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0210_kitchen

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  1. .gitattributes +1 -0
  2. demos/demo_C3531325327561_2026.02.10_20.42.21.567100/slam_mask.png +0 -0
  3. demos/demo_C3531325327561_2026.02.10_20.42.21.567100/slam_stderr.txt +6 -0
  4. demos/demo_C3531325327561_2026.02.10_20.42.21.567100/slam_stdout.txt +153 -0
  5. demos/demo_C3531325327561_2026.02.10_20.42.36.023208/slam_mask.png +0 -0
  6. demos/demo_C3531325327561_2026.02.10_20.42.36.023208/slam_stderr.txt +6 -0
  7. demos/demo_C3531325327561_2026.02.10_20.42.36.023208/slam_stdout.txt +131 -0
  8. demos/demo_C3531325327561_2026.02.10_20.42.52.464633/slam_mask.png +0 -0
  9. demos/demo_C3531325327561_2026.02.10_20.42.52.464633/slam_stderr.txt +6 -0
  10. demos/demo_C3531325327561_2026.02.10_20.42.52.464633/slam_stdout.txt +116 -0
  11. demos/demo_C3531325327561_2026.02.10_20.43.05.586075/slam_mask.png +0 -0
  12. demos/demo_C3531325327561_2026.02.10_20.43.05.586075/slam_stderr.txt +6 -0
  13. demos/demo_C3531325327561_2026.02.10_20.43.05.586075/slam_stdout.txt +160 -0
  14. demos/demo_C3531325327561_2026.02.10_20.43.18.924400/slam_mask.png +0 -0
  15. demos/demo_C3531325327561_2026.02.10_20.43.18.924400/slam_stderr.txt +6 -0
  16. demos/demo_C3531325327561_2026.02.10_20.43.18.924400/slam_stdout.txt +127 -0
  17. demos/demo_C3531325327561_2026.02.10_20.43.34.231358/slam_mask.png +0 -0
  18. demos/demo_C3531325327561_2026.02.10_20.43.34.231358/slam_stderr.txt +6 -0
  19. demos/demo_C3531325327561_2026.02.10_20.43.34.231358/slam_stdout.txt +111 -0
  20. demos/demo_C3531325327561_2026.02.10_20.43.49.071183/slam_mask.png +0 -0
  21. demos/demo_C3531325327561_2026.02.10_20.43.49.071183/slam_stderr.txt +6 -0
  22. demos/demo_C3531325327561_2026.02.10_20.43.49.071183/slam_stdout.txt +168 -0
  23. demos/demo_C3531325327561_2026.02.10_20.44.03.302067/slam_mask.png +0 -0
  24. demos/demo_C3531325327561_2026.02.10_20.44.03.302067/slam_stderr.txt +6 -0
  25. demos/demo_C3531325327561_2026.02.10_20.44.03.302067/slam_stdout.txt +163 -0
  26. demos/demo_C3531325327561_2026.02.10_20.44.17.766517/slam_mask.png +0 -0
  27. demos/demo_C3531325327561_2026.02.10_20.44.17.766517/slam_stderr.txt +6 -0
  28. demos/demo_C3531325327561_2026.02.10_20.44.17.766517/slam_stdout.txt +133 -0
  29. demos/demo_C3531325327561_2026.02.10_20.44.36.418483/slam_mask.png +0 -0
  30. demos/demo_C3531325327561_2026.02.10_20.44.36.418483/slam_stderr.txt +6 -0
  31. demos/demo_C3531325327561_2026.02.10_20.44.36.418483/slam_stdout.txt +164 -0
  32. demos/demo_C3531325327561_2026.02.10_20.44.49.122842/slam_mask.png +0 -0
  33. demos/demo_C3531325327561_2026.02.10_20.44.49.122842/slam_stderr.txt +6 -0
  34. demos/demo_C3531325327561_2026.02.10_20.44.49.122842/slam_stdout.txt +113 -0
  35. demos/mapping/map_atlas.osa +3 -0
  36. demos/mapping/slam_mask.png +0 -0
  37. demos/mapping/slam_stderr.txt +6 -0
  38. demos/mapping/slam_stdout.txt +282 -0
.gitattributes CHANGED
@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
33
  *.zip filter=lfs diff=lfs merge=lfs -text
34
  *.zst filter=lfs diff=lfs merge=lfs -text
35
  *tfevents* filter=lfs diff=lfs merge=lfs -text
 
 
33
  *.zip filter=lfs diff=lfs merge=lfs -text
34
  *.zst filter=lfs diff=lfs merge=lfs -text
35
  *tfevents* filter=lfs diff=lfs merge=lfs -text
36
+ demos/mapping/map_atlas.osa filter=lfs diff=lfs merge=lfs -text
demos/demo_C3531325327561_2026.02.10_20.42.21.567100/slam_mask.png ADDED
demos/demo_C3531325327561_2026.02.10_20.42.21.567100/slam_stderr.txt ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ Camera.newHeight optional parameter does not exist...
2
+ Camera.newWidth optional parameter does not exist...
3
+ IMU.InsertKFsWhenLost optional parameter does not exist...
4
+ System.LoadAtlasFromFile optional parameter does not exist...
5
+ System.SaveAtlasToFile optional parameter does not exist...
6
+ System.thFarPoints optional parameter does not exist...
demos/demo_C3531325327561_2026.02.10_20.42.21.567100/slam_stdout.txt ADDED
@@ -0,0 +1,153 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
2
+
3
+ ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
+ ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
+ This program comes with ABSOLUTELY NO WARRANTY;
6
+ This is free software, and you are welcome to redistribute it
7
+ under certain conditions. See LICENSE.txt.
8
+
9
+ Input sensor was set to: Monocular-Inertial
10
+ Loading settings from /slam_settings.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 0.0813337 -0.0852681 0.07741 -0.0296763 ]
21
+ -Original image size: [ 960 , 720 ]
22
+ -Current image size: [ 960 , 720 ]
23
+ -Sequence FPS: 60
24
+ -Gyro noise: 0.0338633
25
+ -Accelerometer noise: 0.150267
26
+ -Gyro walk: 0.251333
27
+ -Accelerometer walk: 0.00166667
28
+ -IMU frequency: 197.577
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
+ Video opened using backend FFMPEG
47
+ There are 353 frames in total
48
+ video FPS 60
49
+ line 1873 keyframes 59MapPoints1185
50
+ line 1877
51
+ mlFrameTimes.size()= 0
52
+ KeyFrame::nNextId=464
53
+ Relocalized!!
54
+ INIT_RELOCALIZE success!
55
+ vpKFs.back()->mpImuPreintegrated0x5bada9e4a4d0
56
+ pKFCur->mTimeStamp0
57
+ vpKFs.front()->mTimeStamp-58.4167
58
+ vpKFs.back()->mTimeStamp-0.016675
59
+ pKFcur->GetMapPointMatches().size()2182
60
+ 1691 pKFcur->GetVelocity() 0
61
+ 0
62
+ 0
63
+ pKFcur->mnId464
64
+ Video FPS: 60
65
+ ORB-SLAM 3 running at: 33.3617 FPS
66
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
67
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
68
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
69
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
70
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
71
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
72
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
73
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
74
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
75
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
76
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
77
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
78
+ Video FPS: 60
79
+ ORB-SLAM 3 running at: 49.786899622889131 FPS
80
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
81
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
82
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
83
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
84
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
85
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
86
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
87
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
88
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
89
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
90
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
91
+ Video FPS: 60
92
+ ORB-SLAM 3 running at: 46.389795358376247 FPS
93
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
94
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
95
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
96
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
97
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
98
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
99
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
100
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
101
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
102
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
103
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
104
+ Video FPS: 60
105
+ ORB-SLAM 3 running at: 49.863884062480437 FPS
106
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
107
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
108
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
109
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
110
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
111
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
112
+ Shutdown
113
+ mpLocalMapper is not finished
114
+ mpLoopCloser is not finished
115
+ mpLocalMapper is not finished
116
+ mpLocalMapper is not finished
117
+ mpLocalMapper is not finished
118
+ mpLocalMapper is not finished
119
+ mpLocalMapper is not finished
120
+ mpLocalMapper is not finished
121
+ mpLocalMapper is not finished
122
+ mpLocalMapper is not finished
123
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
124
+ mpLocalMapper is not finished
125
+ mpLocalMapper is not finished
126
+ mpLocalMapper is not finished
127
+ mpLocalMapper is not finished
128
+ mpLocalMapper is not finished
129
+ mpLocalMapper is not finished
130
+ mpLocalMapper is not finished
131
+ mpLocalMapper is not finished
132
+ mpLocalMapper is not finished
133
+ mpLocalMapper is not finished
134
+ mpLocalMapper is not finished
135
+ mpLocalMapper is not finished
136
+ mpLocalMapper is not finished
137
+ mpLocalMapper is not finished
138
+ mpLocalMapper is not finished
139
+ mpLocalMapper 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
+
149
+ Saving camera trajectory to /data/camera_trajectory.csv ...
150
+ There are 1 maps in the atlas
151
+ Map 0 has 62 KFs
152
+
153
+ CSV camera trajectory saved!
demos/demo_C3531325327561_2026.02.10_20.42.36.023208/slam_mask.png ADDED
demos/demo_C3531325327561_2026.02.10_20.42.36.023208/slam_stderr.txt ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ Camera.newHeight optional parameter does not exist...
2
+ Camera.newWidth optional parameter does not exist...
3
+ IMU.InsertKFsWhenLost optional parameter does not exist...
4
+ System.LoadAtlasFromFile optional parameter does not exist...
5
+ System.SaveAtlasToFile optional parameter does not exist...
6
+ System.thFarPoints optional parameter does not exist...
demos/demo_C3531325327561_2026.02.10_20.42.36.023208/slam_stdout.txt ADDED
@@ -0,0 +1,131 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
2
+
3
+ ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
+ ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
+ This program comes with ABSOLUTELY NO WARRANTY;
6
+ This is free software, and you are welcome to redistribute it
7
+ under certain conditions. See LICENSE.txt.
8
+
9
+ Input sensor was set to: Monocular-Inertial
10
+ Loading settings from /slam_settings.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 0.0813337 -0.0852681 0.07741 -0.0296763 ]
21
+ -Original image size: [ 960 , 720 ]
22
+ -Current image size: [ 960 , 720 ]
23
+ -Sequence FPS: 60
24
+ -Gyro noise: 0.0338633
25
+ -Accelerometer noise: 0.150267
26
+ -Gyro walk: 0.251333
27
+ -Accelerometer walk: 0.00166667
28
+ -IMU frequency: 197.577
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
+ Video opened using backend FFMPEG
47
+ There are 384 frames in total
48
+ video FPS 60
49
+ line 1873 keyframes 59MapPoints1185
50
+ line 1877
51
+ mlFrameTimes.size()= 0
52
+ KeyFrame::nNextId=464
53
+ Relocalized!!
54
+ INIT_RELOCALIZE success!
55
+ vpKFs.back()->mpImuPreintegrated0x63a3e4af1470
56
+ pKFCur->mTimeStamp0
57
+ vpKFs.front()->mTimeStamp-58.4167
58
+ vpKFs.back()->mTimeStamp-0.016675
59
+ pKFcur->GetMapPointMatches().size()2122
60
+ 1691 pKFcur->GetVelocity() 0
61
+ 0
62
+ 0
63
+ pKFcur->mnId464
64
+ Video FPS: 60
65
+ ORB-SLAM 3 running at: 21.1422 FPS
66
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
67
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
68
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
69
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
70
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
71
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
72
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
73
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
74
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
75
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
76
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
77
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
78
+ Video FPS: 60
79
+ ORB-SLAM 3 running at: 20.879878497481439 FPS
80
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
81
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
82
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
83
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
84
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
85
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
86
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
87
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
88
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
89
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
90
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
91
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
92
+ Video FPS: 60
93
+ ORB-SLAM 3 running at: 24.487444124243904 FPS
94
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
95
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
96
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
97
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
98
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
99
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
100
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
101
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
102
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
103
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
104
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
105
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
106
+ Video FPS: 60
107
+ ORB-SLAM 3 running at: 26.113989496587831 FPS
108
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
109
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
110
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
111
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
112
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
113
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
114
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
115
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
116
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
117
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
118
+ Shutdown
119
+ mpLocalMapper is not finished
120
+ mpLoopCloser is not finished
121
+ mpLocalMapper is not finished
122
+ mpLocalMapper is not finished
123
+ mpLocalMapper is not finished
124
+ mpLocalMapper is not finished
125
+ mpLocalMapper is not finished
126
+
127
+ Saving camera trajectory to /data/camera_trajectory.csv ...
128
+ There are 1 maps in the atlas
129
+ Map 0 has 60 KFs
130
+
131
+ CSV camera trajectory saved!
demos/demo_C3531325327561_2026.02.10_20.42.52.464633/slam_mask.png ADDED
demos/demo_C3531325327561_2026.02.10_20.42.52.464633/slam_stderr.txt ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ Camera.newHeight optional parameter does not exist...
2
+ Camera.newWidth optional parameter does not exist...
3
+ IMU.InsertKFsWhenLost optional parameter does not exist...
4
+ System.LoadAtlasFromFile optional parameter does not exist...
5
+ System.SaveAtlasToFile optional parameter does not exist...
6
+ System.thFarPoints optional parameter does not exist...
demos/demo_C3531325327561_2026.02.10_20.42.52.464633/slam_stdout.txt ADDED
@@ -0,0 +1,116 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
2
+
3
+ ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
+ ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
+ This program comes with ABSOLUTELY NO WARRANTY;
6
+ This is free software, and you are welcome to redistribute it
7
+ under certain conditions. See LICENSE.txt.
8
+
9
+ Input sensor was set to: Monocular-Inertial
10
+ Loading settings from /slam_settings.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 0.0813337 -0.0852681 0.07741 -0.0296763 ]
21
+ -Original image size: [ 960 , 720 ]
22
+ -Current image size: [ 960 , 720 ]
23
+ -Sequence FPS: 60
24
+ -Gyro noise: 0.0338633
25
+ -Accelerometer noise: 0.150267
26
+ -Gyro walk: 0.251333
27
+ -Accelerometer walk: 0.00166667
28
+ -IMU frequency: 197.577
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
+ Video opened using backend FFMPEG
47
+ There are 318 frames in total
48
+ video FPS 60
49
+ line 1873 keyframes 59MapPoints1185
50
+ line 1877
51
+ mlFrameTimes.size()= 0
52
+ KeyFrame::nNextId=464
53
+ Relocalized!!
54
+ INIT_RELOCALIZE success!
55
+ vpKFs.back()->mpImuPreintegrated0x609ca11154b0
56
+ pKFCur->mTimeStamp0
57
+ vpKFs.front()->mTimeStamp-58.4167
58
+ vpKFs.back()->mTimeStamp-0.016675
59
+ pKFcur->GetMapPointMatches().size()2228
60
+ 1691 pKFcur->GetVelocity() 0
61
+ 0
62
+ 0
63
+ pKFcur->mnId464
64
+ Video FPS: 60
65
+ ORB-SLAM 3 running at: 15.9279 FPS
66
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
67
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
68
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
69
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
70
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
71
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
72
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
73
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
74
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
75
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
76
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
77
+ Video FPS: 60
78
+ ORB-SLAM 3 running at: 25.135007034911446 FPS
79
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
80
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
81
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
82
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
83
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
84
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
85
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
86
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
87
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
88
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
89
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
90
+ Video FPS: 60
91
+ ORB-SLAM 3 running at: 30.68227531285412 FPS
92
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
93
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
94
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
95
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
96
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
97
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
98
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
99
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
100
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
101
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
102
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
103
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
104
+ Video FPS: 60
105
+ ORB-SLAM 3 running at: 29.619183492115358 FPS
106
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
107
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
108
+ Shutdown
109
+ mpLocalMapper is not finished
110
+ mpLoopCloser is not finished
111
+
112
+ Saving camera trajectory to /data/camera_trajectory.csv ...
113
+ There are 1 maps in the atlas
114
+ Map 0 has 61 KFs
115
+
116
+ CSV camera trajectory saved!
demos/demo_C3531325327561_2026.02.10_20.43.05.586075/slam_mask.png ADDED
demos/demo_C3531325327561_2026.02.10_20.43.05.586075/slam_stderr.txt ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ Camera.newHeight optional parameter does not exist...
2
+ Camera.newWidth optional parameter does not exist...
3
+ IMU.InsertKFsWhenLost optional parameter does not exist...
4
+ System.LoadAtlasFromFile optional parameter does not exist...
5
+ System.SaveAtlasToFile optional parameter does not exist...
6
+ System.thFarPoints optional parameter does not exist...
demos/demo_C3531325327561_2026.02.10_20.43.05.586075/slam_stdout.txt ADDED
@@ -0,0 +1,160 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
2
+
3
+ ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
+ ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
+ This program comes with ABSOLUTELY NO WARRANTY;
6
+ This is free software, and you are welcome to redistribute it
7
+ under certain conditions. See LICENSE.txt.
8
+
9
+ Input sensor was set to: Monocular-Inertial
10
+ Loading settings from /slam_settings.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 0.0813337 -0.0852681 0.07741 -0.0296763 ]
21
+ -Original image size: [ 960 , 720 ]
22
+ -Current image size: [ 960 , 720 ]
23
+ -Sequence FPS: 60
24
+ -Gyro noise: 0.0338633
25
+ -Accelerometer noise: 0.150267
26
+ -Gyro walk: 0.251333
27
+ -Accelerometer walk: 0.00166667
28
+ -IMU frequency: 197.577
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
+ Video opened using backend FFMPEG
47
+ There are 305 frames in total
48
+ video FPS 60
49
+ line 1873 keyframes 59MapPoints1185
50
+ line 1877
51
+ mlFrameTimes.size()= 0
52
+ KeyFrame::nNextId=464
53
+ Relocalized!!
54
+ INIT_RELOCALIZE success!
55
+ vpKFs.back()->mpImuPreintegrated0x64840f7f2860
56
+ pKFCur->mTimeStamp0
57
+ vpKFs.front()->mTimeStamp-58.4167
58
+ vpKFs.back()->mTimeStamp-0.016675
59
+ pKFcur->GetMapPointMatches().size()2190
60
+ 1691 pKFcur->GetVelocity() 0
61
+ 0
62
+ 0
63
+ pKFcur->mnId464
64
+ Video FPS: 60
65
+ ORB-SLAM 3 running at: 36.5509 FPS
66
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
67
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
68
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
69
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
70
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
71
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
72
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
73
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
74
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
75
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
76
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
77
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
78
+ Video FPS: 60
79
+ ORB-SLAM 3 running at: 46.017733485811561 FPS
80
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
81
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
82
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
83
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
84
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
85
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
86
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
87
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
88
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
89
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
90
+ Video FPS: 60
91
+ ORB-SLAM 3 running at: 43.971694013469317 FPS
92
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
93
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
94
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
95
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
96
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
97
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
98
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
99
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
100
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
101
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
102
+ Video FPS: 60
103
+ ORB-SLAM 3 running at: 45.390808506528018 FPS
104
+ Shutdown
105
+ mpLocalMapper is not finished
106
+ mpLoopCloser is not finished
107
+ mpLocalMapper is not finished
108
+ mpLocalMapper is not finished
109
+ mpLocalMapper is not finished
110
+ mpLocalMapper is not finished
111
+ mpLocalMapper is not finished
112
+ mpLocalMapper is not finished
113
+ mpLocalMapper is not finished
114
+ mpLocalMapper is not finished
115
+ mpLocalMapper is not finished
116
+ mpLocalMapper is not finished
117
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
118
+ mpLocalMapper is not finished
119
+ mpLocalMapper is not finished
120
+ mpLocalMapper is not finished
121
+ mpLocalMapper is not finished
122
+ mpLocalMapper is not finished
123
+ mpLocalMapper is not finished
124
+ mpLocalMapper is not finished
125
+ mpLocalMapper is not finished
126
+ mpLocalMapper is not finished
127
+ mpLocalMapper is not finished
128
+ mpLocalMapper is not finished
129
+ mpLocalMapper is not finished
130
+ mpLocalMapper is not finished
131
+ mpLocalMapper is not finished
132
+ mpLocalMapper is not finished
133
+ mpLocalMapper is not finished
134
+ mpLocalMapper is not finished
135
+ mpLocalMapper is not finished
136
+ mpLocalMapper is not finished
137
+ mpLocalMapper is not finished
138
+ mpLocalMapper is not finished
139
+ mpLocalMapper 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
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
+
156
+ Saving camera trajectory to /data/camera_trajectory.csv ...
157
+ There are 1 maps in the atlas
158
+ Map 0 has 61 KFs
159
+
160
+ CSV camera trajectory saved!
demos/demo_C3531325327561_2026.02.10_20.43.18.924400/slam_mask.png ADDED
demos/demo_C3531325327561_2026.02.10_20.43.18.924400/slam_stderr.txt ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ Camera.newHeight optional parameter does not exist...
2
+ Camera.newWidth optional parameter does not exist...
3
+ IMU.InsertKFsWhenLost optional parameter does not exist...
4
+ System.LoadAtlasFromFile optional parameter does not exist...
5
+ System.SaveAtlasToFile optional parameter does not exist...
6
+ System.thFarPoints optional parameter does not exist...
demos/demo_C3531325327561_2026.02.10_20.43.18.924400/slam_stdout.txt ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
2
+
3
+ ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
+ ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
+ This program comes with ABSOLUTELY NO WARRANTY;
6
+ This is free software, and you are welcome to redistribute it
7
+ under certain conditions. See LICENSE.txt.
8
+
9
+ Input sensor was set to: Monocular-Inertial
10
+ Loading settings from /slam_settings.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 0.0813337 -0.0852681 0.07741 -0.0296763 ]
21
+ -Original image size: [ 960 , 720 ]
22
+ -Current image size: [ 960 , 720 ]
23
+ -Sequence FPS: 60
24
+ -Gyro noise: 0.0338633
25
+ -Accelerometer noise: 0.150267
26
+ -Gyro walk: 0.251333
27
+ -Accelerometer walk: 0.00166667
28
+ -IMU frequency: 197.577
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
+ Video opened using backend FFMPEG
47
+ There are 302 frames in total
48
+ video FPS 60
49
+ line 1873 keyframes 59MapPoints1185
50
+ line 1877
51
+ mlFrameTimes.size()= 0
52
+ KeyFrame::nNextId=464
53
+ Relocalized!!
54
+ INIT_RELOCALIZE success!
55
+ vpKFs.back()->mpImuPreintegrated0x6062fe11c830
56
+ pKFCur->mTimeStamp0
57
+ vpKFs.front()->mTimeStamp-58.4167
58
+ vpKFs.back()->mTimeStamp-0.016675
59
+ pKFcur->GetMapPointMatches().size()2163
60
+ 1691 pKFcur->GetVelocity() 0
61
+ 0
62
+ 0
63
+ pKFcur->mnId464
64
+ Video FPS: 60
65
+ ORB-SLAM 3 running at: 23.6784 FPS
66
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
67
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
68
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
69
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
70
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
71
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
72
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
73
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
74
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
75
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
76
+ Video FPS: 60
77
+ ORB-SLAM 3 running at: 26.212078625436501 FPS
78
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
79
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
80
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
81
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
82
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
83
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
84
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
85
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
86
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
87
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
88
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
89
+ Video FPS: 60
90
+ ORB-SLAM 3 running at: 33.11210693197323 FPS
91
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
92
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
93
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
94
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
95
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
96
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
97
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
98
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
99
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
100
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
101
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
102
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
103
+ Video FPS: 60
104
+ ORB-SLAM 3 running at: 24.914044677309931 FPS
105
+ Shutdown
106
+ mpLocalMapper is not finished
107
+ mpLoopCloser is not finished
108
+ mpLocalMapper is not finished
109
+ mpLocalMapper is not finished
110
+ mpLocalMapper is not finished
111
+ mpLocalMapper is not finished
112
+ mpLocalMapper is not finished
113
+ mpLocalMapper is not finished
114
+ mpLocalMapper is not finished
115
+ mpLocalMapper is not finished
116
+ mpLocalMapper is not finished
117
+ mpLocalMapper is not finished
118
+ mpLocalMapper is not finished
119
+ mpLocalMapper is not finished
120
+ mpLocalMapper is not finished
121
+ mpLocalMapper is not finished
122
+
123
+ Saving camera trajectory to /data/camera_trajectory.csv ...
124
+ There are 1 maps in the atlas
125
+ Map 0 has 60 KFs
126
+
127
+ CSV camera trajectory saved!
demos/demo_C3531325327561_2026.02.10_20.43.34.231358/slam_mask.png ADDED
demos/demo_C3531325327561_2026.02.10_20.43.34.231358/slam_stderr.txt ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ Camera.newHeight optional parameter does not exist...
2
+ Camera.newWidth optional parameter does not exist...
3
+ IMU.InsertKFsWhenLost optional parameter does not exist...
4
+ System.LoadAtlasFromFile optional parameter does not exist...
5
+ System.SaveAtlasToFile optional parameter does not exist...
6
+ System.thFarPoints optional parameter does not exist...
demos/demo_C3531325327561_2026.02.10_20.43.34.231358/slam_stdout.txt ADDED
@@ -0,0 +1,111 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
2
+
3
+ ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
+ ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
+ This program comes with ABSOLUTELY NO WARRANTY;
6
+ This is free software, and you are welcome to redistribute it
7
+ under certain conditions. See LICENSE.txt.
8
+
9
+ Input sensor was set to: Monocular-Inertial
10
+ Loading settings from /slam_settings.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 0.0813337 -0.0852681 0.07741 -0.0296763 ]
21
+ -Original image size: [ 960 , 720 ]
22
+ -Current image size: [ 960 , 720 ]
23
+ -Sequence FPS: 60
24
+ -Gyro noise: 0.0338633
25
+ -Accelerometer noise: 0.150267
26
+ -Gyro walk: 0.251333
27
+ -Accelerometer walk: 0.00166667
28
+ -IMU frequency: 197.577
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
+ Video opened using backend FFMPEG
47
+ There are 290 frames in total
48
+ video FPS 60
49
+ line 1873 keyframes 59MapPoints1185
50
+ line 1877
51
+ mlFrameTimes.size()= 0
52
+ KeyFrame::nNextId=464
53
+ Relocalized!!
54
+ INIT_RELOCALIZE success!
55
+ vpKFs.back()->mpImuPreintegrated0x5bf6ae402820
56
+ pKFCur->mTimeStamp0
57
+ vpKFs.front()->mTimeStamp-58.4167
58
+ vpKFs.back()->mTimeStamp-0.016675
59
+ pKFcur->GetMapPointMatches().size()2187
60
+ 1691 pKFcur->GetVelocity() 0
61
+ 0
62
+ 0
63
+ pKFcur->mnId464
64
+ Video FPS: 60
65
+ ORB-SLAM 3 running at: 31.9512 FPS
66
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
67
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
68
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
69
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
70
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
71
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
72
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
73
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
74
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
75
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
76
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
77
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
78
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
79
+ Video FPS: 60
80
+ ORB-SLAM 3 running at: 20.732927222283685 FPS
81
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
82
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
83
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
84
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
85
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
86
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
87
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
88
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
89
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
90
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
91
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
92
+ Video FPS: 60
93
+ ORB-SLAM 3 running at: 21.468284688347058 FPS
94
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
95
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
96
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
97
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
98
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
99
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
100
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
101
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
102
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
103
+ Shutdown
104
+ mpLocalMapper is not finished
105
+ mpLoopCloser is not finished
106
+
107
+ Saving camera trajectory to /data/camera_trajectory.csv ...
108
+ There are 1 maps in the atlas
109
+ Map 0 has 63 KFs
110
+
111
+ CSV camera trajectory saved!
demos/demo_C3531325327561_2026.02.10_20.43.49.071183/slam_mask.png ADDED
demos/demo_C3531325327561_2026.02.10_20.43.49.071183/slam_stderr.txt ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ Camera.newHeight optional parameter does not exist...
2
+ Camera.newWidth optional parameter does not exist...
3
+ IMU.InsertKFsWhenLost optional parameter does not exist...
4
+ System.LoadAtlasFromFile optional parameter does not exist...
5
+ System.SaveAtlasToFile optional parameter does not exist...
6
+ System.thFarPoints optional parameter does not exist...
demos/demo_C3531325327561_2026.02.10_20.43.49.071183/slam_stdout.txt ADDED
@@ -0,0 +1,168 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
2
+
3
+ ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
+ ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
+ This program comes with ABSOLUTELY NO WARRANTY;
6
+ This is free software, and you are welcome to redistribute it
7
+ under certain conditions. See LICENSE.txt.
8
+
9
+ Input sensor was set to: Monocular-Inertial
10
+ Loading settings from /slam_settings.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 0.0813337 -0.0852681 0.07741 -0.0296763 ]
21
+ -Original image size: [ 960 , 720 ]
22
+ -Current image size: [ 960 , 720 ]
23
+ -Sequence FPS: 60
24
+ -Gyro noise: 0.0338633
25
+ -Accelerometer noise: 0.150267
26
+ -Gyro walk: 0.251333
27
+ -Accelerometer walk: 0.00166667
28
+ -IMU frequency: 197.577
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
+ Video opened using backend FFMPEG
47
+ There are 294 frames in total
48
+ video FPS 60
49
+ line 1873 keyframes 59MapPoints1185
50
+ line 1877
51
+ mlFrameTimes.size()= 0
52
+ KeyFrame::nNextId=464
53
+ Relocalized!!
54
+ INIT_RELOCALIZE success!
55
+ vpKFs.back()->mpImuPreintegrated0x5a95f8c1e820
56
+ pKFCur->mTimeStamp0
57
+ vpKFs.front()->mTimeStamp-58.4167
58
+ vpKFs.back()->mTimeStamp-0.016675
59
+ pKFcur->GetMapPointMatches().size()2150
60
+ 1691 pKFcur->GetVelocity() 0
61
+ 0
62
+ 0
63
+ pKFcur->mnId464
64
+ Video FPS: 60
65
+ ORB-SLAM 3 running at: 16.6842 FPS
66
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
67
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
68
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
69
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
70
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
71
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
72
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
73
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
74
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
75
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
76
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
77
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
78
+ Video FPS: 60
79
+ ORB-SLAM 3 running at: 28.667714414293084 FPS
80
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
81
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
82
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
83
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
84
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
85
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
86
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
87
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
88
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
89
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
90
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
91
+ Video FPS: 60
92
+ ORB-SLAM 3 running at: 10.833405194921127 FPS
93
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
94
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
95
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
96
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
97
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
98
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
99
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
100
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
101
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
102
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
103
+ Shutdown
104
+ mpLocalMapper is not finished
105
+ mpLoopCloser is not finished
106
+ mpLocalMapper is not finished
107
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
108
+ mpLocalMapper is not finished
109
+ mpLocalMapper is not finished
110
+ mpLocalMapper is not finished
111
+ mpLocalMapper is not finished
112
+ mpLocalMapper is not finished
113
+ mpLocalMapper is not finished
114
+ mpLocalMapper is not finished
115
+ mpLocalMapper is not finished
116
+ mpLocalMapper is not finished
117
+ mpLocalMapper is not finished
118
+ mpLocalMapper is not finished
119
+ mpLocalMapper is not finished
120
+ mpLocalMapper is not finished
121
+ mpLocalMapper is not finished
122
+ mpLocalMapper is not finished
123
+ mpLocalMapper is not finished
124
+ mpLocalMapper is not finished
125
+ mpLocalMapper is not finished
126
+ mpLocalMapper is not finished
127
+ mpLocalMapper is not finished
128
+ mpLocalMapper is not finished
129
+ mpLocalMapper is not finished
130
+ mpLocalMapper is not finished
131
+ mpLocalMapper is not finished
132
+ mpLocalMapper is not finished
133
+ mpLocalMapper is not finished
134
+ mpLocalMapper is not finished
135
+ mpLocalMapper is not finished
136
+ mpLocalMapper is not finished
137
+ mpLocalMapper is not finished
138
+ mpLocalMapper is not finished
139
+ mpLocalMapper 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
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
+
164
+ Saving camera trajectory to /data/camera_trajectory.csv ...
165
+ There are 1 maps in the atlas
166
+ Map 0 has 61 KFs
167
+
168
+ CSV camera trajectory saved!
demos/demo_C3531325327561_2026.02.10_20.44.03.302067/slam_mask.png ADDED
demos/demo_C3531325327561_2026.02.10_20.44.03.302067/slam_stderr.txt ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ Camera.newHeight optional parameter does not exist...
2
+ Camera.newWidth optional parameter does not exist...
3
+ IMU.InsertKFsWhenLost optional parameter does not exist...
4
+ System.LoadAtlasFromFile optional parameter does not exist...
5
+ System.SaveAtlasToFile optional parameter does not exist...
6
+ System.thFarPoints optional parameter does not exist...
demos/demo_C3531325327561_2026.02.10_20.44.03.302067/slam_stdout.txt ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
2
+
3
+ ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
+ ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
+ This program comes with ABSOLUTELY NO WARRANTY;
6
+ This is free software, and you are welcome to redistribute it
7
+ under certain conditions. See LICENSE.txt.
8
+
9
+ Input sensor was set to: Monocular-Inertial
10
+ Loading settings from /slam_settings.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 0.0813337 -0.0852681 0.07741 -0.0296763 ]
21
+ -Original image size: [ 960 , 720 ]
22
+ -Current image size: [ 960 , 720 ]
23
+ -Sequence FPS: 60
24
+ -Gyro noise: 0.0338633
25
+ -Accelerometer noise: 0.150267
26
+ -Gyro walk: 0.251333
27
+ -Accelerometer walk: 0.00166667
28
+ -IMU frequency: 197.577
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
+ Video opened using backend FFMPEG
47
+ There are 320 frames in total
48
+ video FPS 60
49
+ line 1873 keyframes 59MapPoints1185
50
+ line 1877
51
+ mlFrameTimes.size()= 0
52
+ KeyFrame::nNextId=464
53
+ Relocalized!!
54
+ INIT_RELOCALIZE success!
55
+ vpKFs.back()->mpImuPreintegrated0x6552781364c0
56
+ pKFCur->mTimeStamp0
57
+ vpKFs.front()->mTimeStamp-58.4167
58
+ vpKFs.back()->mTimeStamp-0.016675
59
+ pKFcur->GetMapPointMatches().size()2170
60
+ 1691 pKFcur->GetVelocity() 0
61
+ 0
62
+ 0
63
+ pKFcur->mnId464
64
+ Video FPS: 60
65
+ ORB-SLAM 3 running at: 18.6367 FPS
66
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
67
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
68
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
69
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
70
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
71
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
72
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
73
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
74
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
75
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
76
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
77
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
78
+ Video FPS: 60
79
+ ORB-SLAM 3 running at: 15.501958773253733 FPS
80
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
81
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
82
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
83
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
84
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
85
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
86
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
87
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
88
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
89
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
90
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
91
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
92
+ Video FPS: 60
93
+ ORB-SLAM 3 running at: 22.267365098902395 FPS
94
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
95
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
96
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
97
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
98
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
99
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
100
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
101
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
102
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
103
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
104
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
105
+ Video FPS: 60
106
+ ORB-SLAM 3 running at: 28.309167589875806 FPS
107
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
108
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
109
+ Shutdown
110
+ mpLocalMapper is not finished
111
+ mpLoopCloser is not finished
112
+ mpLocalMapper is not finished
113
+ mpLocalMapper is not finished
114
+ mpLocalMapper is not finished
115
+ mpLocalMapper is not finished
116
+ mpLocalMapper is not finished
117
+ mpLocalMapper is not finished
118
+ mpLocalMapper is not finished
119
+ mpLocalMapper is not finished
120
+ mpLocalMapper is not finished
121
+ mpLocalMapper is not finished
122
+ mpLocalMapper is not finished
123
+ mpLocalMapper is not finished
124
+ mpLocalMapper is not finished
125
+ mpLocalMapper is not finished
126
+ mpLocalMapper is not finished
127
+ mpLocalMapper is not finished
128
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
129
+ mpLocalMapper is not finished
130
+ mpLocalMapper is not finished
131
+ mpLocalMapper is not finished
132
+ mpLocalMapper is not finished
133
+ mpLocalMapper is not finished
134
+ mpLocalMapper is not finished
135
+ mpLocalMapper is not finished
136
+ mpLocalMapper is not finished
137
+ mpLocalMapper is not finished
138
+ mpLocalMapper is not finished
139
+ mpLocalMapper 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
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
+
159
+ Saving camera trajectory to /data/camera_trajectory.csv ...
160
+ There are 1 maps in the atlas
161
+ Map 0 has 61 KFs
162
+
163
+ CSV camera trajectory saved!
demos/demo_C3531325327561_2026.02.10_20.44.17.766517/slam_mask.png ADDED
demos/demo_C3531325327561_2026.02.10_20.44.17.766517/slam_stderr.txt ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ Camera.newHeight optional parameter does not exist...
2
+ Camera.newWidth optional parameter does not exist...
3
+ IMU.InsertKFsWhenLost optional parameter does not exist...
4
+ System.LoadAtlasFromFile optional parameter does not exist...
5
+ System.SaveAtlasToFile optional parameter does not exist...
6
+ System.thFarPoints optional parameter does not exist...
demos/demo_C3531325327561_2026.02.10_20.44.17.766517/slam_stdout.txt ADDED
@@ -0,0 +1,133 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
2
+
3
+ ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
+ ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
+ This program comes with ABSOLUTELY NO WARRANTY;
6
+ This is free software, and you are welcome to redistribute it
7
+ under certain conditions. See LICENSE.txt.
8
+
9
+ Input sensor was set to: Monocular-Inertial
10
+ Loading settings from /slam_settings.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 0.0813337 -0.0852681 0.07741 -0.0296763 ]
21
+ -Original image size: [ 960 , 720 ]
22
+ -Current image size: [ 960 , 720 ]
23
+ -Sequence FPS: 60
24
+ -Gyro noise: 0.0338633
25
+ -Accelerometer noise: 0.150267
26
+ -Gyro walk: 0.251333
27
+ -Accelerometer walk: 0.00166667
28
+ -IMU frequency: 197.577
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
+ Video opened using backend FFMPEG
47
+ There are 314 frames in total
48
+ video FPS 60
49
+ line 1873 keyframes 59MapPoints1185
50
+ line 1877
51
+ mlFrameTimes.size()= 0
52
+ KeyFrame::nNextId=464
53
+ Relocalized!!
54
+ INIT_RELOCALIZE success!
55
+ vpKFs.back()->mpImuPreintegrated0x6238958b84b0
56
+ pKFCur->mTimeStamp0
57
+ vpKFs.front()->mTimeStamp-58.4167
58
+ vpKFs.back()->mTimeStamp-0.016675
59
+ pKFcur->GetMapPointMatches().size()2224
60
+ 1691 pKFcur->GetVelocity() 0
61
+ 0
62
+ 0
63
+ pKFcur->mnId464
64
+ Video FPS: 60
65
+ ORB-SLAM 3 running at: 9.47801 FPS
66
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
67
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
68
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
69
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
70
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
71
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
72
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
73
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
74
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
75
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
76
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
77
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
78
+ Video FPS: 60
79
+ ORB-SLAM 3 running at: 31.638341861079269 FPS
80
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
81
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
82
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
83
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
84
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
85
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
86
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
87
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
88
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
89
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
90
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
91
+ Video FPS: 60
92
+ ORB-SLAM 3 running at: 30.102690512252067 FPS
93
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
94
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
95
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
96
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
97
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
98
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
99
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
100
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
101
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
102
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
103
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
104
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
105
+ Video FPS: 60
106
+ ORB-SLAM 3 running at: 23.235665929306045 FPS
107
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
108
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
109
+ Shutdown
110
+ mpLocalMapper is not finished
111
+ mpLoopCloser is not finished
112
+ mpLocalMapper is not finished
113
+ mpLocalMapper is not finished
114
+ mpLocalMapper is not finished
115
+ mpLocalMapper is not finished
116
+ mpLocalMapper is not finished
117
+ mpLocalMapper is not finished
118
+ mpLocalMapper is not finished
119
+ mpLocalMapper is not finished
120
+ mpLocalMapper is not finished
121
+ mpLocalMapper is not finished
122
+ mpLocalMapper is not finished
123
+ mpLocalMapper is not finished
124
+ mpLocalMapper is not finished
125
+ mpLocalMapper is not finished
126
+ mpLocalMapper is not finished
127
+ mpLocalMapper is not finished
128
+
129
+ Saving camera trajectory to /data/camera_trajectory.csv ...
130
+ There are 1 maps in the atlas
131
+ Map 0 has 61 KFs
132
+
133
+ CSV camera trajectory saved!
demos/demo_C3531325327561_2026.02.10_20.44.36.418483/slam_mask.png ADDED
demos/demo_C3531325327561_2026.02.10_20.44.36.418483/slam_stderr.txt ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ Camera.newHeight optional parameter does not exist...
2
+ Camera.newWidth optional parameter does not exist...
3
+ IMU.InsertKFsWhenLost optional parameter does not exist...
4
+ System.LoadAtlasFromFile optional parameter does not exist...
5
+ System.SaveAtlasToFile optional parameter does not exist...
6
+ System.thFarPoints optional parameter does not exist...
demos/demo_C3531325327561_2026.02.10_20.44.36.418483/slam_stdout.txt ADDED
@@ -0,0 +1,164 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
2
+
3
+ ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
+ ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
+ This program comes with ABSOLUTELY NO WARRANTY;
6
+ This is free software, and you are welcome to redistribute it
7
+ under certain conditions. See LICENSE.txt.
8
+
9
+ Input sensor was set to: Monocular-Inertial
10
+ Loading settings from /slam_settings.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 0.0813337 -0.0852681 0.07741 -0.0296763 ]
21
+ -Original image size: [ 960 , 720 ]
22
+ -Current image size: [ 960 , 720 ]
23
+ -Sequence FPS: 60
24
+ -Gyro noise: 0.0338633
25
+ -Accelerometer noise: 0.150267
26
+ -Gyro walk: 0.251333
27
+ -Accelerometer walk: 0.00166667
28
+ -IMU frequency: 197.577
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
+ Video opened using backend FFMPEG
47
+ There are 307 frames in total
48
+ video FPS 60
49
+ line 1873 keyframes 59MapPoints1185
50
+ line 1877
51
+ mlFrameTimes.size()= 0
52
+ KeyFrame::nNextId=464
53
+ Relocalized!!
54
+ INIT_RELOCALIZE success!
55
+ vpKFs.back()->mpImuPreintegrated0x64af5191b4a0
56
+ pKFCur->mTimeStamp0
57
+ vpKFs.front()->mTimeStamp-58.4167
58
+ vpKFs.back()->mTimeStamp-0.016675
59
+ pKFcur->GetMapPointMatches().size()2123
60
+ 1691 pKFcur->GetVelocity() 0
61
+ 0
62
+ 0
63
+ pKFcur->mnId464
64
+ Video FPS: 60
65
+ ORB-SLAM 3 running at: 20.5273 FPS
66
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
67
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
68
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
69
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
70
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
71
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
72
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
73
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
74
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
75
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
76
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
77
+ Video FPS: 60
78
+ ORB-SLAM 3 running at: 20.62196634119773 FPS
79
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
80
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
81
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
82
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
83
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
84
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
85
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
86
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
87
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
88
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
89
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
90
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
91
+ Video FPS: 60
92
+ ORB-SLAM 3 running at: 20.086462176438477 FPS
93
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
94
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
95
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
96
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
97
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
98
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
99
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
100
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
101
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
102
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
103
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
104
+ Video FPS: 60
105
+ ORB-SLAM 3 running at: 26.774877154186129 FPS
106
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
107
+ Shutdown
108
+ mpLocalMapper is not finished
109
+ mpLoopCloser is not finished
110
+ mpLocalMapper is not finished
111
+ mpLocalMapper is not finished
112
+ mpLocalMapper is not finished
113
+ mpLocalMapper is not finished
114
+ mpLocalMapper is not finished
115
+ mpLocalMapper is not finished
116
+ mpLocalMapper is not finished
117
+ mpLocalMapper is not finished
118
+ mpLocalMapper is not finished
119
+ mpLocalMapper is not finished
120
+ mpLocalMapper is not finished
121
+ mpLocalMapper is not finished
122
+ mpLocalMapper is not finished
123
+ mpLocalMapper is not finished
124
+ mpLocalMapper is not finished
125
+ mpLocalMapper is not finished
126
+ mpLocalMapper is not finished
127
+ mpLocalMapper is not finished
128
+ mpLocalMapper is not finished
129
+ mpLocalMapper is not finished
130
+ mpLocalMapper is not finished
131
+ mpLocalMapper is not finished
132
+ mpLocalMapper is not finished
133
+ mpLocalMapper is not finished
134
+ mpLocalMapper is not finished
135
+ mpLocalMapper is not finished
136
+ mpLocalMapper is not finished
137
+ mpLocalMapper is not finished
138
+ mpLocalMapper is not finished
139
+ mpLocalMapper 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
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
+
160
+ Saving camera trajectory to /data/camera_trajectory.csv ...
161
+ There are 1 maps in the atlas
162
+ Map 0 has 60 KFs
163
+
164
+ CSV camera trajectory saved!
demos/demo_C3531325327561_2026.02.10_20.44.49.122842/slam_mask.png ADDED
demos/demo_C3531325327561_2026.02.10_20.44.49.122842/slam_stderr.txt ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ Camera.newHeight optional parameter does not exist...
2
+ Camera.newWidth optional parameter does not exist...
3
+ IMU.InsertKFsWhenLost optional parameter does not exist...
4
+ System.LoadAtlasFromFile optional parameter does not exist...
5
+ System.SaveAtlasToFile optional parameter does not exist...
6
+ System.thFarPoints optional parameter does not exist...
demos/demo_C3531325327561_2026.02.10_20.44.49.122842/slam_stdout.txt ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
2
+
3
+ ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
+ ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
+ This program comes with ABSOLUTELY NO WARRANTY;
6
+ This is free software, and you are welcome to redistribute it
7
+ under certain conditions. See LICENSE.txt.
8
+
9
+ Input sensor was set to: Monocular-Inertial
10
+ Loading settings from /slam_settings.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 0.0813337 -0.0852681 0.07741 -0.0296763 ]
21
+ -Original image size: [ 960 , 720 ]
22
+ -Current image size: [ 960 , 720 ]
23
+ -Sequence FPS: 60
24
+ -Gyro noise: 0.0338633
25
+ -Accelerometer noise: 0.150267
26
+ -Gyro walk: 0.251333
27
+ -Accelerometer walk: 0.00166667
28
+ -IMU frequency: 197.577
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
+ Video opened using backend FFMPEG
47
+ There are 325 frames in total
48
+ video FPS 60
49
+ line 1873 keyframes 59MapPoints1185
50
+ line 1877
51
+ mlFrameTimes.size()= 0
52
+ KeyFrame::nNextId=464
53
+ Relocalized!!
54
+ INIT_RELOCALIZE success!
55
+ vpKFs.back()->mpImuPreintegrated0x62a8295e2470
56
+ pKFCur->mTimeStamp0
57
+ vpKFs.front()->mTimeStamp-58.4167
58
+ vpKFs.back()->mTimeStamp-0.016675
59
+ pKFcur->GetMapPointMatches().size()2121
60
+ 1691 pKFcur->GetVelocity() 0
61
+ 0
62
+ 0
63
+ pKFcur->mnId464
64
+ Video FPS: 60
65
+ ORB-SLAM 3 running at: 37.326 FPS
66
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
67
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
68
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
69
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
70
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
71
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
72
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
73
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
74
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
75
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
76
+ Video FPS: 60
77
+ ORB-SLAM 3 running at: 49.108909023978107 FPS
78
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
79
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
80
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
81
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
82
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
83
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
84
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
85
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
86
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
87
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
88
+ Video FPS: 60
89
+ ORB-SLAM 3 running at: 37.350176769049106 FPS
90
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
91
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
92
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
93
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
94
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
95
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
96
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
97
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
98
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
99
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
100
+ Video FPS: 60
101
+ ORB-SLAM 3 running at: 43.872023727394335 FPS
102
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
103
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
104
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
105
+ Shutdown
106
+ mpLocalMapper is not finished
107
+ mpLoopCloser is not finished
108
+
109
+ Saving camera trajectory to /data/camera_trajectory.csv ...
110
+ There are 1 maps in the atlas
111
+ Map 0 has 61 KFs
112
+
113
+ CSV camera trajectory saved!
demos/mapping/map_atlas.osa ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cf34fead84f60819423552b11eb94ca73ca5d8633972815db3ec4fb621790ff7
3
+ size 12002354
demos/mapping/slam_mask.png ADDED
demos/mapping/slam_stderr.txt ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ Camera.newHeight optional parameter does not exist...
2
+ Camera.newWidth optional parameter does not exist...
3
+ IMU.InsertKFsWhenLost optional parameter does not exist...
4
+ System.LoadAtlasFromFile optional parameter does not exist...
5
+ System.SaveAtlasToFile optional parameter does not exist...
6
+ System.thFarPoints optional parameter does not exist...
demos/mapping/slam_stdout.txt ADDED
@@ -0,0 +1,282 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Mask img size mismatch! Converting [2704 x 2028] to [960 x 720]
2
+
3
+ ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
+ ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
+ This program comes with ABSOLUTELY NO WARRANTY;
6
+ This is free software, and you are welcome to redistribute it
7
+ under certain conditions. See LICENSE.txt.
8
+
9
+ Input sensor was set to: Monocular-Inertial
10
+ Loading settings from /slam_settings.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 0.0813337 -0.0852681 0.07741 -0.0296763 ]
21
+ -Original image size: [ 960 , 720 ]
22
+ -Current image size: [ 960 , 720 ]
23
+ -Sequence FPS: 60
24
+ -Gyro noise: 0.0338633
25
+ -Accelerometer noise: 0.150267
26
+ -Gyro walk: 0.251333
27
+ -Accelerometer walk: 0.00166667
28
+ -IMU frequency: 197.577
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
+ Video opened using backend FFMPEG
47
+ There are 3637 frames in total
48
+ video FPS 60
49
+ line 1873 keyframes 59MapPoints1185
50
+ line 1877
51
+ mlFrameTimes.size()= 0
52
+ KeyFrame::nNextId=464
53
+ Relocalized!!
54
+ INIT_RELOCALIZE success!
55
+ vpKFs.back()->mpImuPreintegrated0x5b4fa2b464c0
56
+ pKFCur->mTimeStamp0
57
+ vpKFs.front()->mTimeStamp-58.4167
58
+ vpKFs.back()->mTimeStamp-0.016675
59
+ pKFcur->GetMapPointMatches().size()1696
60
+ 1691 pKFcur->GetVelocity() 0
61
+ 0
62
+ 0
63
+ pKFcur->mnId464
64
+ Video FPS: 60
65
+ ORB-SLAM 3 running at: 31.1574 FPS
66
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
67
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
68
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
69
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
70
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
71
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
72
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
73
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
74
+ Video FPS: 60
75
+ ORB-SLAM 3 running at: 46.402323457140149 FPS
76
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
77
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
78
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
79
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
80
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
81
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
82
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
83
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
84
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
85
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
86
+ Video FPS: 60
87
+ ORB-SLAM 3 running at: 40.138808025915225 FPS
88
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
89
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
90
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
91
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
92
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
93
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
94
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
95
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
96
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
97
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
98
+ Video FPS: 60
99
+ ORB-SLAM 3 running at: 56.71889153135902 FPS
100
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
101
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
102
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
103
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
104
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
105
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
106
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
107
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
108
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
109
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
110
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
111
+ Video FPS: 60
112
+ ORB-SLAM 3 running at: 61.504798542877516 FPS
113
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
114
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
115
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
116
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
117
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
118
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
119
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
120
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
121
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
122
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
123
+ Video FPS: 60
124
+ ORB-SLAM 3 running at: 54.999265484809449 FPS
125
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
126
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
127
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
128
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
129
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
130
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
131
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
132
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
133
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
134
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
135
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
136
+ Video FPS: 60
137
+ ORB-SLAM 3 running at: 60.718161050914794 FPS
138
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
139
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
140
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
141
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
142
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
143
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
144
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
145
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
146
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
147
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
148
+ Video FPS: 60
149
+ ORB-SLAM 3 running at: 61.768189789928236 FPS
150
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
151
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
152
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
153
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
154
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
155
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
156
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
157
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
158
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
159
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
160
+ Video FPS: 60
161
+ ORB-SLAM 3 running at: 61.677355146722412 FPS
162
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
163
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
164
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
165
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
166
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
167
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
168
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
169
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
170
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
171
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
172
+ Video FPS: 60
173
+ ORB-SLAM 3 running at: 57.246578128727293 FPS
174
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
175
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
176
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
177
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
178
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
179
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
180
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
181
+ Video FPS: 60
182
+ ORB-SLAM 3 running at: 63.04543362869908 FPS
183
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
184
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
185
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
186
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
187
+ Video FPS: 60
188
+ ORB-SLAM 3 running at: 56.701280530379236 FPS
189
+ Video FPS: 60
190
+ ORB-SLAM 3 running at: 60.643508891642242 FPS
191
+ Video FPS: 60
192
+ ORB-SLAM 3 running at: 64.476956161537217 FPS
193
+ Video FPS: 60
194
+ ORB-SLAM 3 running at: 68.329758320378005 FPS
195
+ Video FPS: 60
196
+ ORB-SLAM 3 running at: 61.827165867447505 FPS
197
+ start VIBA 2
198
+ No IMU Preintegration for KeyFrame 464, skipping inertial edge.
199
+ end VIBA 2
200
+ Video FPS: 60
201
+ ORB-SLAM 3 running at: 75.816402393432853 FPS
202
+ Video FPS: 60
203
+ ORB-SLAM 3 running at: 58.334752812318442 FPS
204
+ Video FPS: 60
205
+ ORB-SLAM 3 running at: 62.64744860121403 FPS
206
+ Video FPS: 60
207
+ ORB-SLAM 3 running at: 61.749031435567417 FPS
208
+ Video FPS: 60
209
+ ORB-SLAM 3 running at: 66.629323152017406 FPS
210
+ Video FPS: 60
211
+ ORB-SLAM 3 running at: 63.518555770975212 FPS
212
+ Video FPS: 60
213
+ ORB-SLAM 3 running at: 54.003180139272047 FPS
214
+ Video FPS: 60
215
+ ORB-SLAM 3 running at: 61.757749053562499 FPS
216
+ Video FPS: 60
217
+ ORB-SLAM 3 running at: 60.751787575785578 FPS
218
+ Video FPS: 60
219
+ ORB-SLAM 3 running at: 59.952397796149853 FPS
220
+ Video FPS: 60
221
+ ORB-SLAM 3 running at: 56.099842460422401 FPS
222
+ Video FPS: 60
223
+ ORB-SLAM 3 running at: 62.472153037783407 FPS
224
+ Video FPS: 60
225
+ ORB-SLAM 3 running at: 62.011415929604148 FPS
226
+ Video FPS: 60
227
+ ORB-SLAM 3 running at: 62.312917149929298 FPS
228
+ Video FPS: 60
229
+ ORB-SLAM 3 running at: 60.479837352783008 FPS
230
+ Video FPS: 60
231
+ ORB-SLAM 3 running at: 58.237397412640554 FPS
232
+ Video FPS: 60
233
+ ORB-SLAM 3 running at: 60.856923911318319 FPS
234
+ Video FPS: 60
235
+ ORB-SLAM 3 running at: 64.252032452416557 FPS
236
+ Video FPS: 60
237
+ ORB-SLAM 3 running at: 60.838378406561347 FPS
238
+ Video FPS: 60
239
+ ORB-SLAM 3 running at: 55.717954821207769 FPS
240
+ Video FPS: 60
241
+ ORB-SLAM 3 running at: 58.897796068030246 FPS
242
+ Shutdown
243
+ mpLocalMapper is not finished
244
+ mpLoopCloser 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
+ mpLocalMapper is not finished
252
+ mpLocalMapper is not finished
253
+ mpLocalMapper is not finished
254
+ mpLocalMapper is not finished
255
+ mpLocalMapper is not finished
256
+ mpLocalMapper is not finished
257
+ mpLocalMapper is not finished
258
+ mpLocalMapper is not finished
259
+ mpLocalMapper is not finished
260
+ mpLocalMapper is not finished
261
+ mpLocalMapper is not finished
262
+ mpLocalMapper is not finished
263
+ mpLocalMapper is not finished
264
+ mpLocalMapper is not finished
265
+ mpLocalMapper is not finished
266
+ mpLocalMapper is not finished
267
+ mpLocalMapper is not finished
268
+ mpLocalMapper is not finished
269
+ mpLocalMapper is not finished
270
+ mpLocalMapper is not finished
271
+ mpLocalMapper is not finished
272
+ mpLocalMapper is not finished
273
+ mpLocalMapper is not finished
274
+ mpLocalMapper is not finished
275
+ mpLocalMapper is not finished
276
+ mpLocalMapper is not finished
277
+
278
+ Saving camera trajectory to /data/camera_trajectory.csv ...
279
+ There are 1 maps in the atlas
280
+ Map 0 has 79 KFs
281
+
282
+ CSV camera trajectory saved!