SLAM 3 running at: 17.699166732079838 FPS
|
| 104 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 105 |
-
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 |
-
Video FPS: 59.940059940059939
|
| 116 |
-
ORB-SLAM 3 running at: 20.260951738352176 FPS
|
| 117 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 118 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 119 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 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 |
-
Video FPS: 59.940059940059939
|
| 125 |
-
ORB-SLAM 3 running at: 12.514941432139064 FPS
|
| 126 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 127 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 128 |
-
Video FPS: 59.940059940059939
|
| 129 |
-
ORB-SLAM 3 running at: 14.339405732295026 FPS
|
| 130 |
-
Video FPS: 59.940059940059939
|
| 131 |
-
ORB-SLAM 3 running at: 11.463425351051066 FPS
|
| 132 |
-
Video FPS: 59.940059940059939
|
| 133 |
-
ORB-SLAM 3 running at: 12.73169488472838 FPS
|
| 134 |
-
Video FPS: 59.940059940059939
|
| 135 |
-
ORB-SLAM 3 running at: 19.491890847126541 FPS
|
| 136 |
-
Video FPS: 59.940059940059939
|
| 137 |
-
ORB-SLAM 3 running at: 20.332048374985433 FPS
|
| 138 |
-
Video FPS: 59.940059940059939
|
| 139 |
-
ORB-SLAM 3 running at: 20.40750606031504 FPS
|
| 140 |
-
Shutdown
|
| 141 |
-
mpLocalMapper is not finished
|
| 142 |
-
mpLoopCloser is not finished
|
| 143 |
-
|
| 144 |
-
Saving camera trajectory to /data/camera_trajectory.csv ...
|
| 145 |
-
There are 1 maps in the atlas
|
| 146 |
-
Map 0 has 92 KFs
|
| 147 |
-
|
| 148 |
-
CSV camera trajectory saved!
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:83e2b7e20682f7be1bb6529bb27ae3ac9750243de4f4cd399b4bdbc2bc2b970e
|
| 3 |
+
size 6430
|
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|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.09.51.629900/camera_trajectory.csv
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.09.51.629900/extract_gopro_imu_stdout.txt
CHANGED
|
@@ -1,9 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
Read stream data from raw_video.mp4
|
| 5 |
-
Extracted information for raw_video.mp4
|
| 6 |
-
Flushing on end after 154166927 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 sha256:68b08d0829f91b3a950ac013ef9fea8730f917d640702bee5daea9a3994de6ee
|
| 3 |
+
size 305
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.09.51.629900/imu_data.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.09.51.629900/slam_stderr.txt
CHANGED
|
@@ -1,5 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 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_cheng/demos/demo_C3444250470334_2023.12.28_17.09.51.629900/slam_stdout.txt
CHANGED
|
@@ -1,309 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 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 1228 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 |
-
Relocalized!!
|
| 55 |
-
INIT_RELOCALIZE success!
|
| 56 |
-
vpKFs.back()->mpImuPreintegrated0x563f9744bbd0
|
| 57 |
-
pKFCur->mTimeStamp0
|
| 58 |
-
vpKFs.front()->mTimeStamp-63.2131
|
| 59 |
-
vpKFs.back()->mTimeStamp-0.016675
|
| 60 |
-
pKFcur->GetMapPointMatches().size()5155
|
| 61 |
-
1691 pKFcur->GetVelocity() 0
|
| 62 |
-
0
|
| 63 |
-
0
|
| 64 |
-
pKFcur->mnId492
|
| 65 |
-
Video FPS: 59.9401
|
| 66 |
-
ORB-SLAM 3 running at: 2.17414 FPS
|
| 67 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 68 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 69 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 70 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 71 |
-
Video FPS: 59.940059940059939
|
| 72 |
-
ORB-SLAM 3 running at: 8.6046168243663477 FPS
|
| 73 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 74 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 75 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 76 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 77 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 78 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 79 |
-
Video FPS: 59.940059940059939
|
| 80 |
-
ORB-SLAM 3 running at: 8.1913284630970811 FPS
|
| 81 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 82 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 83 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 84 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 85 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 86 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 87 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 88 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 89 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 90 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 91 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 92 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 93 |
-
Video FPS: 59.940059940059939
|
| 94 |
-
ORB-SLAM 3 running at: 8.221775757873834 FPS
|
| 95 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 96 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 97 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 98 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 99 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 100 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 101 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 102 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 103 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 104 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 105 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 106 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 107 |
-
Video FPS: 59.940059940059939
|
| 108 |
-
ORB-SLAM 3 running at: 4.6142079000859351 FPS
|
| 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 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 119 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 120 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 121 |
-
No IMU Preintegration for KeyFrame 492, skipping inertial edge.
|
| 122 |
-
Video FPS: 59.940059940059939
|
| 123 |
-
ORB-SLAM 3 running at: 5.7888140488496598 FPS
|
| 124 |
-
Video FPS: 59.940059940059939
|
| 125 |
-
ORB-SLAM 3 running at: 5.9556955805760952 FPS
|
| 126 |
-
Video FPS: 59.940059940059939
|
| 127 |
-
ORB-SLAM 3 running at: 8.4745701666231845 FPS
|
| 128 |
-
Video FPS: 59.940059940059939
|
| 129 |
-
ORB-SLAM 3 running at: 5.5024852167068241 FPS
|
| 130 |
-
Video FPS: 59.940059940059939
|
| 131 |
-
ORB-SLAM 3 running at: 8.40608152426333 FPS
|
| 132 |
-
Video FPS: 59.940059940059939
|
| 133 |
-
ORB-SLAM 3 running at: 8.7836227526782782 FPS
|
| 134 |
-
Video FPS: 59.940059940059939
|
| 135 |
-
ORB-SLAM 3 running at: 11.166991979754689 FPS
|
| 136 |
-
Video FPS: 59.940059940059939
|
| 137 |
-
ORB-SLAM 3 running at: 9.5103493904550778 FPS
|
| 138 |
-
Shutdown
|
| 139 |
-
mpLocalMapper is not finished
|
| 140 |
-
mpLoopCloser is not finished
|
| 141 |
-
mpLocalMapper is not finished
|
| 142 |
-
mpLocalMapper is not finished
|
| 143 |
-
mpLocalMapper is not finished
|
| 144 |
-
mpLocalMapper is not finished
|
| 145 |
-
mpLocalMapper is not finished
|
| 146 |
-
mpLocalMapper is not finished
|
| 147 |
-
mpLocalMapper is not finished
|
| 148 |
-
mpLocalMapper is not finished
|
| 149 |
-
mpLocalMapper is not finished
|
| 150 |
-
mpLocalMapper 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 |
-
mpLocalMapper is not finished
|
| 158 |
-
mpLocalMapper is not finished
|
| 159 |
-
mpLocalMapper is not finished
|
| 160 |
-
mpLocalMapper is not finished
|
| 161 |
-
mpLocalMapper is not finished
|
| 162 |
-
mpLocalMapper is not finished
|
| 163 |
-
mpLocalMapper is not finished
|
| 164 |
-
mpLocalMapper is not finished
|
| 165 |
-
mpLocalMapper is not finished
|
| 166 |
-
mpLocalMapper is not finished
|
| 167 |
-
mpLocalMapper is not finished
|
| 168 |
-
mpLocalMapper is not finished
|
| 169 |
-
mpLocalMapper is not finished
|
| 170 |
-
mpLocalMapper is not finished
|
| 171 |
-
mpLocalMapper is not finished
|
| 172 |
-
mpLocalMapper is not finished
|
| 173 |
-
mpLocalMapper is not finished
|
| 174 |
-
mpLocalMapper is not finished
|
| 175 |
-
mpLocalMapper is not finished
|
| 176 |
-
mpLocalMapper is not finished
|
| 177 |
-
mpLocalMapper is not finished
|
| 178 |
-
mpLocalMapper is not finished
|
| 179 |
-
mpLocalMapper is not finished
|
| 180 |
-
mpLocalMapper is not finished
|
| 181 |
-
mpLocalMapper is not finished
|
| 182 |
-
mpLocalMapper is not finished
|
| 183 |
-
mpLocalMapper is not finished
|
| 184 |
-
mpLocalMapper is not finished
|
| 185 |
-
mpLocalMapper is not finished
|
| 186 |
-
mpLocalMapper is not finished
|
| 187 |
-
mpLocalMapper is not finished
|
| 188 |
-
mpLocalMapper is not finished
|
| 189 |
-
mpLocalMapper is not finished
|
| 190 |
-
mpLocalMapper is not finished
|
| 191 |
-
mpLocalMapper is not finished
|
| 192 |
-
mpLocalMapper is not finished
|
| 193 |
-
mpLocalMapper is not finished
|
| 194 |
-
mpLocalMapper is not finished
|
| 195 |
-
mpLocalMapper is not finished
|
| 196 |
-
mpLocalMapper is not finished
|
| 197 |
-
mpLocalMapper is not finished
|
| 198 |
-
mpLocalMapper is not finished
|
| 199 |
-
mpLocalMapper is not finished
|
| 200 |
-
mpLocalMapper is not finished
|
| 201 |
-
mpLocalMapper is not finished
|
| 202 |
-
mpLocalMapper is not finished
|
| 203 |
-
mpLocalMapper is not finished
|
| 204 |
-
mpLocalMapper is not finished
|
| 205 |
-
mpLocalMapper is not finished
|
| 206 |
-
mpLocalMapper is not finished
|
| 207 |
-
mpLocalMapper is not finished
|
| 208 |
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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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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
|
| 303 |
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mpLocalMapper is not finished
|
| 304 |
-
|
| 305 |
-
Saving camera trajectory to /data/camera_trajectory.csv ...
|
| 306 |
-
There are 1 maps in the atlas
|
| 307 |
-
Map 0 has 96 KFs
|
| 308 |
-
|
| 309 |
-
CSV camera trajectory saved!
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:751810441cfb541688ccd3e96df5a578ed2e9b6004a3ec8831edec65b3bbca02
|
| 3 |
+
size 11139
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|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.10.26.414650/camera_trajectory.csv
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.10.26.414650/extract_gopro_imu_stdout.txt
CHANGED
|
@@ -1,9 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
Read stream data from raw_video.mp4
|
| 5 |
-
Extracted information for raw_video.mp4
|
| 6 |
-
Flushing on end after 145169932 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 sha256:704c94635c4e7023c57f33d6465a2c64a86e1a33cb5b7ea0df533a64a48979ef
|
| 3 |
+
size 305
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.10.26.414650/imu_data.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bimanual_cloth_folding/sessions/20231228_cheng/demos/demo_C3444250470334_2023.12.28_17.10.26.414650/slam_stderr.txt
CHANGED
|
@@ -1,5 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 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
|
|
|
|
|
|