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IMU.InsertKFsWhenLost optional parameter does not exist... |
System.LoadAtlasFromFile optional parameter does not exist... |
System.SaveAtlasToFile optional parameter does not exist... |
IMU.InsertKFsWhenLost optional parameter does not exist... |
System.LoadAtlasFromFile optional parameter does not exist... |
System.SaveAtlasToFile optional parameter does not exist... |
ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. |
ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. |
This program comes with ABSOLUTELY NO WARRANTY; |
This is free software, and you are welcome to redistribute it |
under certain conditions. See LICENSE.txt. |
Input sensor was set to: Monocular-Inertial |
Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro13_maxlens_fisheye_setting_v1_720.yaml |
-Loaded camera 1 |
-Loaded image info |
-Loaded IMU calibration |
-Loaded ORB settings |
-Loaded viewer settings |
-Loaded Atlas settings |
-Loaded misc parameters |
---------------------------------- |
SLAM settings: |
-Camera 1 parameters (Kannala-Brandt): [ 948.163 948.163 1353.79 1008.91 -0.0560438 -0.0599787 0.0694283 -0.0286672 ] |
-Original image size: [ 2704 , 2028 ] |
-Current image size: [ 960 , 720 ] |
-Camera 1 parameters after resize: [ 336.626 336.626 480.635 358.192 -0.0560438 -0.0599787 0.0694283 -0.0286672 ] |
-Sequence FPS: 60 |
-Gyro noise: 0.00181 |
-Accelerometer noise: 0.01754 |
-Gyro walk: 2.58e-05 |
-Accelerometer walk: 0.000629 |
-IMU frequency: 200 |
-Features per image: 1250 |
-ORB scale factor: 1.2 |
-ORB number of scales: 8 |
-Initial FAST threshold: 20 |
-Min FAST threshold: 7 |
Loading ORB Vocabulary. This could take a while... |
Vocabulary loaded! |
Initialization of Atlas from file: /map/map_atlas.osa |
Starting to read the save binary file |
End to load the save binary file |
Change to map with id: 0 |
Atlas loaded! |
There are 1 cameras in the atlas |
Camera 0 is fisheye |
Discard points further than 20 m from current camera |
Video opened using backend FFMPEG |
There are 7489 frames in total |
Video: 119.88 fps | SLAM: 59.9401 fps (skip=2) | IMU/frame: 3.33667 |
line 1873 keyframes 46MapPoints1082 |
line 1877 |
mlFrameTimes.size()= 0 |
KeyFrame::nNextId=614 |
Relocalized!! |
INIT_RELOCALIZE success! |
vpKFs.back()->mpImuPreintegrated0x64428e5d38f0 |
pKFCur->mTimeStamp0 |
vpKFs.front()->mTimeStamp-61.2779 |
vpKFs.back()->mTimeStamp-0.016675 |
pKFcur->GetMapPointMatches().size()4256 |
1691 pKFcur->GetVelocity() 0 |
0 |
0 |
pKFcur->mnId614 |
ORB-SLAM3 processing at: 13.9507 FPS (frame 0/7489) |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
ORB-SLAM3 processing at: 27.164452727550103 FPS (frame 100/7489) |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
ORB-SLAM3 processing at: 25.296470843818931 FPS (frame 200/7489) |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
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