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universal_manipulation_interface

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Upload raw data (part 7)

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  1. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/imu_data.json +0 -0
  2. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/slam_stderr.txt +3 -5
  3. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/slam_stdout.txt +3 -2706
  4. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.15.37.195383/camera_trajectory.csv +3 -1076
  5. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.15.37.195383/extract_gopro_imu_stdout.txt +3 -9
  6. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.15.37.195383/imu_data.json +0 -0
  7. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.15.37.195383/slam_stderr.txt +3 -5
  8. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.15.37.195383/slam_stdout.txt +3 -2238
  9. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/camera_trajectory.csv +3 -986
  10. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/extract_gopro_imu_stdout.txt +3 -9
  11. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/imu_data.json +0 -0
  12. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/slam_stderr.txt +3 -5
  13. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/slam_stdout.txt +3 -2357
  14. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.34.035500/extract_gopro_imu_stdout.txt +3 -9
  15. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.34.035500/imu_data.json +0 -0
  16. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.34.035500/slam_stderr.txt +3 -5
  17. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.34.035500/slam_stdout.txt +0 -0
  18. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/camera_trajectory.csv +3 -1354
  19. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/extract_gopro_imu_stdout.txt +3 -9
  20. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/imu_data.json +0 -0
  21. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/slam_stderr.txt +3 -5
  22. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/slam_stdout.txt +3 -2927
  23. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/extract_gopro_imu_stdout.txt +3 -9
  24. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/imu_data.json +0 -0
  25. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/slam_stderr.txt +3 -5
  26. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/slam_stdout.txt +0 -0
  27. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/extract_gopro_imu_stdout.txt +3 -9
  28. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/imu_data.json +0 -0
  29. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/slam_stderr.txt +3 -5
  30. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/slam_stdout.txt +3 -2809
  31. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.18.47.352017/extract_gopro_imu_stdout.txt +3 -9
  32. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.18.47.352017/imu_data.json +0 -0
  33. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.18.47.352017/slam_stderr.txt +3 -5
  34. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.18.47.352017/slam_stdout.txt +3 -946
  35. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/camera_trajectory.csv +3 -860
  36. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/extract_gopro_imu_stdout.txt +3 -9
  37. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/imu_data.json +0 -0
  38. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/slam_stderr.txt +3 -5
  39. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/slam_stdout.txt +0 -0
  40. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.22.04.782583/camera_trajectory.csv +3 -798
  41. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.22.04.782583/extract_gopro_imu_stdout.txt +3 -9
  42. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.22.04.782583/imu_data.json +0 -0
  43. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.22.04.782583/slam_stderr.txt +3 -5
  44. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.22.04.782583/slam_stdout.txt +3 -1653
  45. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/extract_gopro_imu_stdout.txt +3 -9
  46. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/imu_data.json +0 -0
  47. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/slam_stderr.txt +3 -6
  48. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/slam_stdout.txt +3 -723
  49. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/extract_gopro_imu_stdout.txt +3 -9
  50. bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/imu_data.json +0 -0
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/imu_data.json CHANGED
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bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/slam_stderr.txt CHANGED
@@ -1,5 +1,3 @@
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- Camera.newHeight optional parameter does not exist...
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- Camera.newWidth optional parameter does not exist...
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- IMU.InsertKFsWhenLost optional parameter does not exist...
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- System.LoadAtlasFromFile optional parameter does not exist...
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- System.SaveAtlasToFile optional parameter does not exist...
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a
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+ size 288
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.14.59.140700/slam_stdout.txt CHANGED
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- Mask img size mismatch! Converting [2704 x 2028] to [640 x 480]
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-
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- ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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- ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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- This program comes with ABSOLUTELY NO WARRANTY;
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- This is free software, and you are welcome to redistribute it
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- under certain conditions. See LICENSE.txt.
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-
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- Input sensor was set to: Monocular-Inertial
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- Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_480.yaml
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- -Loaded camera 1
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- -Loaded image info
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- -Loaded IMU calibration
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- -Loaded ORB settings
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- -Loaded viewer settings
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- -Loaded Atlas settings
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- -Loaded misc parameters
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- ----------------------------------
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- SLAM settings:
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- -Camera 1 parameters (Kannala-Brandt): [ 188.605 188.605 320.574 239.405 -0.0174584 -0.0280825 0.0128327 -0.0045198 ]
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- -Original image size: [ 640 , 480 ]
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- -Current image size: [ 640 , 480 ]
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- -Sequence FPS: 60
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- -Gyro noise: 0.0015
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- -Accelerometer noise: 0.017
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- -Gyro walk: 5e-05
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- -Accelerometer walk: 0.0055
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- -IMU frequency: 200
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- -Features per image: 1250
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- -ORB scale factor: 1.2
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- -ORB number of scales: 6
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- -Initial FAST threshold: 20
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- -Min FAST threshold: 7
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- Loading ORB Vocabulary. This could take a while...
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- Vocabulary loaded!
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-
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- Initialization of Atlas from file: /map/map_atlas.osa
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- End to load the save binary file
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- Change to map with id: 0
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- Atlas loaded!
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- There are 1 cameras in the atlas
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- Camera 0 is fisheye
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- Discard points further than 20 m from current camera
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- Video opened using backend FFMPEG
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- There are 1255 frames in total
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- video FPS 59.9401
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- line 1873 keyframes 72MapPoints2546
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- KeyFrame::nNextId=393
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- Relocalization() failed.
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- Video FPS: 59.9401
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- ORB-SLAM 3 running at: 13.4777 FPS
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- Video FPS: 59.940059940059939
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286
- Relocalization() failed.
287
- Fail to track local map!
288
- Relocalization() failed.
289
- Fail to track local map!
290
- Relocalization() failed.
291
- Fail to track local map!
292
- Relocalization() failed.
293
- Fail to track local map!
294
- Relocalization() failed.
295
- Fail to track local map!
296
- Relocalization() failed.
297
- Fail to track local map!
298
- Relocalization() failed.
299
- Fail to track local map!
300
- Relocalization() failed.
301
- Fail to track local map!
302
- Relocalization() failed.
303
- Fail to track local map!
304
- Relocalization() failed.
305
- Fail to track local map!
306
- Relocalization() failed.
307
- Fail to track local map!
308
- Relocalization() failed.
309
- Fail to track local map!
310
- Relocalization() failed.
311
- Fail to track local map!
312
- Relocalization() failed.
313
- Fail to track local map!
314
- Relocalization() failed.
315
- Fail to track local map!
316
- Relocalization() failed.
317
- Fail to track local map!
318
- Relocalization() failed.
319
- Fail to track local map!
320
- Relocalization() failed.
321
- Fail to track local map!
322
- Relocalization() failed.
323
- Fail to track local map!
324
- Relocalization() failed.
325
- Fail to track local map!
326
- Relocalization() failed.
327
- Fail to track local map!
328
- Relocalization() failed.
329
- Fail to track local map!
330
- Relocalization() failed.
331
- Fail to track local map!
332
- Relocalization() failed.
333
- Fail to track local map!
334
- Relocalization() failed.
335
- Fail to track local map!
336
- Relocalization() failed.
337
- Fail to track local map!
338
- Relocalization() failed.
339
- Fail to track local map!
340
- Relocalization() failed.
341
- Fail to track local map!
342
- Relocalization() failed.
343
- Fail to track local map!
344
- Relocalization() failed.
345
- Fail to track local map!
346
- Relocalization() failed.
347
- Fail to track local map!
348
- Relocalization() failed.
349
- Fail to track local map!
350
- Relocalization() failed.
351
- Fail to track local map!
352
- Relocalization() failed.
353
- Fail to track local map!
354
- Relocalization() failed.
355
- Fail to track local map!
356
- Relocalization() failed.
357
- Fail to track local map!
358
- Relocalization() failed.
359
- Fail to track local map!
360
- Relocalization() failed.
361
- Fail to track local map!
362
- Relocalization() failed.
363
- Fail to track local map!
364
- Relocalization() failed.
365
- Fail to track local map!
366
- Relocalization() failed.
367
- Fail to track local map!
368
- Relocalization() failed.
369
- Fail to track local map!
370
- Relocalization() failed.
371
- Fail to track local map!
372
- Relocalization() failed.
373
- Fail to track local map!
374
- Relocalization() failed.
375
- Fail to track local map!
376
- Relocalization() failed.
377
- Fail to track local map!
378
- Relocalization() failed.
379
- Fail to track local map!
380
- Relocalization() failed.
381
- Fail to track local map!
382
- Relocalization() failed.
383
- Fail to track local map!
384
- Relocalization() failed.
385
- Fail to track local map!
386
- Relocalization() failed.
387
- Fail to track local map!
388
- Relocalization() failed.
389
- Fail to track local map!
390
- Relocalization() failed.
391
- Fail to track local map!
392
- Relocalization() failed.
393
- Fail to track local map!
394
- Relocalization() failed.
395
- Fail to track local map!
396
- Relocalization() failed.
397
- Fail to track local map!
398
- Relocalization() failed.
399
- Fail to track local map!
400
- Relocalization() failed.
401
- Fail to track local map!
402
- Relocalization() failed.
403
- Fail to track local map!
404
- Relocalization() failed.
405
- Fail to track local map!
406
- Relocalization() failed.
407
- Fail to track local map!
408
- Relocalization() failed.
409
- Fail to track local map!
410
- Relocalization() failed.
411
- Fail to track local map!
412
- Relocalization() failed.
413
- Fail to track local map!
414
- Relocalization() failed.
415
- Fail to track local map!
416
- Relocalization() failed.
417
- Fail to track local map!
418
- Relocalization() failed.
419
- Fail to track local map!
420
- Relocalization() failed.
421
- Fail to track local map!
422
- Relocalization() failed.
423
- Fail to track local map!
424
- Relocalization() failed.
425
- Fail to track local map!
426
- Relocalization() failed.
427
- Fail to track local map!
428
- Relocalization() failed.
429
- Fail to track local map!
430
- Relocalization() failed.
431
- Fail to track local map!
432
- Relocalization() failed.
433
- Fail to track local map!
434
- Relocalization() failed.
435
- Fail to track local map!
436
- Relocalization() failed.
437
- Fail to track local map!
438
- Relocalization() failed.
439
- Fail to track local map!
440
- Relocalization() failed.
441
- Fail to track local map!
442
- Relocalization() failed.
443
- Fail to track local map!
444
- Relocalization() failed.
445
- Fail to track local map!
446
- Relocalization() failed.
447
- Fail to track local map!
448
- Relocalization() failed.
449
- Fail to track local map!
450
- Relocalization() failed.
451
- Fail to track local map!
452
- Relocalization() failed.
453
- Fail to track local map!
454
- Relocalization() failed.
455
- Fail to track local map!
456
- Relocalization() failed.
457
- Fail to track local map!
458
- Relocalization() failed.
459
- Fail to track local map!
460
- Video FPS: 59.940059940059939
461
- ORB-SLAM 3 running at: 22.156043106177098 FPS
462
- Relocalization() failed.
463
- Fail to track local map!
464
- Relocalization() failed.
465
- Fail to track local map!
466
- Relocalization() failed.
467
- Fail to track local map!
468
- Relocalization() failed.
469
- Fail to track local map!
470
- Relocalization() failed.
471
- Fail to track local map!
472
- Relocalization() failed.
473
- Fail to track local map!
474
- Relocalization() failed.
475
- Fail to track local map!
476
- Relocalization() failed.
477
- Fail to track local map!
478
- Relocalization() failed.
479
- Fail to track local map!
480
- Relocalization() failed.
481
- Fail to track local map!
482
- Relocalization() failed.
483
- Fail to track local map!
484
- Relocalization() failed.
485
- Fail to track local map!
486
- Relocalization() failed.
487
- Fail to track local map!
488
- Relocalization() failed.
489
- Fail to track local map!
490
- Relocalization() failed.
491
- Fail to track local map!
492
- Relocalization() failed.
493
- Fail to track local map!
494
- Relocalization() failed.
495
- Fail to track local map!
496
- Relocalization() failed.
497
- Fail to track local map!
498
- Relocalization() failed.
499
- Fail to track local map!
500
- Relocalization() failed.
501
- Fail to track local map!
502
- Relocalization() failed.
503
- Fail to track local map!
504
- Relocalization() failed.
505
- Fail to track local map!
506
- Relocalization() failed.
507
- Fail to track local map!
508
- Relocalization() failed.
509
- Fail to track local map!
510
- Relocalization() failed.
511
- Fail to track local map!
512
- Relocalization() failed.
513
- Fail to track local map!
514
- Relocalization() failed.
515
- Fail to track local map!
516
- Relocalization() failed.
517
- Fail to track local map!
518
- Relocalization() failed.
519
- Fail to track local map!
520
- Relocalization() failed.
521
- Fail to track local map!
522
- Relocalization() failed.
523
- Fail to track local map!
524
- Relocalization() failed.
525
- Fail to track local map!
526
- Relocalization() failed.
527
- Fail to track local map!
528
- Relocalization() failed.
529
- Fail to track local map!
530
- Relocalization() failed.
531
- Fail to track local map!
532
- Relocalization() failed.
533
- Fail to track local map!
534
- Relocalization() failed.
535
- Fail to track local map!
536
- Relocalization() failed.
537
- Fail to track local map!
538
- Relocalization() failed.
539
- Fail to track local map!
540
- Relocalization() failed.
541
- Fail to track local map!
542
- Relocalization() failed.
543
- Fail to track local map!
544
- Relocalization() failed.
545
- Fail to track local map!
546
- Relocalization() failed.
547
- Fail to track local map!
548
- Relocalization() failed.
549
- Fail to track local map!
550
- Relocalization() failed.
551
- Fail to track local map!
552
- Relocalization() failed.
553
- Fail to track local map!
554
- Relocalization() failed.
555
- Fail to track local map!
556
- Relocalization() failed.
557
- Fail to track local map!
558
- Relocalization() failed.
559
- Fail to track local map!
560
- Relocalization() failed.
561
- Fail to track local map!
562
- Relocalization() failed.
563
- Fail to track local map!
564
- Relocalization() failed.
565
- Fail to track local map!
566
- Relocalization() failed.
567
- Fail to track local map!
568
- Relocalization() failed.
569
- Fail to track local map!
570
- Relocalization() failed.
571
- Fail to track local map!
572
- Relocalization() failed.
573
- Fail to track local map!
574
- Relocalization() failed.
575
- Fail to track local map!
576
- Relocalization() failed.
577
- Fail to track local map!
578
- Relocalization() failed.
579
- Fail to track local map!
580
- Relocalization() failed.
581
- Fail to track local map!
582
- Relocalization() failed.
583
- Fail to track local map!
584
- Relocalization() failed.
585
- Fail to track local map!
586
- Relocalization() failed.
587
- Fail to track local map!
588
- Relocalization() failed.
589
- Fail to track local map!
590
- Relocalization() failed.
591
- Fail to track local map!
592
- Relocalization() failed.
593
- Fail to track local map!
594
- Relocalization() failed.
595
- Fail to track local map!
596
- Relocalization() failed.
597
- Fail to track local map!
598
- Relocalization() failed.
599
- Fail to track local map!
600
- Relocalization() failed.
601
- Fail to track local map!
602
- Relocalization() failed.
603
- Fail to track local map!
604
- Relocalization() failed.
605
- Fail to track local map!
606
- Relocalization() failed.
607
- Fail to track local map!
608
- Relocalization() failed.
609
- Fail to track local map!
610
- Relocalization() failed.
611
- Fail to track local map!
612
- Relocalization() failed.
613
- Fail to track local map!
614
- Relocalization() failed.
615
- Fail to track local map!
616
- Relocalization() failed.
617
- Fail to track local map!
618
- Relocalization() failed.
619
- Fail to track local map!
620
- Relocalization() failed.
621
- Fail to track local map!
622
- Relocalization() failed.
623
- Fail to track local map!
624
- Relocalization() failed.
625
- Fail to track local map!
626
- Relocalization() failed.
627
- Fail to track local map!
628
- Relocalization() failed.
629
- Fail to track local map!
630
- Relocalization() failed.
631
- Fail to track local map!
632
- Relocalization() failed.
633
- Fail to track local map!
634
- Relocalization() failed.
635
- Fail to track local map!
636
- Relocalization() failed.
637
- Fail to track local map!
638
- Relocalization() failed.
639
- Fail to track local map!
640
- Relocalization() failed.
641
- Fail to track local map!
642
- Relocalization() failed.
643
- Fail to track local map!
644
- Relocalization() failed.
645
- Fail to track local map!
646
- Relocalization() failed.
647
- Fail to track local map!
648
- Relocalization() failed.
649
- Fail to track local map!
650
- Relocalization() failed.
651
- Fail to track local map!
652
- Relocalization() failed.
653
- Fail to track local map!
654
- Relocalization() failed.
655
- Fail to track local map!
656
- Relocalization() failed.
657
- Fail to track local map!
658
- Relocalization() failed.
659
- Fail to track local map!
660
- Relocalization() failed.
661
- Fail to track local map!
662
- Video FPS: 59.940059940059939
663
- ORB-SLAM 3 running at: 29.868819133248685 FPS
664
- Relocalization() failed.
665
- Fail to track local map!
666
- Relocalization() failed.
667
- Fail to track local map!
668
- Relocalization() failed.
669
- Fail to track local map!
670
- Relocalization() failed.
671
- Fail to track local map!
672
- Relocalization() failed.
673
- Fail to track local map!
674
- Relocalization() failed.
675
- Fail to track local map!
676
- Relocalization() failed.
677
- Fail to track local map!
678
- Relocalization() failed.
679
- Fail to track local map!
680
- Relocalization() failed.
681
- Fail to track local map!
682
- Relocalization() failed.
683
- Fail to track local map!
684
- Relocalization() failed.
685
- Fail to track local map!
686
- Relocalization() failed.
687
- Fail to track local map!
688
- Relocalization() failed.
689
- Fail to track local map!
690
- Relocalization() failed.
691
- Fail to track local map!
692
- Relocalization() failed.
693
- Fail to track local map!
694
- Relocalization() failed.
695
- Fail to track local map!
696
- Relocalization() failed.
697
- Fail to track local map!
698
- Relocalization() failed.
699
- Fail to track local map!
700
- Relocalization() failed.
701
- Fail to track local map!
702
- Relocalization() failed.
703
- Fail to track local map!
704
- Relocalization() failed.
705
- Fail to track local map!
706
- Relocalization() failed.
707
- Fail to track local map!
708
- Relocalization() failed.
709
- Fail to track local map!
710
- Relocalization() failed.
711
- Fail to track local map!
712
- Relocalization() failed.
713
- Fail to track local map!
714
- Relocalization() failed.
715
- Fail to track local map!
716
- Relocalization() failed.
717
- Fail to track local map!
718
- Relocalization() failed.
719
- Fail to track local map!
720
- Relocalization() failed.
721
- Fail to track local map!
722
- Relocalization() failed.
723
- Fail to track local map!
724
- Relocalization() failed.
725
- Fail to track local map!
726
- Relocalization() failed.
727
- Fail to track local map!
728
- Relocalization() failed.
729
- Fail to track local map!
730
- Relocalization() failed.
731
- Fail to track local map!
732
- Relocalization() failed.
733
- Fail to track local map!
734
- Relocalization() failed.
735
- Fail to track local map!
736
- Relocalization() failed.
737
- Fail to track local map!
738
- Relocalization() failed.
739
- Fail to track local map!
740
- Relocalization() failed.
741
- Fail to track local map!
742
- Relocalization() failed.
743
- Fail to track local map!
744
- Relocalization() failed.
745
- Fail to track local map!
746
- Relocalization() failed.
747
- Fail to track local map!
748
- Relocalization() failed.
749
- Fail to track local map!
750
- Relocalization() failed.
751
- Fail to track local map!
752
- Relocalization() failed.
753
- Fail to track local map!
754
- Relocalization() failed.
755
- Fail to track local map!
756
- Relocalization() failed.
757
- Fail to track local map!
758
- Relocalization() failed.
759
- Fail to track local map!
760
- Relocalization() failed.
761
- Fail to track local map!
762
- Relocalization() failed.
763
- Fail to track local map!
764
- Relocalization() failed.
765
- Fail to track local map!
766
- Relocalization() failed.
767
- Fail to track local map!
768
- Relocalization() failed.
769
- Fail to track local map!
770
- Relocalization() failed.
771
- Fail to track local map!
772
- Relocalization() failed.
773
- Fail to track local map!
774
- Relocalization() failed.
775
- Fail to track local map!
776
- Relocalization() failed.
777
- Fail to track local map!
778
- Relocalization() failed.
779
- Fail to track local map!
780
- Relocalization() failed.
781
- Fail to track local map!
782
- Relocalization() failed.
783
- Fail to track local map!
784
- Relocalization() failed.
785
- Fail to track local map!
786
- Relocalization() failed.
787
- Fail to track local map!
788
- Relocalization() failed.
789
- Fail to track local map!
790
- Relocalization() failed.
791
- Fail to track local map!
792
- Relocalization() failed.
793
- Fail to track local map!
794
- Relocalization() failed.
795
- Fail to track local map!
796
- Relocalization() failed.
797
- Fail to track local map!
798
- Relocalization() failed.
799
- Fail to track local map!
800
- Relocalization() failed.
801
- Fail to track local map!
802
- Relocalization() failed.
803
- Fail to track local map!
804
- Relocalization() failed.
805
- Fail to track local map!
806
- Relocalization() failed.
807
- Fail to track local map!
808
- Relocalization() failed.
809
- Fail to track local map!
810
- Relocalization() failed.
811
- Fail to track local map!
812
- Relocalization() failed.
813
- Fail to track local map!
814
- Relocalization() failed.
815
- Fail to track local map!
816
- Relocalization() failed.
817
- Fail to track local map!
818
- Relocalization() failed.
819
- Fail to track local map!
820
- Relocalization() failed.
821
- Fail to track local map!
822
- Relocalization() failed.
823
- Fail to track local map!
824
- Relocalization() failed.
825
- Fail to track local map!
826
- Relocalization() failed.
827
- Fail to track local map!
828
- Relocalization() failed.
829
- Fail to track local map!
830
- Relocalization() failed.
831
- Fail to track local map!
832
- Relocalization() failed.
833
- Fail to track local map!
834
- Relocalization() failed.
835
- Fail to track local map!
836
- Relocalization() failed.
837
- Fail to track local map!
838
- Relocalization() failed.
839
- Fail to track local map!
840
- Relocalization() failed.
841
- Fail to track local map!
842
- Relocalization() failed.
843
- Fail to track local map!
844
- Relocalization() failed.
845
- Fail to track local map!
846
- Relocalization() failed.
847
- Fail to track local map!
848
- Relocalization() failed.
849
- Fail to track local map!
850
- Relocalized!!
851
- INIT_RELOCALIZE success!
852
- vpKFs.back()->mpImuPreintegrated0x55ef97526f60
853
- pKFCur->mTimeStamp6.5732333333333335
854
- vpKFs.front()->mTimeStamp-59.192458337502089
855
- vpKFs.back()->mTimeStamp-0.01667500416875356
856
- pKFcur->GetMapPointMatches().size()1252
857
- 1691 pKFcur->GetVelocity() 0
858
- 0
859
- 0
860
- pKFcur->mnId393
861
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
862
- Fail to track local map!
863
- Relocalization() failed.
864
- Fail to track local map!
865
- Relocalization() failed.
866
- Fail to track local map!
867
- Relocalization() failed.
868
- Fail to track local map!
869
- Relocalized!!
870
- INIT_RELOCALIZE success!
871
- vpKFs.back()->mpImuPreintegrated0x55ef97da2850
872
- pKFCur->mTimeStamp6.65665
873
- vpKFs.front()->mTimeStamp-65.78236667500417
874
- vpKFs.back()->mTimeStamp-0.016675004168750895
875
- pKFcur->GetMapPointMatches().size()1251
876
- 1691 pKFcur->GetVelocity() -48.872749328613281
877
- 8.0917205810546875
878
- -23.699348449707031
879
- pKFcur->mnId394
880
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
881
- Fail to track local map!
882
- Video FPS: 59.940059940059939
883
- ORB-SLAM 3 running at: 16.001006143266288 FPS
884
- Relocalized!!
885
- INIT_RELOCALIZE success!
886
- vpKFs.back()->mpImuPreintegrated0x55ef97da2850
887
- pKFCur->mTimeStamp6.6900166666666667
888
- vpKFs.front()->mTimeStamp-72.455691679172915
889
- vpKFs.back()->mTimeStamp-0.016675004168750895
890
- pKFcur->GetMapPointMatches().size()1256
891
- 1691 pKFcur->GetVelocity() -93.715476989746094
892
- 24.444614410400391
893
- -47.440147399902344
894
- pKFcur->mnId395
895
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
896
- Fail to track local map!
897
- Relocalized!!
898
- INIT_RELOCALIZE success!
899
- vpKFs.back()->mpImuPreintegrated0x55ef97da2850
900
- pKFCur->mTimeStamp6.7233833333333335
901
- vpKFs.front()->mTimeStamp-79.162383350008326
902
- vpKFs.back()->mTimeStamp-0.016675004168750895
903
- pKFcur->GetMapPointMatches().size()1252
904
- 1691 pKFcur->GetVelocity() -137.6610107421875
905
- 43.264533996582031
906
- -71.09796142578125
907
- pKFcur->mnId396
908
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
909
- Fail to track local map!
910
- Relocalized!!
911
- INIT_RELOCALIZE success!
912
- vpKFs.back()->mpImuPreintegrated0x55ef97da2850
913
- pKFCur->mTimeStamp6.7567500000000003
914
- vpKFs.front()->mTimeStamp-85.902441687510418
915
- vpKFs.back()->mTimeStamp-0.016675004168750895
916
- pKFcur->GetMapPointMatches().size()1251
917
- 1691 pKFcur->GetVelocity() -180.69900512695312
918
- 63.502822875976562
919
- -94.308982849121094
920
- pKFcur->mnId397
921
- TRACK_REF_KF: Less than 15 matches!!
922
- Fail to track local map!
923
- Relocalized!!
924
- INIT_RELOCALIZE success!
925
- vpKFs.back()->mpImuPreintegrated0x55ef97da2850
926
- pKFCur->mTimeStamp6.790116666666667
927
- vpKFs.front()->mTimeStamp-92.675866691679175
928
- vpKFs.back()->mTimeStamp-0.016675004168750895
929
- pKFcur->GetMapPointMatches().size()1253
930
- 1691 pKFcur->GetVelocity() -180.69900512695312
931
- 63.502822875976562
932
- -94.308982849121094
933
- pKFcur->mnId398
934
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 6
935
- Fail to track local map!
936
- Relocalized!!
937
- INIT_RELOCALIZE success!
938
- vpKFs.back()->mpImuPreintegrated0x55ef97da2850
939
- pKFCur->mTimeStamp6.8234833333333338
940
- vpKFs.front()->mTimeStamp-99.482658362514599
941
- vpKFs.back()->mTimeStamp-0.016675004168750895
942
- pKFcur->GetMapPointMatches().size()1253
943
- 1691 pKFcur->GetVelocity() -218.06423950195312
944
- 88.075065612792969
945
- -114.30457305908203
946
- pKFcur->mnId399
947
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
948
- Fail to track local map!
949
- Relocalized!!
950
- INIT_RELOCALIZE success!
951
- vpKFs.back()->mpImuPreintegrated0x55ef97da2850
952
- pKFCur->mTimeStamp6.8568500000000006
953
- vpKFs.front()->mTimeStamp-106.32281670001669
954
- vpKFs.back()->mTimeStamp-0.016675004168750895
955
- pKFcur->GetMapPointMatches().size()1254
956
- 1691 pKFcur->GetVelocity() -254.95916748046875
957
- 114.43773651123047
958
- -134.77153015136719
959
- pKFcur->mnId400
960
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
961
- Fail to track local map!
962
- Relocalized!!
963
- INIT_RELOCALIZE success!
964
- vpKFs.back()->mpImuPreintegrated0x55ef97da2850
965
- pKFCur->mTimeStamp6.8902166666666664
966
- vpKFs.front()->mTimeStamp-113.19634170418544
967
- vpKFs.back()->mTimeStamp-0.016675004168750895
968
- pKFcur->GetMapPointMatches().size()1252
969
- 1691 pKFcur->GetVelocity() -290.745849609375
970
- 142.50633239746094
971
- -155.2154541015625
972
- pKFcur->mnId401
973
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 5
974
- Fail to track local map!
975
- Relocalized!!
976
- INIT_RELOCALIZE success!
977
- vpKFs.back()->mpImuPreintegrated0x55ef97da2850
978
- pKFCur->mTimeStamp6.9235833333333332
979
- vpKFs.front()->mTimeStamp-120.10323337502086
980
- vpKFs.back()->mTimeStamp-0.016675004168750895
981
- pKFcur->GetMapPointMatches().size()1255
982
- 1691 pKFcur->GetVelocity() -316.18316650390625
983
- 175.58583068847656
984
- -172.16148376464844
985
- pKFcur->mnId402
986
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
987
- Fail to track local map!
988
- Relocalized!!
989
- INIT_RELOCALIZE success!
990
- vpKFs.back()->mpImuPreintegrated0x55ef97da2850
991
- pKFCur->mTimeStamp6.95695
992
- vpKFs.front()->mTimeStamp-127.04349171252295
993
- vpKFs.back()->mTimeStamp-0.016675004168750895
994
- pKFcur->GetMapPointMatches().size()1253
995
- 1691 pKFcur->GetVelocity() -342.04449462890625
996
- 209.38983154296875
997
- -189.64907836914062
998
- pKFcur->mnId403
999
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1000
- Fail to track local map!
1001
- Relocalization() failed.
1002
- Fail to track local map!
1003
- Relocalized!!
1004
- INIT_RELOCALIZE success!
1005
- vpKFs.back()->mpImuPreintegrated0x55ef97da2850
1006
- pKFCur->mTimeStamp7.0070000000000006
1007
- vpKFs.front()->mTimeStamp-134.0171167166917
1008
- vpKFs.back()->mTimeStamp-0.016675004168750895
1009
- pKFcur->GetMapPointMatches().size()1257
1010
- 1691 pKFcur->GetVelocity() -367.87289428710938
1011
- 243.76611328125
1012
- -207.38128662109375
1013
- pKFcur->mnId404
1014
- TRACK_REF_KF: Less than 15 matches!!
1015
- Fail to track local map!
1016
- Relocalization() failed.
1017
- Fail to track local map!
1018
- Relocalization() failed.
1019
- Fail to track local map!
1020
- Relocalization() failed.
1021
- Fail to track local map!
1022
- Relocalization() failed.
1023
- Fail to track local map!
1024
- Relocalization() failed.
1025
- Fail to track local map!
1026
- Relocalization() failed.
1027
- Fail to track local map!
1028
- Relocalization() failed.
1029
- Fail to track local map!
1030
- Relocalization() failed.
1031
- Fail to track local map!
1032
- Relocalization() failed.
1033
- Fail to track local map!
1034
- Relocalization() failed.
1035
- Fail to track local map!
1036
- Relocalization() failed.
1037
- Fail to track local map!
1038
- Relocalization() failed.
1039
- Fail to track local map!
1040
- Relocalization() failed.
1041
- Fail to track local map!
1042
- Relocalization() failed.
1043
- Fail to track local map!
1044
- Relocalization() failed.
1045
- Fail to track local map!
1046
- Relocalization() failed.
1047
- Fail to track local map!
1048
- Relocalization() failed.
1049
- Fail to track local map!
1050
- Relocalization() failed.
1051
- Fail to track local map!
1052
- Relocalization() failed.
1053
- Fail to track local map!
1054
- Relocalization() failed.
1055
- Fail to track local map!
1056
- Relocalization() failed.
1057
- Fail to track local map!
1058
- Relocalization() failed.
1059
- Fail to track local map!
1060
- Relocalization() failed.
1061
- Fail to track local map!
1062
- Relocalization() failed.
1063
- Fail to track local map!
1064
- Relocalization() failed.
1065
- Fail to track local map!
1066
- Relocalization() failed.
1067
- Fail to track local map!
1068
- Relocalization() failed.
1069
- Fail to track local map!
1070
- Relocalization() failed.
1071
- Fail to track local map!
1072
- Relocalization() failed.
1073
- Fail to track local map!
1074
- Relocalization() failed.
1075
- Fail to track local map!
1076
- Relocalization() failed.
1077
- Fail to track local map!
1078
- Relocalization() failed.
1079
- Fail to track local map!
1080
- Relocalization() failed.
1081
- Fail to track local map!
1082
- Relocalization() failed.
1083
- Fail to track local map!
1084
- Relocalization() failed.
1085
- Fail to track local map!
1086
- Relocalization() failed.
1087
- Fail to track local map!
1088
- Relocalization() failed.
1089
- Fail to track local map!
1090
- Relocalization() failed.
1091
- Fail to track local map!
1092
- Relocalization() failed.
1093
- Fail to track local map!
1094
- Relocalization() failed.
1095
- Fail to track local map!
1096
- Relocalization() failed.
1097
- Fail to track local map!
1098
- Relocalization() failed.
1099
- Fail to track local map!
1100
- Relocalization() failed.
1101
- Fail to track local map!
1102
- Relocalization() failed.
1103
- Fail to track local map!
1104
- Relocalization() failed.
1105
- Fail to track local map!
1106
- Relocalization() failed.
1107
- Fail to track local map!
1108
- Relocalization() failed.
1109
- Fail to track local map!
1110
- Relocalization() failed.
1111
- Fail to track local map!
1112
- Relocalization() failed.
1113
- Fail to track local map!
1114
- Relocalization() failed.
1115
- Fail to track local map!
1116
- Relocalization() failed.
1117
- Fail to track local map!
1118
- Relocalization() failed.
1119
- Fail to track local map!
1120
- Relocalization() failed.
1121
- Fail to track local map!
1122
- Relocalization() failed.
1123
- Fail to track local map!
1124
- Relocalization() failed.
1125
- Fail to track local map!
1126
- Relocalization() failed.
1127
- Fail to track local map!
1128
- Relocalization() failed.
1129
- Fail to track local map!
1130
- Relocalization() failed.
1131
- Fail to track local map!
1132
- Relocalization() failed.
1133
- Fail to track local map!
1134
- Relocalization() failed.
1135
- Fail to track local map!
1136
- Relocalization() failed.
1137
- Fail to track local map!
1138
- Relocalization() failed.
1139
- Fail to track local map!
1140
- Relocalization() failed.
1141
- Fail to track local map!
1142
- Relocalization() failed.
1143
- Fail to track local map!
1144
- Relocalization() failed.
1145
- Fail to track local map!
1146
- Relocalization() failed.
1147
- Fail to track local map!
1148
- Relocalization() failed.
1149
- Fail to track local map!
1150
- Relocalization() failed.
1151
- Fail to track local map!
1152
- Relocalization() failed.
1153
- Fail to track local map!
1154
- Relocalization() failed.
1155
- Fail to track local map!
1156
- Relocalization() failed.
1157
- Fail to track local map!
1158
- Relocalization() failed.
1159
- Fail to track local map!
1160
- Relocalization() failed.
1161
- Fail to track local map!
1162
- Relocalization() failed.
1163
- Fail to track local map!
1164
- Relocalization() failed.
1165
- Fail to track local map!
1166
- Relocalization() failed.
1167
- Fail to track local map!
1168
- Relocalization() failed.
1169
- Fail to track local map!
1170
- Relocalization() failed.
1171
- Fail to track local map!
1172
- Relocalization() failed.
1173
- Fail to track local map!
1174
- Video FPS: 59.940059940059939
1175
- ORB-SLAM 3 running at: 23.495032727170887 FPS
1176
- Relocalization() failed.
1177
- Fail to track local map!
1178
- Relocalization() failed.
1179
- Fail to track local map!
1180
- Relocalization() failed.
1181
- Fail to track local map!
1182
- Relocalization() failed.
1183
- Fail to track local map!
1184
- Relocalization() failed.
1185
- Fail to track local map!
1186
- Relocalization() failed.
1187
- Fail to track local map!
1188
- Relocalization() failed.
1189
- Fail to track local map!
1190
- Relocalization() failed.
1191
- Fail to track local map!
1192
- Relocalization() failed.
1193
- Fail to track local map!
1194
- Relocalization() failed.
1195
- Fail to track local map!
1196
- Relocalization() failed.
1197
- Fail to track local map!
1198
- Relocalization() failed.
1199
- Fail to track local map!
1200
- Relocalization() failed.
1201
- Fail to track local map!
1202
- Relocalization() failed.
1203
- Fail to track local map!
1204
- Relocalization() failed.
1205
- Fail to track local map!
1206
- Relocalization() failed.
1207
- Fail to track local map!
1208
- Relocalization() failed.
1209
- Fail to track local map!
1210
- Relocalization() failed.
1211
- Fail to track local map!
1212
- Relocalization() failed.
1213
- Fail to track local map!
1214
- Relocalization() failed.
1215
- Fail to track local map!
1216
- Relocalization() failed.
1217
- Fail to track local map!
1218
- Relocalization() failed.
1219
- Fail to track local map!
1220
- Relocalization() failed.
1221
- Fail to track local map!
1222
- Relocalization() failed.
1223
- Fail to track local map!
1224
- Relocalization() failed.
1225
- Fail to track local map!
1226
- Relocalization() failed.
1227
- Fail to track local map!
1228
- Relocalization() failed.
1229
- Fail to track local map!
1230
- Relocalization() failed.
1231
- Fail to track local map!
1232
- Relocalization() failed.
1233
- Fail to track local map!
1234
- Relocalization() failed.
1235
- Fail to track local map!
1236
- Relocalization() failed.
1237
- Fail to track local map!
1238
- Relocalization() failed.
1239
- Fail to track local map!
1240
- Relocalization() failed.
1241
- Fail to track local map!
1242
- Relocalization() failed.
1243
- Fail to track local map!
1244
- Relocalization() failed.
1245
- Fail to track local map!
1246
- Relocalization() failed.
1247
- Fail to track local map!
1248
- Relocalization() failed.
1249
- Fail to track local map!
1250
- Relocalization() failed.
1251
- Fail to track local map!
1252
- Relocalization() failed.
1253
- Fail to track local map!
1254
- Relocalization() failed.
1255
- Fail to track local map!
1256
- Relocalization() failed.
1257
- Fail to track local map!
1258
- Relocalization() failed.
1259
- Fail to track local map!
1260
- Relocalization() failed.
1261
- Fail to track local map!
1262
- Relocalization() failed.
1263
- Fail to track local map!
1264
- Relocalization() failed.
1265
- Fail to track local map!
1266
- Relocalization() failed.
1267
- Fail to track local map!
1268
- Relocalization() failed.
1269
- Fail to track local map!
1270
- Relocalization() failed.
1271
- Fail to track local map!
1272
- Relocalization() failed.
1273
- Fail to track local map!
1274
- Relocalization() failed.
1275
- Fail to track local map!
1276
- Relocalization() failed.
1277
- Fail to track local map!
1278
- Relocalization() failed.
1279
- Fail to track local map!
1280
- Relocalization() failed.
1281
- Fail to track local map!
1282
- Relocalization() failed.
1283
- Fail to track local map!
1284
- Relocalization() failed.
1285
- Fail to track local map!
1286
- Relocalization() failed.
1287
- Fail to track local map!
1288
- Relocalization() failed.
1289
- Fail to track local map!
1290
- Relocalization() failed.
1291
- Fail to track local map!
1292
- Relocalization() failed.
1293
- Fail to track local map!
1294
- Relocalization() failed.
1295
- Fail to track local map!
1296
- Relocalization() failed.
1297
- Fail to track local map!
1298
- Relocalization() failed.
1299
- Fail to track local map!
1300
- Relocalization() failed.
1301
- Fail to track local map!
1302
- Relocalization() failed.
1303
- Fail to track local map!
1304
- Relocalization() failed.
1305
- Fail to track local map!
1306
- Relocalization() failed.
1307
- Fail to track local map!
1308
- Relocalization() failed.
1309
- Fail to track local map!
1310
- Relocalization() failed.
1311
- Fail to track local map!
1312
- Relocalization() failed.
1313
- Fail to track local map!
1314
- Relocalization() failed.
1315
- Fail to track local map!
1316
- Relocalization() failed.
1317
- Fail to track local map!
1318
- Relocalization() failed.
1319
- Fail to track local map!
1320
- Relocalization() failed.
1321
- Fail to track local map!
1322
- Relocalization() failed.
1323
- Fail to track local map!
1324
- Relocalization() failed.
1325
- Fail to track local map!
1326
- Relocalization() failed.
1327
- Fail to track local map!
1328
- Relocalization() failed.
1329
- Fail to track local map!
1330
- Relocalization() failed.
1331
- Fail to track local map!
1332
- Relocalization() failed.
1333
- Fail to track local map!
1334
- Relocalization() failed.
1335
- Fail to track local map!
1336
- Relocalization() failed.
1337
- Fail to track local map!
1338
- Relocalization() failed.
1339
- Fail to track local map!
1340
- Relocalization() failed.
1341
- Fail to track local map!
1342
- Relocalization() failed.
1343
- Fail to track local map!
1344
- Relocalization() failed.
1345
- Fail to track local map!
1346
- Relocalization() failed.
1347
- Fail to track local map!
1348
- Relocalization() failed.
1349
- Fail to track local map!
1350
- Relocalization() failed.
1351
- Fail to track local map!
1352
- Relocalization() failed.
1353
- Fail to track local map!
1354
- Relocalization() failed.
1355
- Fail to track local map!
1356
- Relocalization() failed.
1357
- Fail to track local map!
1358
- Relocalization() failed.
1359
- Fail to track local map!
1360
- Relocalization() failed.
1361
- Fail to track local map!
1362
- Relocalization() failed.
1363
- Fail to track local map!
1364
- Relocalization() failed.
1365
- Fail to track local map!
1366
- Relocalization() failed.
1367
- Fail to track local map!
1368
- Relocalization() failed.
1369
- Fail to track local map!
1370
- Relocalization() failed.
1371
- Fail to track local map!
1372
- Relocalization() failed.
1373
- Fail to track local map!
1374
- Relocalization() failed.
1375
- Fail to track local map!
1376
- Video FPS: 59.940059940059939
1377
- ORB-SLAM 3 running at: 21.396048975641691 FPS
1378
- Relocalization() failed.
1379
- Fail to track local map!
1380
- Relocalization() failed.
1381
- Fail to track local map!
1382
- Relocalization() failed.
1383
- Fail to track local map!
1384
- Relocalization() failed.
1385
- Fail to track local map!
1386
- Relocalization() failed.
1387
- Fail to track local map!
1388
- Relocalization() failed.
1389
- Fail to track local map!
1390
- Relocalization() failed.
1391
- Fail to track local map!
1392
- Relocalization() failed.
1393
- Fail to track local map!
1394
- Relocalization() failed.
1395
- Fail to track local map!
1396
- Relocalization() failed.
1397
- Fail to track local map!
1398
- Relocalization() failed.
1399
- Fail to track local map!
1400
- Relocalization() failed.
1401
- Fail to track local map!
1402
- Relocalization() failed.
1403
- Fail to track local map!
1404
- Relocalization() failed.
1405
- Fail to track local map!
1406
- Relocalization() failed.
1407
- Fail to track local map!
1408
- Relocalization() failed.
1409
- Fail to track local map!
1410
- Relocalization() failed.
1411
- Fail to track local map!
1412
- Relocalization() failed.
1413
- Fail to track local map!
1414
- Relocalization() failed.
1415
- Fail to track local map!
1416
- Relocalization() failed.
1417
- Fail to track local map!
1418
- Relocalization() failed.
1419
- Fail to track local map!
1420
- Relocalization() failed.
1421
- Fail to track local map!
1422
- Relocalization() failed.
1423
- Fail to track local map!
1424
- Relocalization() failed.
1425
- Fail to track local map!
1426
- Relocalization() failed.
1427
- Fail to track local map!
1428
- Relocalization() failed.
1429
- Fail to track local map!
1430
- Relocalization() failed.
1431
- Fail to track local map!
1432
- Relocalization() failed.
1433
- Fail to track local map!
1434
- Relocalization() failed.
1435
- Fail to track local map!
1436
- Relocalization() failed.
1437
- Fail to track local map!
1438
- Relocalization() failed.
1439
- Fail to track local map!
1440
- Relocalization() failed.
1441
- Fail to track local map!
1442
- Relocalization() failed.
1443
- Fail to track local map!
1444
- Relocalization() failed.
1445
- Fail to track local map!
1446
- Relocalization() failed.
1447
- Fail to track local map!
1448
- Relocalization() failed.
1449
- Fail to track local map!
1450
- Relocalization() failed.
1451
- Fail to track local map!
1452
- Relocalization() failed.
1453
- Fail to track local map!
1454
- Relocalization() failed.
1455
- Fail to track local map!
1456
- Relocalization() failed.
1457
- Fail to track local map!
1458
- Relocalization() failed.
1459
- Fail to track local map!
1460
- Relocalization() failed.
1461
- Fail to track local map!
1462
- Relocalization() failed.
1463
- Fail to track local map!
1464
- Relocalization() failed.
1465
- Fail to track local map!
1466
- Relocalization() failed.
1467
- Fail to track local map!
1468
- Relocalization() failed.
1469
- Fail to track local map!
1470
- Relocalization() failed.
1471
- Fail to track local map!
1472
- Relocalization() failed.
1473
- Fail to track local map!
1474
- Relocalization() failed.
1475
- Fail to track local map!
1476
- Relocalization() failed.
1477
- Fail to track local map!
1478
- Relocalization() failed.
1479
- Fail to track local map!
1480
- Relocalization() failed.
1481
- Fail to track local map!
1482
- Relocalization() failed.
1483
- Fail to track local map!
1484
- Relocalization() failed.
1485
- Fail to track local map!
1486
- Relocalization() failed.
1487
- Fail to track local map!
1488
- Relocalization() failed.
1489
- Fail to track local map!
1490
- Relocalization() failed.
1491
- Fail to track local map!
1492
- Relocalization() failed.
1493
- Fail to track local map!
1494
- Relocalization() failed.
1495
- Fail to track local map!
1496
- Relocalization() failed.
1497
- Fail to track local map!
1498
- Relocalization() failed.
1499
- Fail to track local map!
1500
- Relocalization() failed.
1501
- Fail to track local map!
1502
- Relocalization() failed.
1503
- Fail to track local map!
1504
- Relocalization() failed.
1505
- Fail to track local map!
1506
- Relocalization() failed.
1507
- Fail to track local map!
1508
- Relocalization() failed.
1509
- Fail to track local map!
1510
- Relocalization() failed.
1511
- Fail to track local map!
1512
- Relocalization() failed.
1513
- Fail to track local map!
1514
- Relocalization() failed.
1515
- Fail to track local map!
1516
- Relocalization() failed.
1517
- Fail to track local map!
1518
- Relocalization() failed.
1519
- Fail to track local map!
1520
- Relocalization() failed.
1521
- Fail to track local map!
1522
- Relocalization() failed.
1523
- Fail to track local map!
1524
- Relocalization() failed.
1525
- Fail to track local map!
1526
- Relocalization() failed.
1527
- Fail to track local map!
1528
- Relocalization() failed.
1529
- Fail to track local map!
1530
- Relocalization() failed.
1531
- Fail to track local map!
1532
- Relocalization() failed.
1533
- Fail to track local map!
1534
- Relocalization() failed.
1535
- Fail to track local map!
1536
- Relocalization() failed.
1537
- Fail to track local map!
1538
- Relocalization() failed.
1539
- Fail to track local map!
1540
- Relocalization() failed.
1541
- Fail to track local map!
1542
- Relocalization() failed.
1543
- Fail to track local map!
1544
- Relocalization() failed.
1545
- Fail to track local map!
1546
- Relocalization() failed.
1547
- Fail to track local map!
1548
- Relocalization() failed.
1549
- Fail to track local map!
1550
- Relocalization() failed.
1551
- Fail to track local map!
1552
- Relocalization() failed.
1553
- Fail to track local map!
1554
- Relocalization() failed.
1555
- Fail to track local map!
1556
- Relocalization() failed.
1557
- Fail to track local map!
1558
- Relocalization() failed.
1559
- Fail to track local map!
1560
- Relocalization() failed.
1561
- Fail to track local map!
1562
- Relocalization() failed.
1563
- Fail to track local map!
1564
- Relocalization() failed.
1565
- Fail to track local map!
1566
- Relocalization() failed.
1567
- Fail to track local map!
1568
- Relocalization() failed.
1569
- Fail to track local map!
1570
- Relocalization() failed.
1571
- Fail to track local map!
1572
- Relocalization() failed.
1573
- Fail to track local map!
1574
- Relocalization() failed.
1575
- Fail to track local map!
1576
- Relocalization() failed.
1577
- Fail to track local map!
1578
- Video FPS: 59.940059940059939
1579
- ORB-SLAM 3 running at: 21.411024176643348 FPS
1580
- Relocalization() failed.
1581
- Fail to track local map!
1582
- Relocalization() failed.
1583
- Fail to track local map!
1584
- Relocalization() failed.
1585
- Fail to track local map!
1586
- Relocalization() failed.
1587
- Fail to track local map!
1588
- Relocalization() failed.
1589
- Fail to track local map!
1590
- Relocalization() failed.
1591
- Fail to track local map!
1592
- Relocalization() failed.
1593
- Fail to track local map!
1594
- Relocalization() failed.
1595
- Fail to track local map!
1596
- Relocalization() failed.
1597
- Fail to track local map!
1598
- Relocalization() failed.
1599
- Fail to track local map!
1600
- Relocalization() failed.
1601
- Fail to track local map!
1602
- Relocalization() failed.
1603
- Fail to track local map!
1604
- Relocalization() failed.
1605
- Fail to track local map!
1606
- Relocalization() failed.
1607
- Fail to track local map!
1608
- Relocalization() failed.
1609
- Fail to track local map!
1610
- Relocalization() failed.
1611
- Fail to track local map!
1612
- Relocalization() failed.
1613
- Fail to track local map!
1614
- Relocalization() failed.
1615
- Fail to track local map!
1616
- Relocalization() failed.
1617
- Fail to track local map!
1618
- Relocalization() failed.
1619
- Fail to track local map!
1620
- Relocalization() failed.
1621
- Fail to track local map!
1622
- Relocalization() failed.
1623
- Fail to track local map!
1624
- Relocalization() failed.
1625
- Fail to track local map!
1626
- Relocalization() failed.
1627
- Fail to track local map!
1628
- Relocalization() failed.
1629
- Fail to track local map!
1630
- Relocalization() failed.
1631
- Fail to track local map!
1632
- Relocalization() failed.
1633
- Fail to track local map!
1634
- Relocalization() failed.
1635
- Fail to track local map!
1636
- Relocalization() failed.
1637
- Fail to track local map!
1638
- Relocalization() failed.
1639
- Fail to track local map!
1640
- Relocalization() failed.
1641
- Fail to track local map!
1642
- Relocalization() failed.
1643
- Fail to track local map!
1644
- Relocalization() failed.
1645
- Fail to track local map!
1646
- Relocalization() failed.
1647
- Fail to track local map!
1648
- Relocalization() failed.
1649
- Fail to track local map!
1650
- Relocalization() failed.
1651
- Fail to track local map!
1652
- Relocalization() failed.
1653
- Fail to track local map!
1654
- Relocalization() failed.
1655
- Fail to track local map!
1656
- Relocalization() failed.
1657
- Fail to track local map!
1658
- Relocalization() failed.
1659
- Fail to track local map!
1660
- Relocalization() failed.
1661
- Fail to track local map!
1662
- Relocalization() failed.
1663
- Fail to track local map!
1664
- Relocalization() failed.
1665
- Fail to track local map!
1666
- Relocalization() failed.
1667
- Fail to track local map!
1668
- Relocalization() failed.
1669
- Fail to track local map!
1670
- Relocalization() failed.
1671
- Fail to track local map!
1672
- Relocalization() failed.
1673
- Fail to track local map!
1674
- Relocalization() failed.
1675
- Fail to track local map!
1676
- Relocalization() failed.
1677
- Fail to track local map!
1678
- Relocalization() failed.
1679
- Fail to track local map!
1680
- Relocalization() failed.
1681
- Fail to track local map!
1682
- Relocalization() failed.
1683
- Fail to track local map!
1684
- Relocalization() failed.
1685
- Fail to track local map!
1686
- Relocalization() failed.
1687
- Fail to track local map!
1688
- Relocalization() failed.
1689
- Fail to track local map!
1690
- Relocalization() failed.
1691
- Fail to track local map!
1692
- Relocalization() failed.
1693
- Fail to track local map!
1694
- Relocalization() failed.
1695
- Fail to track local map!
1696
- Relocalization() failed.
1697
- Fail to track local map!
1698
- Relocalization() failed.
1699
- Fail to track local map!
1700
- Relocalization() failed.
1701
- Fail to track local map!
1702
- Relocalization() failed.
1703
- Fail to track local map!
1704
- Relocalization() failed.
1705
- Fail to track local map!
1706
- Relocalization() failed.
1707
- Fail to track local map!
1708
- Relocalization() failed.
1709
- Fail to track local map!
1710
- Relocalization() failed.
1711
- Fail to track local map!
1712
- Relocalization() failed.
1713
- Fail to track local map!
1714
- Relocalization() failed.
1715
- Fail to track local map!
1716
- Relocalization() failed.
1717
- Fail to track local map!
1718
- Relocalization() failed.
1719
- Fail to track local map!
1720
- Relocalization() failed.
1721
- Fail to track local map!
1722
- Relocalization() failed.
1723
- Fail to track local map!
1724
- Relocalization() failed.
1725
- Fail to track local map!
1726
- Relocalization() failed.
1727
- Fail to track local map!
1728
- Relocalization() failed.
1729
- Fail to track local map!
1730
- Relocalization() failed.
1731
- Fail to track local map!
1732
- Relocalization() failed.
1733
- Fail to track local map!
1734
- Relocalization() failed.
1735
- Fail to track local map!
1736
- Relocalization() failed.
1737
- Fail to track local map!
1738
- Relocalization() failed.
1739
- Fail to track local map!
1740
- Relocalization() failed.
1741
- Fail to track local map!
1742
- Relocalization() failed.
1743
- Fail to track local map!
1744
- Relocalization() failed.
1745
- Fail to track local map!
1746
- Relocalization() failed.
1747
- Fail to track local map!
1748
- Relocalization() failed.
1749
- Fail to track local map!
1750
- Relocalization() failed.
1751
- Fail to track local map!
1752
- Relocalization() failed.
1753
- Fail to track local map!
1754
- Relocalization() failed.
1755
- Fail to track local map!
1756
- Relocalization() failed.
1757
- Fail to track local map!
1758
- Relocalization() failed.
1759
- Fail to track local map!
1760
- Relocalization() failed.
1761
- Fail to track local map!
1762
- Relocalization() failed.
1763
- Fail to track local map!
1764
- Relocalization() failed.
1765
- Fail to track local map!
1766
- Relocalization() failed.
1767
- Fail to track local map!
1768
- Relocalization() failed.
1769
- Fail to track local map!
1770
- Relocalization() failed.
1771
- Fail to track local map!
1772
- Relocalization() failed.
1773
- Fail to track local map!
1774
- Relocalization() failed.
1775
- Fail to track local map!
1776
- Relocalization() failed.
1777
- Fail to track local map!
1778
- Relocalization() failed.
1779
- Fail to track local map!
1780
- Video FPS: 59.940059940059939
1781
- ORB-SLAM 3 running at: 20.743422696274887 FPS
1782
- Relocalization() failed.
1783
- Fail to track local map!
1784
- Relocalization() failed.
1785
- Fail to track local map!
1786
- Relocalization() failed.
1787
- Fail to track local map!
1788
- Relocalization() failed.
1789
- Fail to track local map!
1790
- Relocalization() failed.
1791
- Fail to track local map!
1792
- Relocalization() failed.
1793
- Fail to track local map!
1794
- Relocalization() failed.
1795
- Fail to track local map!
1796
- Relocalization() failed.
1797
- Fail to track local map!
1798
- Relocalization() failed.
1799
- Fail to track local map!
1800
- Relocalization() failed.
1801
- Fail to track local map!
1802
- Relocalization() failed.
1803
- Fail to track local map!
1804
- Relocalization() failed.
1805
- Fail to track local map!
1806
- Relocalization() failed.
1807
- Fail to track local map!
1808
- Relocalization() failed.
1809
- Fail to track local map!
1810
- Relocalization() failed.
1811
- Fail to track local map!
1812
- Relocalization() failed.
1813
- Fail to track local map!
1814
- Relocalization() failed.
1815
- Fail to track local map!
1816
- Relocalization() failed.
1817
- Fail to track local map!
1818
- Relocalization() failed.
1819
- Fail to track local map!
1820
- Relocalization() failed.
1821
- Fail to track local map!
1822
- Relocalization() failed.
1823
- Fail to track local map!
1824
- Relocalization() failed.
1825
- Fail to track local map!
1826
- Relocalization() failed.
1827
- Fail to track local map!
1828
- Relocalization() failed.
1829
- Fail to track local map!
1830
- Relocalization() failed.
1831
- Fail to track local map!
1832
- Relocalization() failed.
1833
- Fail to track local map!
1834
- Relocalization() failed.
1835
- Fail to track local map!
1836
- Relocalization() failed.
1837
- Fail to track local map!
1838
- Relocalization() failed.
1839
- Fail to track local map!
1840
- Relocalization() failed.
1841
- Fail to track local map!
1842
- Relocalization() failed.
1843
- Fail to track local map!
1844
- Relocalization() failed.
1845
- Fail to track local map!
1846
- Relocalization() failed.
1847
- Fail to track local map!
1848
- Relocalization() failed.
1849
- Fail to track local map!
1850
- Relocalization() failed.
1851
- Fail to track local map!
1852
- Relocalization() failed.
1853
- Fail to track local map!
1854
- Relocalization() failed.
1855
- Fail to track local map!
1856
- Relocalization() failed.
1857
- Fail to track local map!
1858
- Relocalization() failed.
1859
- Fail to track local map!
1860
- Relocalization() failed.
1861
- Fail to track local map!
1862
- Relocalization() failed.
1863
- Fail to track local map!
1864
- Relocalization() failed.
1865
- Fail to track local map!
1866
- Relocalization() failed.
1867
- Fail to track local map!
1868
- Relocalization() failed.
1869
- Fail to track local map!
1870
- Relocalization() failed.
1871
- Fail to track local map!
1872
- Relocalization() failed.
1873
- Fail to track local map!
1874
- Relocalization() failed.
1875
- Fail to track local map!
1876
- Relocalization() failed.
1877
- Fail to track local map!
1878
- Relocalization() failed.
1879
- Fail to track local map!
1880
- Relocalization() failed.
1881
- Fail to track local map!
1882
- Relocalization() failed.
1883
- Fail to track local map!
1884
- Relocalization() failed.
1885
- Fail to track local map!
1886
- Relocalization() failed.
1887
- Fail to track local map!
1888
- Relocalization() failed.
1889
- Fail to track local map!
1890
- Relocalization() failed.
1891
- Fail to track local map!
1892
- Relocalization() failed.
1893
- Fail to track local map!
1894
- Relocalization() failed.
1895
- Fail to track local map!
1896
- Relocalization() failed.
1897
- Fail to track local map!
1898
- Relocalization() failed.
1899
- Fail to track local map!
1900
- Relocalization() failed.
1901
- Fail to track local map!
1902
- Relocalization() failed.
1903
- Fail to track local map!
1904
- Relocalization() failed.
1905
- Fail to track local map!
1906
- Relocalization() failed.
1907
- Fail to track local map!
1908
- Relocalization() failed.
1909
- Fail to track local map!
1910
- Relocalization() failed.
1911
- Fail to track local map!
1912
- Relocalization() failed.
1913
- Fail to track local map!
1914
- Relocalization() failed.
1915
- Fail to track local map!
1916
- Relocalization() failed.
1917
- Fail to track local map!
1918
- Relocalization() failed.
1919
- Fail to track local map!
1920
- Relocalization() failed.
1921
- Fail to track local map!
1922
- Relocalization() failed.
1923
- Fail to track local map!
1924
- Relocalization() failed.
1925
- Fail to track local map!
1926
- Relocalization() failed.
1927
- Fail to track local map!
1928
- Relocalization() failed.
1929
- Fail to track local map!
1930
- Relocalization() failed.
1931
- Fail to track local map!
1932
- Relocalization() failed.
1933
- Fail to track local map!
1934
- Relocalization() failed.
1935
- Fail to track local map!
1936
- Relocalization() failed.
1937
- Fail to track local map!
1938
- Relocalization() failed.
1939
- Fail to track local map!
1940
- Relocalization() failed.
1941
- Fail to track local map!
1942
- Relocalization() failed.
1943
- Fail to track local map!
1944
- Relocalization() failed.
1945
- Fail to track local map!
1946
- Relocalization() failed.
1947
- Fail to track local map!
1948
- Relocalization() failed.
1949
- Fail to track local map!
1950
- Relocalization() failed.
1951
- Fail to track local map!
1952
- Relocalization() failed.
1953
- Fail to track local map!
1954
- Relocalization() failed.
1955
- Fail to track local map!
1956
- Relocalization() failed.
1957
- Fail to track local map!
1958
- Relocalization() failed.
1959
- Fail to track local map!
1960
- Relocalization() failed.
1961
- Fail to track local map!
1962
- Relocalization() failed.
1963
- Fail to track local map!
1964
- Relocalization() failed.
1965
- Fail to track local map!
1966
- Relocalization() failed.
1967
- Fail to track local map!
1968
- Relocalization() failed.
1969
- Fail to track local map!
1970
- Relocalization() failed.
1971
- Fail to track local map!
1972
- Relocalization() failed.
1973
- Fail to track local map!
1974
- Relocalization() failed.
1975
- Fail to track local map!
1976
- Relocalization() failed.
1977
- Fail to track local map!
1978
- Relocalization() failed.
1979
- Fail to track local map!
1980
- Relocalization() failed.
1981
- Fail to track local map!
1982
- Video FPS: 59.940059940059939
1983
- ORB-SLAM 3 running at: 22.393427439472806 FPS
1984
- Relocalization() failed.
1985
- Fail to track local map!
1986
- Relocalization() failed.
1987
- Fail to track local map!
1988
- Relocalization() failed.
1989
- Fail to track local map!
1990
- Relocalization() failed.
1991
- Fail to track local map!
1992
- Relocalization() failed.
1993
- Fail to track local map!
1994
- Relocalization() failed.
1995
- Fail to track local map!
1996
- Relocalization() failed.
1997
- Fail to track local map!
1998
- Relocalization() failed.
1999
- Fail to track local map!
2000
- Relocalization() failed.
2001
- Fail to track local map!
2002
- Relocalization() failed.
2003
- Fail to track local map!
2004
- Relocalization() failed.
2005
- Fail to track local map!
2006
- Relocalization() failed.
2007
- Fail to track local map!
2008
- Relocalization() failed.
2009
- Fail to track local map!
2010
- Relocalization() failed.
2011
- Fail to track local map!
2012
- Relocalization() failed.
2013
- Fail to track local map!
2014
- Relocalization() failed.
2015
- Fail to track local map!
2016
- Relocalization() failed.
2017
- Fail to track local map!
2018
- Relocalization() failed.
2019
- Fail to track local map!
2020
- Relocalization() failed.
2021
- Fail to track local map!
2022
- Relocalization() failed.
2023
- Fail to track local map!
2024
- Relocalization() failed.
2025
- Fail to track local map!
2026
- Relocalization() failed.
2027
- Fail to track local map!
2028
- Relocalization() failed.
2029
- Fail to track local map!
2030
- Relocalization() failed.
2031
- Fail to track local map!
2032
- Relocalization() failed.
2033
- Fail to track local map!
2034
- Relocalization() failed.
2035
- Fail to track local map!
2036
- Relocalization() failed.
2037
- Fail to track local map!
2038
- Relocalization() failed.
2039
- Fail to track local map!
2040
- Relocalization() failed.
2041
- Fail to track local map!
2042
- Relocalization() failed.
2043
- Fail to track local map!
2044
- Relocalization() failed.
2045
- Fail to track local map!
2046
- Relocalization() failed.
2047
- Fail to track local map!
2048
- Relocalization() failed.
2049
- Fail to track local map!
2050
- Relocalization() failed.
2051
- Fail to track local map!
2052
- Relocalization() failed.
2053
- Fail to track local map!
2054
- Relocalization() failed.
2055
- Fail to track local map!
2056
- Relocalization() failed.
2057
- Fail to track local map!
2058
- Relocalization() failed.
2059
- Fail to track local map!
2060
- Relocalization() failed.
2061
- Fail to track local map!
2062
- Relocalization() failed.
2063
- Fail to track local map!
2064
- Relocalization() failed.
2065
- Fail to track local map!
2066
- Relocalization() failed.
2067
- Fail to track local map!
2068
- Relocalization() failed.
2069
- Fail to track local map!
2070
- Relocalization() failed.
2071
- Fail to track local map!
2072
- Relocalization() failed.
2073
- Fail to track local map!
2074
- Relocalization() failed.
2075
- Fail to track local map!
2076
- Relocalization() failed.
2077
- Fail to track local map!
2078
- Relocalization() failed.
2079
- Fail to track local map!
2080
- Relocalization() failed.
2081
- Fail to track local map!
2082
- Relocalization() failed.
2083
- Fail to track local map!
2084
- Relocalization() failed.
2085
- Fail to track local map!
2086
- Relocalization() failed.
2087
- Fail to track local map!
2088
- Relocalization() failed.
2089
- Fail to track local map!
2090
- Relocalization() failed.
2091
- Fail to track local map!
2092
- Relocalization() failed.
2093
- Fail to track local map!
2094
- Relocalization() failed.
2095
- Fail to track local map!
2096
- Relocalization() failed.
2097
- Fail to track local map!
2098
- Relocalization() failed.
2099
- Fail to track local map!
2100
- Relocalization() failed.
2101
- Fail to track local map!
2102
- Relocalization() failed.
2103
- Fail to track local map!
2104
- Relocalization() failed.
2105
- Fail to track local map!
2106
- Relocalization() failed.
2107
- Fail to track local map!
2108
- Relocalization() failed.
2109
- Fail to track local map!
2110
- Relocalization() failed.
2111
- Fail to track local map!
2112
- Relocalization() failed.
2113
- Fail to track local map!
2114
- Relocalization() failed.
2115
- Fail to track local map!
2116
- Relocalization() failed.
2117
- Fail to track local map!
2118
- Relocalization() failed.
2119
- Fail to track local map!
2120
- Relocalization() failed.
2121
- Fail to track local map!
2122
- Relocalization() failed.
2123
- Fail to track local map!
2124
- Relocalization() failed.
2125
- Fail to track local map!
2126
- Relocalization() failed.
2127
- Fail to track local map!
2128
- Relocalization() failed.
2129
- Fail to track local map!
2130
- Relocalization() failed.
2131
- Fail to track local map!
2132
- Relocalization() failed.
2133
- Fail to track local map!
2134
- Relocalization() failed.
2135
- Fail to track local map!
2136
- Relocalization() failed.
2137
- Fail to track local map!
2138
- Relocalization() failed.
2139
- Fail to track local map!
2140
- Relocalization() failed.
2141
- Fail to track local map!
2142
- Relocalization() failed.
2143
- Fail to track local map!
2144
- Relocalization() failed.
2145
- Fail to track local map!
2146
- Relocalization() failed.
2147
- Fail to track local map!
2148
- Relocalization() failed.
2149
- Fail to track local map!
2150
- Relocalization() failed.
2151
- Fail to track local map!
2152
- Relocalization() failed.
2153
- Fail to track local map!
2154
- Relocalization() failed.
2155
- Fail to track local map!
2156
- Relocalization() failed.
2157
- Fail to track local map!
2158
- Relocalization() failed.
2159
- Fail to track local map!
2160
- Relocalization() failed.
2161
- Fail to track local map!
2162
- Relocalization() failed.
2163
- Fail to track local map!
2164
- Relocalization() failed.
2165
- Fail to track local map!
2166
- Relocalization() failed.
2167
- Fail to track local map!
2168
- Relocalization() failed.
2169
- Fail to track local map!
2170
- Relocalization() failed.
2171
- Fail to track local map!
2172
- Relocalization() failed.
2173
- Fail to track local map!
2174
- Relocalization() failed.
2175
- Fail to track local map!
2176
- Relocalization() failed.
2177
- Fail to track local map!
2178
- Relocalization() failed.
2179
- Fail to track local map!
2180
- Relocalization() failed.
2181
- Fail to track local map!
2182
- Relocalization() failed.
2183
- Fail to track local map!
2184
- Video FPS: 59.940059940059939
2185
- ORB-SLAM 3 running at: 30.146974944005006 FPS
2186
- Relocalization() failed.
2187
- Fail to track local map!
2188
- Relocalization() failed.
2189
- Fail to track local map!
2190
- Relocalization() failed.
2191
- Fail to track local map!
2192
- Relocalization() failed.
2193
- Fail to track local map!
2194
- Relocalization() failed.
2195
- Fail to track local map!
2196
- Relocalization() failed.
2197
- Fail to track local map!
2198
- Relocalization() failed.
2199
- Fail to track local map!
2200
- Relocalization() failed.
2201
- Fail to track local map!
2202
- Relocalization() failed.
2203
- Fail to track local map!
2204
- Relocalization() failed.
2205
- Fail to track local map!
2206
- Relocalization() failed.
2207
- Fail to track local map!
2208
- Relocalization() failed.
2209
- Fail to track local map!
2210
- Relocalization() failed.
2211
- Fail to track local map!
2212
- Relocalization() failed.
2213
- Fail to track local map!
2214
- Relocalization() failed.
2215
- Fail to track local map!
2216
- Relocalization() failed.
2217
- Fail to track local map!
2218
- Relocalization() failed.
2219
- Fail to track local map!
2220
- Relocalization() failed.
2221
- Fail to track local map!
2222
- Relocalization() failed.
2223
- Fail to track local map!
2224
- Relocalization() failed.
2225
- Fail to track local map!
2226
- Relocalization() failed.
2227
- Fail to track local map!
2228
- Relocalization() failed.
2229
- Fail to track local map!
2230
- Relocalization() failed.
2231
- Fail to track local map!
2232
- Relocalization() failed.
2233
- Fail to track local map!
2234
- Relocalization() failed.
2235
- Fail to track local map!
2236
- Relocalization() failed.
2237
- Fail to track local map!
2238
- Relocalization() failed.
2239
- Fail to track local map!
2240
- Relocalization() failed.
2241
- Fail to track local map!
2242
- Relocalization() failed.
2243
- Fail to track local map!
2244
- Relocalization() failed.
2245
- Fail to track local map!
2246
- Relocalization() failed.
2247
- Fail to track local map!
2248
- Relocalization() failed.
2249
- Fail to track local map!
2250
- Relocalization() failed.
2251
- Fail to track local map!
2252
- Relocalization() failed.
2253
- Fail to track local map!
2254
- Relocalization() failed.
2255
- Fail to track local map!
2256
- Relocalization() failed.
2257
- Fail to track local map!
2258
- Relocalization() failed.
2259
- Fail to track local map!
2260
- Relocalization() failed.
2261
- Fail to track local map!
2262
- Relocalization() failed.
2263
- Fail to track local map!
2264
- Relocalization() failed.
2265
- Fail to track local map!
2266
- Relocalization() failed.
2267
- Fail to track local map!
2268
- Relocalization() failed.
2269
- Fail to track local map!
2270
- Relocalization() failed.
2271
- Fail to track local map!
2272
- Relocalization() failed.
2273
- Fail to track local map!
2274
- Relocalization() failed.
2275
- Fail to track local map!
2276
- Relocalization() failed.
2277
- Fail to track local map!
2278
- Relocalization() failed.
2279
- Fail to track local map!
2280
- Relocalization() failed.
2281
- Fail to track local map!
2282
- Relocalization() failed.
2283
- Fail to track local map!
2284
- Relocalization() failed.
2285
- Fail to track local map!
2286
- Relocalization() failed.
2287
- Fail to track local map!
2288
- Relocalization() failed.
2289
- Fail to track local map!
2290
- Relocalization() failed.
2291
- Fail to track local map!
2292
- Relocalization() failed.
2293
- Fail to track local map!
2294
- Relocalization() failed.
2295
- Fail to track local map!
2296
- Relocalization() failed.
2297
- Fail to track local map!
2298
- Relocalization() failed.
2299
- Fail to track local map!
2300
- Relocalization() failed.
2301
- Fail to track local map!
2302
- Relocalization() failed.
2303
- Fail to track local map!
2304
- Relocalization() failed.
2305
- Fail to track local map!
2306
- Relocalization() failed.
2307
- Fail to track local map!
2308
- Relocalization() failed.
2309
- Fail to track local map!
2310
- Relocalization() failed.
2311
- Fail to track local map!
2312
- Relocalization() failed.
2313
- Fail to track local map!
2314
- Relocalization() failed.
2315
- Fail to track local map!
2316
- Relocalization() failed.
2317
- Fail to track local map!
2318
- Relocalization() failed.
2319
- Fail to track local map!
2320
- Relocalization() failed.
2321
- Fail to track local map!
2322
- Relocalization() failed.
2323
- Fail to track local map!
2324
- Relocalization() failed.
2325
- Fail to track local map!
2326
- Relocalization() failed.
2327
- Fail to track local map!
2328
- Relocalization() failed.
2329
- Fail to track local map!
2330
- Relocalization() failed.
2331
- Fail to track local map!
2332
- Relocalization() failed.
2333
- Fail to track local map!
2334
- Relocalization() failed.
2335
- Fail to track local map!
2336
- Relocalization() failed.
2337
- Fail to track local map!
2338
- Relocalization() failed.
2339
- Fail to track local map!
2340
- Relocalization() failed.
2341
- Fail to track local map!
2342
- Relocalization() failed.
2343
- Fail to track local map!
2344
- Relocalization() failed.
2345
- Fail to track local map!
2346
- Relocalization() failed.
2347
- Fail to track local map!
2348
- Relocalization() failed.
2349
- Fail to track local map!
2350
- Relocalization() failed.
2351
- Fail to track local map!
2352
- Relocalization() failed.
2353
- Fail to track local map!
2354
- Relocalization() failed.
2355
- Fail to track local map!
2356
- Relocalization() failed.
2357
- Fail to track local map!
2358
- Relocalization() failed.
2359
- Fail to track local map!
2360
- Relocalization() failed.
2361
- Fail to track local map!
2362
- Relocalization() failed.
2363
- Fail to track local map!
2364
- Relocalization() failed.
2365
- Fail to track local map!
2366
- Relocalization() failed.
2367
- Fail to track local map!
2368
- Relocalization() failed.
2369
- Fail to track local map!
2370
- Relocalization() failed.
2371
- Fail to track local map!
2372
- Relocalization() failed.
2373
- Fail to track local map!
2374
- Relocalization() failed.
2375
- Fail to track local map!
2376
- Relocalization() failed.
2377
- Fail to track local map!
2378
- Relocalization() failed.
2379
- Fail to track local map!
2380
- Relocalization() failed.
2381
- Fail to track local map!
2382
- Relocalization() failed.
2383
- Fail to track local map!
2384
- Relocalization() failed.
2385
- Fail to track local map!
2386
- Video FPS: 59.940059940059939
2387
- ORB-SLAM 3 running at: 35.873815289671192 FPS
2388
- Relocalization() failed.
2389
- Fail to track local map!
2390
- Relocalization() failed.
2391
- Fail to track local map!
2392
- Relocalization() failed.
2393
- Fail to track local map!
2394
- Relocalization() failed.
2395
- Fail to track local map!
2396
- Relocalization() failed.
2397
- Fail to track local map!
2398
- Relocalization() failed.
2399
- Fail to track local map!
2400
- Relocalization() failed.
2401
- Fail to track local map!
2402
- Relocalization() failed.
2403
- Fail to track local map!
2404
- Relocalization() failed.
2405
- Fail to track local map!
2406
- Relocalization() failed.
2407
- Fail to track local map!
2408
- Relocalization() failed.
2409
- Fail to track local map!
2410
- Relocalization() failed.
2411
- Fail to track local map!
2412
- Relocalization() failed.
2413
- Fail to track local map!
2414
- Relocalization() failed.
2415
- Fail to track local map!
2416
- Relocalization() failed.
2417
- Fail to track local map!
2418
- Relocalization() failed.
2419
- Fail to track local map!
2420
- Relocalization() failed.
2421
- Fail to track local map!
2422
- Relocalization() failed.
2423
- Fail to track local map!
2424
- Relocalization() failed.
2425
- Fail to track local map!
2426
- Relocalization() failed.
2427
- Fail to track local map!
2428
- Relocalization() failed.
2429
- Fail to track local map!
2430
- Relocalization() failed.
2431
- Fail to track local map!
2432
- Relocalization() failed.
2433
- Fail to track local map!
2434
- Relocalization() failed.
2435
- Fail to track local map!
2436
- Relocalization() failed.
2437
- Fail to track local map!
2438
- Relocalization() failed.
2439
- Fail to track local map!
2440
- Relocalization() failed.
2441
- Fail to track local map!
2442
- Relocalization() failed.
2443
- Fail to track local map!
2444
- Relocalization() failed.
2445
- Fail to track local map!
2446
- Relocalization() failed.
2447
- Fail to track local map!
2448
- Relocalization() failed.
2449
- Fail to track local map!
2450
- Relocalization() failed.
2451
- Fail to track local map!
2452
- Relocalization() failed.
2453
- Fail to track local map!
2454
- Relocalization() failed.
2455
- Fail to track local map!
2456
- Relocalization() failed.
2457
- Fail to track local map!
2458
- Relocalization() failed.
2459
- Fail to track local map!
2460
- Relocalization() failed.
2461
- Fail to track local map!
2462
- Relocalization() failed.
2463
- Fail to track local map!
2464
- Relocalization() failed.
2465
- Fail to track local map!
2466
- Relocalization() failed.
2467
- Fail to track local map!
2468
- Relocalization() failed.
2469
- Fail to track local map!
2470
- Relocalization() failed.
2471
- Fail to track local map!
2472
- Relocalization() failed.
2473
- Fail to track local map!
2474
- Relocalization() failed.
2475
- Fail to track local map!
2476
- Relocalization() failed.
2477
- Fail to track local map!
2478
- Relocalization() failed.
2479
- Fail to track local map!
2480
- Relocalization() failed.
2481
- Fail to track local map!
2482
- Relocalization() failed.
2483
- Fail to track local map!
2484
- Relocalization() failed.
2485
- Fail to track local map!
2486
- Relocalization() failed.
2487
- Fail to track local map!
2488
- Relocalization() failed.
2489
- Fail to track local map!
2490
- Relocalization() failed.
2491
- Fail to track local map!
2492
- Relocalization() failed.
2493
- Fail to track local map!
2494
- Relocalization() failed.
2495
- Fail to track local map!
2496
- Relocalization() failed.
2497
- Fail to track local map!
2498
- Relocalization() failed.
2499
- Fail to track local map!
2500
- Relocalization() failed.
2501
- Fail to track local map!
2502
- Relocalization() failed.
2503
- Fail to track local map!
2504
- Relocalization() failed.
2505
- Fail to track local map!
2506
- Relocalization() failed.
2507
- Fail to track local map!
2508
- Relocalization() failed.
2509
- Fail to track local map!
2510
- Relocalization() failed.
2511
- Fail to track local map!
2512
- Relocalization() failed.
2513
- Fail to track local map!
2514
- Relocalization() failed.
2515
- Fail to track local map!
2516
- Relocalization() failed.
2517
- Fail to track local map!
2518
- Relocalization() failed.
2519
- Fail to track local map!
2520
- Relocalization() failed.
2521
- Fail to track local map!
2522
- Relocalization() failed.
2523
- Fail to track local map!
2524
- Relocalization() failed.
2525
- Fail to track local map!
2526
- Relocalization() failed.
2527
- Fail to track local map!
2528
- Relocalization() failed.
2529
- Fail to track local map!
2530
- Relocalization() failed.
2531
- Fail to track local map!
2532
- Relocalization() failed.
2533
- Fail to track local map!
2534
- Relocalization() failed.
2535
- Fail to track local map!
2536
- Relocalization() failed.
2537
- Fail to track local map!
2538
- Relocalization() failed.
2539
- Fail to track local map!
2540
- Relocalization() failed.
2541
- Fail to track local map!
2542
- Relocalization() failed.
2543
- Fail to track local map!
2544
- Relocalization() failed.
2545
- Fail to track local map!
2546
- Relocalization() failed.
2547
- Fail to track local map!
2548
- Relocalization() failed.
2549
- Fail to track local map!
2550
- Relocalization() failed.
2551
- Fail to track local map!
2552
- Relocalization() failed.
2553
- Fail to track local map!
2554
- Relocalization() failed.
2555
- Fail to track local map!
2556
- Relocalization() failed.
2557
- Fail to track local map!
2558
- Relocalization() failed.
2559
- Fail to track local map!
2560
- Relocalization() failed.
2561
- Fail to track local map!
2562
- Relocalization() failed.
2563
- Fail to track local map!
2564
- Relocalization() failed.
2565
- Fail to track local map!
2566
- Relocalization() failed.
2567
- Fail to track local map!
2568
- Relocalization() failed.
2569
- Fail to track local map!
2570
- Relocalization() failed.
2571
- Fail to track local map!
2572
- Relocalization() failed.
2573
- Fail to track local map!
2574
- Relocalization() failed.
2575
- Fail to track local map!
2576
- Relocalization() failed.
2577
- Fail to track local map!
2578
- Relocalization() failed.
2579
- Fail to track local map!
2580
- Relocalization() failed.
2581
- Fail to track local map!
2582
- Relocalization() failed.
2583
- Fail to track local map!
2584
- Relocalization() failed.
2585
- Fail to track local map!
2586
- Relocalization() failed.
2587
- Fail to track local map!
2588
- Video FPS: 59.940059940059939
2589
- ORB-SLAM 3 running at: 33.758315643694615 FPS
2590
- Relocalization() failed.
2591
- Fail to track local map!
2592
- Relocalization() failed.
2593
- Fail to track local map!
2594
- Relocalization() failed.
2595
- Fail to track local map!
2596
- Relocalization() failed.
2597
- Fail to track local map!
2598
- Relocalization() failed.
2599
- Fail to track local map!
2600
- Relocalization() failed.
2601
- Fail to track local map!
2602
- Relocalization() failed.
2603
- Fail to track local map!
2604
- Relocalization() failed.
2605
- Fail to track local map!
2606
- Relocalization() failed.
2607
- Fail to track local map!
2608
- Relocalization() failed.
2609
- Fail to track local map!
2610
- Relocalization() failed.
2611
- Fail to track local map!
2612
- Relocalization() failed.
2613
- Fail to track local map!
2614
- Relocalization() failed.
2615
- Fail to track local map!
2616
- Relocalization() failed.
2617
- Fail to track local map!
2618
- Relocalization() failed.
2619
- Fail to track local map!
2620
- Relocalization() failed.
2621
- Fail to track local map!
2622
- Relocalization() failed.
2623
- Fail to track local map!
2624
- Relocalization() failed.
2625
- Fail to track local map!
2626
- Relocalization() failed.
2627
- Fail to track local map!
2628
- Relocalization() failed.
2629
- Fail to track local map!
2630
- Relocalization() failed.
2631
- Fail to track local map!
2632
- Relocalization() failed.
2633
- Fail to track local map!
2634
- Relocalization() failed.
2635
- Fail to track local map!
2636
- Relocalization() failed.
2637
- Fail to track local map!
2638
- Relocalization() failed.
2639
- Fail to track local map!
2640
- Relocalization() failed.
2641
- Fail to track local map!
2642
- Relocalization() failed.
2643
- Fail to track local map!
2644
- Relocalization() failed.
2645
- Fail to track local map!
2646
- Relocalization() failed.
2647
- Fail to track local map!
2648
- Relocalization() failed.
2649
- Fail to track local map!
2650
- Relocalization() failed.
2651
- Fail to track local map!
2652
- Relocalization() failed.
2653
- Fail to track local map!
2654
- Relocalization() failed.
2655
- Fail to track local map!
2656
- Relocalization() failed.
2657
- Fail to track local map!
2658
- Relocalization() failed.
2659
- Fail to track local map!
2660
- Relocalization() failed.
2661
- Fail to track local map!
2662
- Relocalization() failed.
2663
- Fail to track local map!
2664
- Relocalization() failed.
2665
- Fail to track local map!
2666
- Relocalization() failed.
2667
- Fail to track local map!
2668
- Relocalization() failed.
2669
- Fail to track local map!
2670
- Relocalization() failed.
2671
- Fail to track local map!
2672
- Relocalization() failed.
2673
- Fail to track local map!
2674
- Relocalization() failed.
2675
- Fail to track local map!
2676
- Relocalization() failed.
2677
- Fail to track local map!
2678
- Relocalization() failed.
2679
- Fail to track local map!
2680
- Relocalization() failed.
2681
- Fail to track local map!
2682
- Relocalization() failed.
2683
- Fail to track local map!
2684
- Relocalization() failed.
2685
- Fail to track local map!
2686
- Relocalization() failed.
2687
- Fail to track local map!
2688
- Relocalization() failed.
2689
- Fail to track local map!
2690
- Relocalization() failed.
2691
- Fail to track local map!
2692
- Relocalization() failed.
2693
- Fail to track local map!
2694
- Relocalization() failed.
2695
- Fail to track local map!
2696
- Relocalization() failed.
2697
- Fail to track local map!
2698
- Shutdown
2699
- mpLocalMapper is not finished
2700
- mpLoopCloser is not finished
2701
-
2702
- Saving camera trajectory to /data/camera_trajectory.csv ...
2703
- There are 1 maps in the atlas
2704
- Map 0 has 82 KFs
2705
-
2706
- CSV camera trajectory saved!
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3968dff3804921951dfb45d54aa1104f41f21ab56ae7215ce03b5ba80d463942
3
+ size 70031
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.15.37.195383/camera_trajectory.csv CHANGED
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+ size 43698
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.15.37.195383/extract_gopro_imu_stdout.txt CHANGED
@@ -1,9 +1,3 @@
1
- Input video path: /data/raw_video.mp4
2
- Output file will be: /data/imu_data.json
3
- Opening /data/raw_video.mp4
4
- Read stream data from raw_video.mp4
5
- Extracted information for raw_video.mp4
6
- Flushing on end after 134796191 bytes
7
- Generated telemetry for raw_video.mp4
8
- Telemetry saved as JSON to imu_data.json
9
- Done
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:de3d140897a1210e79a58eb81db2d4546706af7d028d80df820dd119d2649de3
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+ size 305
 
 
 
 
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.15.37.195383/imu_data.json CHANGED
The diff for this file is too large to render. See raw diff
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.15.37.195383/slam_stderr.txt CHANGED
@@ -1,5 +1,3 @@
1
- Camera.newHeight optional parameter does not exist...
2
- Camera.newWidth optional parameter does not exist...
3
- IMU.InsertKFsWhenLost optional parameter does not exist...
4
- System.LoadAtlasFromFile optional parameter does not exist...
5
- System.SaveAtlasToFile optional parameter does not exist...
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a
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+ size 288
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.15.37.195383/slam_stdout.txt CHANGED
@@ -1,2238 +1,3 @@
1
- Mask img size mismatch! Converting [2704 x 2028] to [640 x 480]
2
-
3
- ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
- ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
- This program comes with ABSOLUTELY NO WARRANTY;
6
- This is free software, and you are welcome to redistribute it
7
- under certain conditions. See LICENSE.txt.
8
-
9
- Input sensor was set to: Monocular-Inertial
10
- Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_480.yaml
11
- -Loaded camera 1
12
- -Loaded image info
13
- -Loaded IMU calibration
14
- -Loaded ORB settings
15
- -Loaded viewer settings
16
- -Loaded Atlas settings
17
- -Loaded misc parameters
18
- ----------------------------------
19
- SLAM settings:
20
- -Camera 1 parameters (Kannala-Brandt): [ 188.605 188.605 320.574 239.405 -0.0174584 -0.0280825 0.0128327 -0.0045198 ]
21
- -Original image size: [ 640 , 480 ]
22
- -Current image size: [ 640 , 480 ]
23
- -Sequence FPS: 60
24
- -Gyro noise: 0.0015
25
- -Accelerometer noise: 0.017
26
- -Gyro walk: 5e-05
27
- -Accelerometer walk: 0.0055
28
- -IMU frequency: 200
29
- -Features per image: 1250
30
- -ORB scale factor: 1.2
31
- -ORB number of scales: 6
32
- -Initial FAST threshold: 20
33
- -Min FAST threshold: 7
34
-
35
-
36
- Loading ORB Vocabulary. This could take a while...
37
- Vocabulary loaded!
38
-
39
- Initialization of Atlas from file: /map/map_atlas.osa
40
- Starting to read the save binary file
41
- End to load the save binary file
42
- Change to map with id: 0
43
- Atlas loaded!
44
- There are 1 cameras in the atlas
45
- Camera 0 is fisheye
46
- Discard points further than 20 m from current camera
47
- Video opened using backend FFMPEG
48
- There are 1075 frames in total
49
- video FPS 59.9401
50
- line 1873 keyframes 72MapPoints2546
51
- line 1877
52
- mlFrameTimes.size()= 0
53
- KeyFrame::nNextId=393
54
- Relocalization() failed.
55
- Fail to track local map!
56
- Video FPS: 59.9401
57
- ORB-SLAM 3 running at: 12.5338 FPS
58
- Relocalization() failed.
59
- Fail to track local map!
60
- Relocalization() failed.
61
- Fail to track local map!
62
- Relocalization() failed.
63
- Fail to track local map!
64
- Relocalization() failed.
65
- Fail to track local map!
66
- Relocalization() failed.
67
- Fail to track local map!
68
- Relocalization() failed.
69
- Fail to track local map!
70
- Relocalization() failed.
71
- Fail to track local map!
72
- Relocalization() failed.
73
- Fail to track local map!
74
- Relocalization() failed.
75
- Fail to track local map!
76
- Relocalization() failed.
77
- Fail to track local map!
78
- Relocalization() failed.
79
- Fail to track local map!
80
- Relocalization() failed.
81
- Fail to track local map!
82
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83
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84
- Relocalization() failed.
85
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86
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87
- Fail to track local map!
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- Relocalization() failed.
89
- Fail to track local map!
90
- Relocalization() failed.
91
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92
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98
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
221
- Fail to track local map!
222
- Relocalization() failed.
223
- Fail to track local map!
224
- Relocalization() failed.
225
- Fail to track local map!
226
- Relocalization() failed.
227
- Fail to track local map!
228
- Relocalization() failed.
229
- Fail to track local map!
230
- Relocalization() failed.
231
- Fail to track local map!
232
- Relocalization() failed.
233
- Fail to track local map!
234
- Relocalization() failed.
235
- Fail to track local map!
236
- Relocalization() failed.
237
- Fail to track local map!
238
- Relocalization() failed.
239
- Fail to track local map!
240
- Relocalization() failed.
241
- Fail to track local map!
242
- Relocalization() failed.
243
- Fail to track local map!
244
- Relocalization() failed.
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- Fail to track local map!
246
- Relocalization() failed.
247
- Fail to track local map!
248
- Relocalization() failed.
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- Fail to track local map!
250
- Relocalization() failed.
251
- Fail to track local map!
252
- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
255
- Fail to track local map!
256
- Relocalization() failed.
257
- Fail to track local map!
258
- Video FPS: 59.940059940059939
259
- ORB-SLAM 3 running at: 33.209974881635496 FPS
260
- Relocalization() failed.
261
- Fail to track local map!
262
- Relocalization() failed.
263
- Fail to track local map!
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Fail to track local map!
280
- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Fail to track local map!
458
- Relocalization() failed.
459
- Fail to track local map!
460
- Video FPS: 59.940059940059939
461
- ORB-SLAM 3 running at: 29.469201045461162 FPS
462
- Relocalization() failed.
463
- Fail to track local map!
464
- Relocalization() failed.
465
- Fail to track local map!
466
- Relocalization() failed.
467
- Fail to track local map!
468
- Relocalization() failed.
469
- Fail to track local map!
470
- Relocalization() failed.
471
- Fail to track local map!
472
- Relocalized!!
473
- INIT_RELOCALIZE success!
474
- vpKFs.back()->mpImuPreintegrated0x55a78660cf50
475
- pKFCur->mTimeStamp3.4367666666666667
476
- vpKFs.front()->mTimeStamp-59.192458337502089
477
- vpKFs.back()->mTimeStamp-0.01667500416875356
478
- pKFcur->GetMapPointMatches().size()1252
479
- 1691 pKFcur->GetVelocity() 0
480
- 0
481
- 0
482
- pKFcur->mnId393
483
- TRACK_REF_KF: Less than 15 matches!!
484
- Fail to track local map!
485
- Relocalization() failed.
486
- Fail to track local map!
487
- Relocalization() failed.
488
- Fail to track local map!
489
- Relocalization() failed.
490
- Fail to track local map!
491
- Relocalization() failed.
492
- Fail to track local map!
493
- Relocalization() failed.
494
- Fail to track local map!
495
- Relocalization() failed.
496
- Fail to track local map!
497
- Relocalization() failed.
498
- Fail to track local map!
499
- Relocalization() failed.
500
- Fail to track local map!
501
- Relocalization() failed.
502
- Fail to track local map!
503
- Relocalization() failed.
504
- Fail to track local map!
505
- Relocalization() failed.
506
- Fail to track local map!
507
- Relocalization() failed.
508
- Fail to track local map!
509
- Relocalization() failed.
510
- Fail to track local map!
511
- Relocalization() failed.
512
- Fail to track local map!
513
- Relocalization() failed.
514
- Fail to track local map!
515
- Relocalization() failed.
516
- Fail to track local map!
517
- Relocalization() failed.
518
- Fail to track local map!
519
- Relocalization() failed.
520
- Fail to track local map!
521
- Relocalization() failed.
522
- Fail to track local map!
523
- Relocalization() failed.
524
- Fail to track local map!
525
- Relocalization() failed.
526
- Fail to track local map!
527
- Relocalization() failed.
528
- Fail to track local map!
529
- Relocalization() failed.
530
- Fail to track local map!
531
- Relocalization() failed.
532
- Fail to track local map!
533
- Relocalization() failed.
534
- Fail to track local map!
535
- Relocalization() failed.
536
- Fail to track local map!
537
- Relocalization() failed.
538
- Fail to track local map!
539
- Relocalization() failed.
540
- Fail to track local map!
541
- Relocalization() failed.
542
- Fail to track local map!
543
- Relocalization() failed.
544
- Fail to track local map!
545
- Relocalization() failed.
546
- Fail to track local map!
547
- Relocalization() failed.
548
- Fail to track local map!
549
- Relocalization() failed.
550
- Fail to track local map!
551
- Relocalization() failed.
552
- Fail to track local map!
553
- Relocalization() failed.
554
- Fail to track local map!
555
- Relocalization() failed.
556
- Fail to track local map!
557
- Relocalization() failed.
558
- Fail to track local map!
559
- Relocalization() failed.
560
- Fail to track local map!
561
- Relocalization() failed.
562
- Fail to track local map!
563
- Relocalization() failed.
564
- Fail to track local map!
565
- Relocalization() failed.
566
- Fail to track local map!
567
- Relocalization() failed.
568
- Fail to track local map!
569
- Relocalization() failed.
570
- Fail to track local map!
571
- Relocalization() failed.
572
- Fail to track local map!
573
- Relocalization() failed.
574
- Fail to track local map!
575
- Relocalization() failed.
576
- Fail to track local map!
577
- Relocalization() failed.
578
- Fail to track local map!
579
- Relocalization() failed.
580
- Fail to track local map!
581
- Relocalization() failed.
582
- Fail to track local map!
583
- Relocalization() failed.
584
- Fail to track local map!
585
- Relocalization() failed.
586
- Fail to track local map!
587
- Relocalization() failed.
588
- Fail to track local map!
589
- Relocalization() failed.
590
- Fail to track local map!
591
- Relocalization() failed.
592
- Fail to track local map!
593
- Relocalization() failed.
594
- Fail to track local map!
595
- Relocalization() failed.
596
- Fail to track local map!
597
- Relocalization() failed.
598
- Fail to track local map!
599
- Relocalization() failed.
600
- Fail to track local map!
601
- Relocalization() failed.
602
- Fail to track local map!
603
- Relocalization() failed.
604
- Fail to track local map!
605
- Relocalization() failed.
606
- Fail to track local map!
607
- Relocalization() failed.
608
- Fail to track local map!
609
- Relocalization() failed.
610
- Fail to track local map!
611
- Relocalization() failed.
612
- Fail to track local map!
613
- Relocalization() failed.
614
- Fail to track local map!
615
- Relocalization() failed.
616
- Fail to track local map!
617
- Relocalization() failed.
618
- Fail to track local map!
619
- Relocalization() failed.
620
- Fail to track local map!
621
- Relocalization() failed.
622
- Fail to track local map!
623
- Relocalization() failed.
624
- Fail to track local map!
625
- Relocalization() failed.
626
- Fail to track local map!
627
- Relocalization() failed.
628
- Fail to track local map!
629
- Relocalization() failed.
630
- Fail to track local map!
631
- Relocalization() failed.
632
- Fail to track local map!
633
- Relocalization() failed.
634
- Fail to track local map!
635
- Relocalization() failed.
636
- Fail to track local map!
637
- Relocalization() failed.
638
- Fail to track local map!
639
- Relocalization() failed.
640
- Fail to track local map!
641
- Relocalization() failed.
642
- Fail to track local map!
643
- Relocalization() failed.
644
- Fail to track local map!
645
- Relocalization() failed.
646
- Fail to track local map!
647
- Relocalization() failed.
648
- Fail to track local map!
649
- Relocalization() failed.
650
- Fail to track local map!
651
- Relocalization() failed.
652
- Fail to track local map!
653
- Relocalization() failed.
654
- Fail to track local map!
655
- Relocalization() failed.
656
- Fail to track local map!
657
- Relocalization() failed.
658
- Fail to track local map!
659
- Relocalization() failed.
660
- Fail to track local map!
661
- Relocalization() failed.
662
- Fail to track local map!
663
- Relocalization() failed.
664
- Fail to track local map!
665
- Relocalization() failed.
666
- Fail to track local map!
667
- Relocalization() failed.
668
- Fail to track local map!
669
- Relocalization() failed.
670
- Fail to track local map!
671
- Video FPS: 59.940059940059939
672
- ORB-SLAM 3 running at: 19.573159115514777 FPS
673
- Relocalization() failed.
674
- Fail to track local map!
675
- Relocalization() failed.
676
- Fail to track local map!
677
- Relocalization() failed.
678
- Fail to track local map!
679
- Relocalization() failed.
680
- Fail to track local map!
681
- Relocalization() failed.
682
- Fail to track local map!
683
- Relocalization() failed.
684
- Fail to track local map!
685
- Relocalization() failed.
686
- Fail to track local map!
687
- Relocalization() failed.
688
- Fail to track local map!
689
- Relocalization() failed.
690
- Fail to track local map!
691
- Relocalization() failed.
692
- Fail to track local map!
693
- Relocalization() failed.
694
- Fail to track local map!
695
- Relocalization() failed.
696
- Fail to track local map!
697
- Relocalization() failed.
698
- Fail to track local map!
699
- Relocalization() failed.
700
- Fail to track local map!
701
- Relocalization() failed.
702
- Fail to track local map!
703
- Relocalization() failed.
704
- Fail to track local map!
705
- Relocalization() failed.
706
- Fail to track local map!
707
- Relocalization() failed.
708
- Fail to track local map!
709
- Relocalization() failed.
710
- Fail to track local map!
711
- Relocalization() failed.
712
- Fail to track local map!
713
- Relocalization() failed.
714
- Fail to track local map!
715
- Relocalization() failed.
716
- Fail to track local map!
717
- Relocalization() failed.
718
- Fail to track local map!
719
- Relocalization() failed.
720
- Fail to track local map!
721
- Relocalization() failed.
722
- Fail to track local map!
723
- Relocalization() failed.
724
- Fail to track local map!
725
- Relocalization() failed.
726
- Fail to track local map!
727
- Relocalization() failed.
728
- Fail to track local map!
729
- Relocalization() failed.
730
- Fail to track local map!
731
- Relocalization() failed.
732
- Fail to track local map!
733
- Relocalization() failed.
734
- Fail to track local map!
735
- Relocalization() failed.
736
- Fail to track local map!
737
- Relocalization() failed.
738
- Fail to track local map!
739
- Relocalization() failed.
740
- Fail to track local map!
741
- Relocalization() failed.
742
- Fail to track local map!
743
- Relocalization() failed.
744
- Fail to track local map!
745
- Relocalization() failed.
746
- Fail to track local map!
747
- Relocalization() failed.
748
- Fail to track local map!
749
- Relocalization() failed.
750
- Fail to track local map!
751
- Relocalization() failed.
752
- Fail to track local map!
753
- Relocalization() failed.
754
- Fail to track local map!
755
- Relocalization() failed.
756
- Fail to track local map!
757
- Relocalization() failed.
758
- Fail to track local map!
759
- Relocalization() failed.
760
- Fail to track local map!
761
- Relocalization() failed.
762
- Fail to track local map!
763
- Relocalization() failed.
764
- Fail to track local map!
765
- Relocalization() failed.
766
- Fail to track local map!
767
- Relocalization() failed.
768
- Fail to track local map!
769
- Relocalization() failed.
770
- Fail to track local map!
771
- Relocalization() failed.
772
- Fail to track local map!
773
- Relocalization() failed.
774
- Fail to track local map!
775
- Relocalization() failed.
776
- Fail to track local map!
777
- Relocalization() failed.
778
- Fail to track local map!
779
- Relocalization() failed.
780
- Fail to track local map!
781
- Relocalization() failed.
782
- Fail to track local map!
783
- Relocalization() failed.
784
- Fail to track local map!
785
- Relocalization() failed.
786
- Fail to track local map!
787
- Relocalization() failed.
788
- Fail to track local map!
789
- Relocalization() failed.
790
- Fail to track local map!
791
- Relocalization() failed.
792
- Fail to track local map!
793
- Relocalization() failed.
794
- Fail to track local map!
795
- Relocalization() failed.
796
- Fail to track local map!
797
- Relocalization() failed.
798
- Fail to track local map!
799
- Relocalization() failed.
800
- Fail to track local map!
801
- Relocalization() failed.
802
- Fail to track local map!
803
- Relocalization() failed.
804
- Fail to track local map!
805
- Relocalization() failed.
806
- Fail to track local map!
807
- Relocalization() failed.
808
- Fail to track local map!
809
- Relocalization() failed.
810
- Fail to track local map!
811
- Relocalization() failed.
812
- Fail to track local map!
813
- Relocalization() failed.
814
- Fail to track local map!
815
- Relocalization() failed.
816
- Fail to track local map!
817
- Relocalization() failed.
818
- Fail to track local map!
819
- Relocalization() failed.
820
- Fail to track local map!
821
- Relocalization() failed.
822
- Fail to track local map!
823
- Relocalization() failed.
824
- Fail to track local map!
825
- Relocalization() failed.
826
- Fail to track local map!
827
- Relocalization() failed.
828
- Fail to track local map!
829
- Relocalization() failed.
830
- Fail to track local map!
831
- Relocalization() failed.
832
- Fail to track local map!
833
- Relocalization() failed.
834
- Fail to track local map!
835
- Relocalization() failed.
836
- Fail to track local map!
837
- Relocalization() failed.
838
- Fail to track local map!
839
- Relocalization() failed.
840
- Fail to track local map!
841
- Relocalization() failed.
842
- Fail to track local map!
843
- Relocalization() failed.
844
- Fail to track local map!
845
- Relocalization() failed.
846
- Fail to track local map!
847
- Relocalization() failed.
848
- Fail to track local map!
849
- Relocalization() failed.
850
- Fail to track local map!
851
- Relocalization() failed.
852
- Fail to track local map!
853
- Relocalization() failed.
854
- Fail to track local map!
855
- Relocalization() failed.
856
- Fail to track local map!
857
- Relocalization() failed.
858
- Fail to track local map!
859
- Relocalization() failed.
860
- Fail to track local map!
861
- Relocalization() failed.
862
- Fail to track local map!
863
- Relocalization() failed.
864
- Fail to track local map!
865
- Relocalization() failed.
866
- Fail to track local map!
867
- Relocalization() failed.
868
- Fail to track local map!
869
- Relocalization() failed.
870
- Fail to track local map!
871
- Relocalization() failed.
872
- Fail to track local map!
873
- Video FPS: 59.940059940059939
874
- ORB-SLAM 3 running at: 29.022860930257576 FPS
875
- Relocalization() failed.
876
- Fail to track local map!
877
- Relocalization() failed.
878
- Fail to track local map!
879
- Relocalization() failed.
880
- Fail to track local map!
881
- Relocalization() failed.
882
- Fail to track local map!
883
- Relocalization() failed.
884
- Fail to track local map!
885
- Relocalization() failed.
886
- Fail to track local map!
887
- Relocalization() failed.
888
- Fail to track local map!
889
- Relocalization() failed.
890
- Fail to track local map!
891
- Relocalization() failed.
892
- Fail to track local map!
893
- Relocalization() failed.
894
- Fail to track local map!
895
- Relocalization() failed.
896
- Fail to track local map!
897
- Relocalization() failed.
898
- Fail to track local map!
899
- Relocalization() failed.
900
- Fail to track local map!
901
- Relocalization() failed.
902
- Fail to track local map!
903
- Relocalization() failed.
904
- Fail to track local map!
905
- Relocalization() failed.
906
- Fail to track local map!
907
- Relocalization() failed.
908
- Fail to track local map!
909
- Relocalization() failed.
910
- Fail to track local map!
911
- Relocalization() failed.
912
- Fail to track local map!
913
- Relocalization() failed.
914
- Fail to track local map!
915
- Relocalization() failed.
916
- Fail to track local map!
917
- Relocalization() failed.
918
- Fail to track local map!
919
- Relocalization() failed.
920
- Fail to track local map!
921
- Relocalization() failed.
922
- Fail to track local map!
923
- Relocalization() failed.
924
- Fail to track local map!
925
- Relocalization() failed.
926
- Fail to track local map!
927
- Relocalization() failed.
928
- Fail to track local map!
929
- Relocalization() failed.
930
- Fail to track local map!
931
- Relocalization() failed.
932
- Fail to track local map!
933
- Relocalization() failed.
934
- Fail to track local map!
935
- Relocalization() failed.
936
- Fail to track local map!
937
- Relocalization() failed.
938
- Fail to track local map!
939
- Relocalization() failed.
940
- Fail to track local map!
941
- Relocalization() failed.
942
- Fail to track local map!
943
- Relocalization() failed.
944
- Fail to track local map!
945
- Relocalization() failed.
946
- Fail to track local map!
947
- Relocalization() failed.
948
- Fail to track local map!
949
- Relocalization() failed.
950
- Fail to track local map!
951
- Relocalization() failed.
952
- Fail to track local map!
953
- Relocalization() failed.
954
- Fail to track local map!
955
- Relocalization() failed.
956
- Fail to track local map!
957
- Relocalization() failed.
958
- Fail to track local map!
959
- Relocalization() failed.
960
- Fail to track local map!
961
- Relocalization() failed.
962
- Fail to track local map!
963
- Relocalization() failed.
964
- Fail to track local map!
965
- Relocalization() failed.
966
- Fail to track local map!
967
- Relocalization() failed.
968
- Fail to track local map!
969
- Relocalization() failed.
970
- Fail to track local map!
971
- Relocalization() failed.
972
- Fail to track local map!
973
- Relocalization() failed.
974
- Fail to track local map!
975
- Relocalization() failed.
976
- Fail to track local map!
977
- Relocalization() failed.
978
- Fail to track local map!
979
- Relocalization() failed.
980
- Fail to track local map!
981
- Relocalized!!
982
- INIT_RELOCALIZE success!
983
- vpKFs.back()->mpImuPreintegrated0x55a786e88840
984
- pKFCur->mTimeStamp7.5742333333333338
985
- vpKFs.front()->mTimeStamp-62.645900008337506
986
- vpKFs.back()->mTimeStamp-0.016675004168750895
987
- pKFcur->GetMapPointMatches().size()1251
988
- 1691 pKFcur->GetVelocity() 0
989
- 0
990
- 0
991
- pKFcur->mnId394
992
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
993
- Fail to track local map!
994
- Relocalization() failed.
995
- Fail to track local map!
996
- Relocalization() failed.
997
- Fail to track local map!
998
- Relocalization() failed.
999
- Fail to track local map!
1000
- Relocalization() failed.
1001
- Fail to track local map!
1002
- Relocalization() failed.
1003
- Fail to track local map!
1004
- Relocalization() failed.
1005
- Fail to track local map!
1006
- Relocalization() failed.
1007
- Fail to track local map!
1008
- Relocalization() failed.
1009
- Fail to track local map!
1010
- Relocalization() failed.
1011
- Fail to track local map!
1012
- Relocalization() failed.
1013
- Fail to track local map!
1014
- Relocalization() failed.
1015
- Fail to track local map!
1016
- Relocalization() failed.
1017
- Fail to track local map!
1018
- Relocalization() failed.
1019
- Fail to track local map!
1020
- Relocalization() failed.
1021
- Fail to track local map!
1022
- Relocalization() failed.
1023
- Fail to track local map!
1024
- Relocalization() failed.
1025
- Fail to track local map!
1026
- Relocalization() failed.
1027
- Fail to track local map!
1028
- Relocalization() failed.
1029
- Fail to track local map!
1030
- Relocalization() failed.
1031
- Fail to track local map!
1032
- Relocalization() failed.
1033
- Fail to track local map!
1034
- Relocalization() failed.
1035
- Fail to track local map!
1036
- Relocalization() failed.
1037
- Fail to track local map!
1038
- Relocalization() failed.
1039
- Fail to track local map!
1040
- Relocalization() failed.
1041
- Fail to track local map!
1042
- Relocalization() failed.
1043
- Fail to track local map!
1044
- Relocalization() failed.
1045
- Fail to track local map!
1046
- Relocalization() failed.
1047
- Fail to track local map!
1048
- Relocalization() failed.
1049
- Fail to track local map!
1050
- Relocalization() failed.
1051
- Fail to track local map!
1052
- Relocalization() failed.
1053
- Fail to track local map!
1054
- Relocalization() failed.
1055
- Fail to track local map!
1056
- Relocalization() failed.
1057
- Fail to track local map!
1058
- Relocalization() failed.
1059
- Fail to track local map!
1060
- Relocalization() failed.
1061
- Fail to track local map!
1062
- Relocalization() failed.
1063
- Fail to track local map!
1064
- Relocalization() failed.
1065
- Fail to track local map!
1066
- Relocalization() failed.
1067
- Fail to track local map!
1068
- Relocalization() failed.
1069
- Fail to track local map!
1070
- Video FPS: 59.940059940059939
1071
- ORB-SLAM 3 running at: 27.237019292825114 FPS
1072
- Relocalization() failed.
1073
- Fail to track local map!
1074
- Relocalization() failed.
1075
- Fail to track local map!
1076
- Relocalization() failed.
1077
- Fail to track local map!
1078
- Relocalization() failed.
1079
- Fail to track local map!
1080
- Relocalization() failed.
1081
- Fail to track local map!
1082
- Relocalization() failed.
1083
- Fail to track local map!
1084
- Relocalization() failed.
1085
- Fail to track local map!
1086
- Relocalization() failed.
1087
- Fail to track local map!
1088
- Relocalization() failed.
1089
- Fail to track local map!
1090
- Relocalization() failed.
1091
- Fail to track local map!
1092
- Relocalization() failed.
1093
- Fail to track local map!
1094
- Relocalization() failed.
1095
- Fail to track local map!
1096
- Relocalization() failed.
1097
- Fail to track local map!
1098
- Relocalization() failed.
1099
- Fail to track local map!
1100
- Relocalization() failed.
1101
- Fail to track local map!
1102
- Relocalization() failed.
1103
- Fail to track local map!
1104
- Relocalization() failed.
1105
- Fail to track local map!
1106
- Relocalization() failed.
1107
- Fail to track local map!
1108
- Relocalization() failed.
1109
- Fail to track local map!
1110
- Relocalization() failed.
1111
- Fail to track local map!
1112
- Relocalization() failed.
1113
- Fail to track local map!
1114
- Relocalization() failed.
1115
- Fail to track local map!
1116
- Relocalization() failed.
1117
- Fail to track local map!
1118
- Relocalization() failed.
1119
- Fail to track local map!
1120
- Relocalization() failed.
1121
- Fail to track local map!
1122
- Relocalization() failed.
1123
- Fail to track local map!
1124
- Relocalization() failed.
1125
- Fail to track local map!
1126
- Relocalization() failed.
1127
- Fail to track local map!
1128
- Relocalization() failed.
1129
- Fail to track local map!
1130
- Relocalization() failed.
1131
- Fail to track local map!
1132
- Relocalization() failed.
1133
- Fail to track local map!
1134
- Relocalization() failed.
1135
- Fail to track local map!
1136
- Relocalization() failed.
1137
- Fail to track local map!
1138
- Relocalization() failed.
1139
- Fail to track local map!
1140
- Relocalization() failed.
1141
- Fail to track local map!
1142
- Relocalization() failed.
1143
- Fail to track local map!
1144
- Relocalization() failed.
1145
- Fail to track local map!
1146
- Relocalization() failed.
1147
- Fail to track local map!
1148
- Relocalization() failed.
1149
- Fail to track local map!
1150
- Relocalization() failed.
1151
- Fail to track local map!
1152
- Relocalization() failed.
1153
- Fail to track local map!
1154
- Relocalization() failed.
1155
- Fail to track local map!
1156
- Relocalization() failed.
1157
- Fail to track local map!
1158
- Relocalization() failed.
1159
- Fail to track local map!
1160
- Relocalization() failed.
1161
- Fail to track local map!
1162
- Relocalization() failed.
1163
- Fail to track local map!
1164
- Relocalization() failed.
1165
- Fail to track local map!
1166
- Relocalization() failed.
1167
- Fail to track local map!
1168
- Relocalization() failed.
1169
- Fail to track local map!
1170
- Relocalization() failed.
1171
- Fail to track local map!
1172
- Relocalization() failed.
1173
- Fail to track local map!
1174
- Relocalization() failed.
1175
- Fail to track local map!
1176
- Relocalization() failed.
1177
- Fail to track local map!
1178
- Relocalization() failed.
1179
- Fail to track local map!
1180
- Relocalization() failed.
1181
- Fail to track local map!
1182
- Relocalization() failed.
1183
- Fail to track local map!
1184
- Relocalization() failed.
1185
- Fail to track local map!
1186
- Relocalization() failed.
1187
- Fail to track local map!
1188
- Relocalization() failed.
1189
- Fail to track local map!
1190
- Relocalization() failed.
1191
- Fail to track local map!
1192
- Relocalization() failed.
1193
- Fail to track local map!
1194
- Relocalization() failed.
1195
- Fail to track local map!
1196
- Relocalization() failed.
1197
- Fail to track local map!
1198
- Relocalization() failed.
1199
- Fail to track local map!
1200
- Relocalization() failed.
1201
- Fail to track local map!
1202
- Relocalization() failed.
1203
- Fail to track local map!
1204
- Relocalization() failed.
1205
- Fail to track local map!
1206
- Relocalization() failed.
1207
- Fail to track local map!
1208
- Relocalization() failed.
1209
- Fail to track local map!
1210
- Relocalization() failed.
1211
- Fail to track local map!
1212
- Relocalization() failed.
1213
- Fail to track local map!
1214
- Relocalization() failed.
1215
- Fail to track local map!
1216
- Relocalization() failed.
1217
- Fail to track local map!
1218
- Relocalization() failed.
1219
- Fail to track local map!
1220
- Relocalization() failed.
1221
- Fail to track local map!
1222
- Relocalization() failed.
1223
- Fail to track local map!
1224
- Relocalization() failed.
1225
- Fail to track local map!
1226
- Relocalization() failed.
1227
- Fail to track local map!
1228
- Relocalization() failed.
1229
- Fail to track local map!
1230
- Relocalization() failed.
1231
- Fail to track local map!
1232
- Relocalization() failed.
1233
- Fail to track local map!
1234
- Relocalization() failed.
1235
- Fail to track local map!
1236
- Relocalization() failed.
1237
- Fail to track local map!
1238
- Relocalization() failed.
1239
- Fail to track local map!
1240
- Relocalization() failed.
1241
- Fail to track local map!
1242
- Relocalization() failed.
1243
- Fail to track local map!
1244
- Relocalization() failed.
1245
- Fail to track local map!
1246
- Relocalization() failed.
1247
- Fail to track local map!
1248
- Relocalization() failed.
1249
- Fail to track local map!
1250
- Relocalization() failed.
1251
- Fail to track local map!
1252
- Relocalization() failed.
1253
- Fail to track local map!
1254
- Relocalization() failed.
1255
- Fail to track local map!
1256
- Relocalization() failed.
1257
- Fail to track local map!
1258
- Relocalization() failed.
1259
- Fail to track local map!
1260
- Relocalization() failed.
1261
- Fail to track local map!
1262
- Relocalization() failed.
1263
- Fail to track local map!
1264
- Relocalization() failed.
1265
- Fail to track local map!
1266
- Relocalization() failed.
1267
- Fail to track local map!
1268
- Relocalization() failed.
1269
- Fail to track local map!
1270
- Relocalization() failed.
1271
- Fail to track local map!
1272
- Video FPS: 59.940059940059939
1273
- ORB-SLAM 3 running at: 25.937785834399893 FPS
1274
- Relocalization() failed.
1275
- Fail to track local map!
1276
- Relocalization() failed.
1277
- Fail to track local map!
1278
- Relocalization() failed.
1279
- Fail to track local map!
1280
- Relocalization() failed.
1281
- Fail to track local map!
1282
- Relocalization() failed.
1283
- Fail to track local map!
1284
- Relocalization() failed.
1285
- Fail to track local map!
1286
- Relocalization() failed.
1287
- Fail to track local map!
1288
- Relocalization() failed.
1289
- Fail to track local map!
1290
- Relocalization() failed.
1291
- Fail to track local map!
1292
- Relocalization() failed.
1293
- Fail to track local map!
1294
- Relocalization() failed.
1295
- Fail to track local map!
1296
- Relocalization() failed.
1297
- Fail to track local map!
1298
- Relocalization() failed.
1299
- Fail to track local map!
1300
- Relocalization() failed.
1301
- Fail to track local map!
1302
- Relocalization() failed.
1303
- Fail to track local map!
1304
- Relocalization() failed.
1305
- Fail to track local map!
1306
- Relocalization() failed.
1307
- Fail to track local map!
1308
- Relocalization() failed.
1309
- Fail to track local map!
1310
- Relocalization() failed.
1311
- Fail to track local map!
1312
- Relocalization() failed.
1313
- Fail to track local map!
1314
- Relocalization() failed.
1315
- Fail to track local map!
1316
- Relocalization() failed.
1317
- Fail to track local map!
1318
- Relocalization() failed.
1319
- Fail to track local map!
1320
- Relocalization() failed.
1321
- Fail to track local map!
1322
- Relocalization() failed.
1323
- Fail to track local map!
1324
- Relocalization() failed.
1325
- Fail to track local map!
1326
- Relocalization() failed.
1327
- Fail to track local map!
1328
- Relocalization() failed.
1329
- Fail to track local map!
1330
- Relocalization() failed.
1331
- Fail to track local map!
1332
- Relocalization() failed.
1333
- Fail to track local map!
1334
- Relocalization() failed.
1335
- Fail to track local map!
1336
- Relocalization() failed.
1337
- Fail to track local map!
1338
- Relocalization() failed.
1339
- Fail to track local map!
1340
- Relocalization() failed.
1341
- Fail to track local map!
1342
- Relocalization() failed.
1343
- Fail to track local map!
1344
- Relocalization() failed.
1345
- Fail to track local map!
1346
- Relocalization() failed.
1347
- Fail to track local map!
1348
- Relocalization() failed.
1349
- Fail to track local map!
1350
- Relocalization() failed.
1351
- Fail to track local map!
1352
- Relocalization() failed.
1353
- Fail to track local map!
1354
- Relocalization() failed.
1355
- Fail to track local map!
1356
- Relocalization() failed.
1357
- Fail to track local map!
1358
- Relocalization() failed.
1359
- Fail to track local map!
1360
- Relocalization() failed.
1361
- Fail to track local map!
1362
- Relocalization() failed.
1363
- Fail to track local map!
1364
- Relocalization() failed.
1365
- Fail to track local map!
1366
- Relocalization() failed.
1367
- Fail to track local map!
1368
- Relocalization() failed.
1369
- Fail to track local map!
1370
- Relocalization() failed.
1371
- Fail to track local map!
1372
- Relocalization() failed.
1373
- Fail to track local map!
1374
- Relocalization() failed.
1375
- Fail to track local map!
1376
- Relocalization() failed.
1377
- Fail to track local map!
1378
- Relocalization() failed.
1379
- Fail to track local map!
1380
- Relocalization() failed.
1381
- Fail to track local map!
1382
- Relocalization() failed.
1383
- Fail to track local map!
1384
- Relocalization() failed.
1385
- Fail to track local map!
1386
- Relocalization() failed.
1387
- Fail to track local map!
1388
- Relocalization() failed.
1389
- Fail to track local map!
1390
- Relocalization() failed.
1391
- Fail to track local map!
1392
- Relocalization() failed.
1393
- Fail to track local map!
1394
- Relocalization() failed.
1395
- Fail to track local map!
1396
- Relocalization() failed.
1397
- Fail to track local map!
1398
- Relocalization() failed.
1399
- Fail to track local map!
1400
- Relocalization() failed.
1401
- Fail to track local map!
1402
- Relocalization() failed.
1403
- Fail to track local map!
1404
- Relocalization() failed.
1405
- Fail to track local map!
1406
- Relocalization() failed.
1407
- Fail to track local map!
1408
- Relocalization() failed.
1409
- Fail to track local map!
1410
- Relocalization() failed.
1411
- Fail to track local map!
1412
- Relocalization() failed.
1413
- Fail to track local map!
1414
- Relocalization() failed.
1415
- Fail to track local map!
1416
- Relocalization() failed.
1417
- Fail to track local map!
1418
- Relocalization() failed.
1419
- Fail to track local map!
1420
- Relocalization() failed.
1421
- Fail to track local map!
1422
- Relocalization() failed.
1423
- Fail to track local map!
1424
- Relocalization() failed.
1425
- Fail to track local map!
1426
- Relocalization() failed.
1427
- Fail to track local map!
1428
- Relocalization() failed.
1429
- Fail to track local map!
1430
- Relocalization() failed.
1431
- Fail to track local map!
1432
- Relocalization() failed.
1433
- Fail to track local map!
1434
- Relocalization() failed.
1435
- Fail to track local map!
1436
- Relocalization() failed.
1437
- Fail to track local map!
1438
- Relocalization() failed.
1439
- Fail to track local map!
1440
- Relocalization() failed.
1441
- Fail to track local map!
1442
- Relocalization() failed.
1443
- Fail to track local map!
1444
- Relocalization() failed.
1445
- Fail to track local map!
1446
- Relocalization() failed.
1447
- Fail to track local map!
1448
- Relocalization() failed.
1449
- Fail to track local map!
1450
- Relocalization() failed.
1451
- Fail to track local map!
1452
- Relocalization() failed.
1453
- Fail to track local map!
1454
- Relocalization() failed.
1455
- Fail to track local map!
1456
- Relocalization() failed.
1457
- Fail to track local map!
1458
- Relocalization() failed.
1459
- Fail to track local map!
1460
- Relocalization() failed.
1461
- Fail to track local map!
1462
- Relocalization() failed.
1463
- Fail to track local map!
1464
- Relocalization() failed.
1465
- Fail to track local map!
1466
- Relocalization() failed.
1467
- Fail to track local map!
1468
- Relocalization() failed.
1469
- Fail to track local map!
1470
- Relocalization() failed.
1471
- Fail to track local map!
1472
- Relocalization() failed.
1473
- Fail to track local map!
1474
- Video FPS: 59.940059940059939
1475
- ORB-SLAM 3 running at: 26.994829491343715 FPS
1476
- Relocalization() failed.
1477
- Fail to track local map!
1478
- Relocalization() failed.
1479
- Fail to track local map!
1480
- Relocalization() failed.
1481
- Fail to track local map!
1482
- Relocalization() failed.
1483
- Fail to track local map!
1484
- Relocalization() failed.
1485
- Fail to track local map!
1486
- Relocalization() failed.
1487
- Fail to track local map!
1488
- Relocalization() failed.
1489
- Fail to track local map!
1490
- Relocalization() failed.
1491
- Fail to track local map!
1492
- Relocalization() failed.
1493
- Fail to track local map!
1494
- Relocalization() failed.
1495
- Fail to track local map!
1496
- Relocalization() failed.
1497
- Fail to track local map!
1498
- Relocalization() failed.
1499
- Fail to track local map!
1500
- Relocalization() failed.
1501
- Fail to track local map!
1502
- Relocalization() failed.
1503
- Fail to track local map!
1504
- Relocalization() failed.
1505
- Fail to track local map!
1506
- Relocalization() failed.
1507
- Fail to track local map!
1508
- Relocalization() failed.
1509
- Fail to track local map!
1510
- Relocalization() failed.
1511
- Fail to track local map!
1512
- Relocalization() failed.
1513
- Fail to track local map!
1514
- Relocalization() failed.
1515
- Fail to track local map!
1516
- Relocalization() failed.
1517
- Fail to track local map!
1518
- Relocalization() failed.
1519
- Fail to track local map!
1520
- Relocalization() failed.
1521
- Fail to track local map!
1522
- Relocalization() failed.
1523
- Fail to track local map!
1524
- Relocalization() failed.
1525
- Fail to track local map!
1526
- Relocalization() failed.
1527
- Fail to track local map!
1528
- Relocalization() failed.
1529
- Fail to track local map!
1530
- Relocalization() failed.
1531
- Fail to track local map!
1532
- Relocalization() failed.
1533
- Fail to track local map!
1534
- Relocalization() failed.
1535
- Fail to track local map!
1536
- Relocalization() failed.
1537
- Fail to track local map!
1538
- Relocalization() failed.
1539
- Fail to track local map!
1540
- Relocalization() failed.
1541
- Fail to track local map!
1542
- Relocalization() failed.
1543
- Fail to track local map!
1544
- Relocalization() failed.
1545
- Fail to track local map!
1546
- Relocalization() failed.
1547
- Fail to track local map!
1548
- Relocalization() failed.
1549
- Fail to track local map!
1550
- Relocalization() failed.
1551
- Fail to track local map!
1552
- Relocalization() failed.
1553
- Fail to track local map!
1554
- Relocalization() failed.
1555
- Fail to track local map!
1556
- Relocalization() failed.
1557
- Fail to track local map!
1558
- Relocalization() failed.
1559
- Fail to track local map!
1560
- Relocalization() failed.
1561
- Fail to track local map!
1562
- Relocalization() failed.
1563
- Fail to track local map!
1564
- Relocalization() failed.
1565
- Fail to track local map!
1566
- Relocalization() failed.
1567
- Fail to track local map!
1568
- Relocalization() failed.
1569
- Fail to track local map!
1570
- Relocalization() failed.
1571
- Fail to track local map!
1572
- Relocalization() failed.
1573
- Fail to track local map!
1574
- Relocalization() failed.
1575
- Fail to track local map!
1576
- Relocalization() failed.
1577
- Fail to track local map!
1578
- Relocalization() failed.
1579
- Fail to track local map!
1580
- Relocalization() failed.
1581
- Fail to track local map!
1582
- Relocalization() failed.
1583
- Fail to track local map!
1584
- Relocalization() failed.
1585
- Fail to track local map!
1586
- Relocalization() failed.
1587
- Fail to track local map!
1588
- Relocalization() failed.
1589
- Fail to track local map!
1590
- Relocalization() failed.
1591
- Fail to track local map!
1592
- Relocalization() failed.
1593
- Fail to track local map!
1594
- Relocalization() failed.
1595
- Fail to track local map!
1596
- Relocalization() failed.
1597
- Fail to track local map!
1598
- Relocalization() failed.
1599
- Fail to track local map!
1600
- Relocalization() failed.
1601
- Fail to track local map!
1602
- Relocalization() failed.
1603
- Fail to track local map!
1604
- Relocalization() failed.
1605
- Fail to track local map!
1606
- Relocalization() failed.
1607
- Fail to track local map!
1608
- Relocalization() failed.
1609
- Fail to track local map!
1610
- Relocalization() failed.
1611
- Fail to track local map!
1612
- Relocalization() failed.
1613
- Fail to track local map!
1614
- Relocalization() failed.
1615
- Fail to track local map!
1616
- Relocalization() failed.
1617
- Fail to track local map!
1618
- Relocalization() failed.
1619
- Fail to track local map!
1620
- Relocalization() failed.
1621
- Fail to track local map!
1622
- Relocalization() failed.
1623
- Fail to track local map!
1624
- Relocalization() failed.
1625
- Fail to track local map!
1626
- Relocalization() failed.
1627
- Fail to track local map!
1628
- Relocalization() failed.
1629
- Fail to track local map!
1630
- Relocalization() failed.
1631
- Fail to track local map!
1632
- Relocalization() failed.
1633
- Fail to track local map!
1634
- Relocalization() failed.
1635
- Fail to track local map!
1636
- Relocalization() failed.
1637
- Fail to track local map!
1638
- Relocalization() failed.
1639
- Fail to track local map!
1640
- Relocalization() failed.
1641
- Fail to track local map!
1642
- Relocalization() failed.
1643
- Fail to track local map!
1644
- Relocalization() failed.
1645
- Fail to track local map!
1646
- Relocalization() failed.
1647
- Fail to track local map!
1648
- Relocalization() failed.
1649
- Fail to track local map!
1650
- Relocalization() failed.
1651
- Fail to track local map!
1652
- Relocalization() failed.
1653
- Fail to track local map!
1654
- Relocalization() failed.
1655
- Fail to track local map!
1656
- Relocalization() failed.
1657
- Fail to track local map!
1658
- Relocalization() failed.
1659
- Fail to track local map!
1660
- Relocalization() failed.
1661
- Fail to track local map!
1662
- Relocalization() failed.
1663
- Fail to track local map!
1664
- Relocalization() failed.
1665
- Fail to track local map!
1666
- Relocalization() failed.
1667
- Fail to track local map!
1668
- Relocalization() failed.
1669
- Fail to track local map!
1670
- Relocalization() failed.
1671
- Fail to track local map!
1672
- Relocalization() failed.
1673
- Fail to track local map!
1674
- Relocalization() failed.
1675
- Fail to track local map!
1676
- Video FPS: 59.940059940059939
1677
- ORB-SLAM 3 running at: 32.151764559572911 FPS
1678
- Relocalization() failed.
1679
- Fail to track local map!
1680
- Relocalization() failed.
1681
- Fail to track local map!
1682
- Relocalization() failed.
1683
- Fail to track local map!
1684
- Relocalization() failed.
1685
- Fail to track local map!
1686
- Relocalization() failed.
1687
- Fail to track local map!
1688
- Relocalization() failed.
1689
- Fail to track local map!
1690
- Relocalization() failed.
1691
- Fail to track local map!
1692
- Relocalization() failed.
1693
- Fail to track local map!
1694
- Relocalization() failed.
1695
- Fail to track local map!
1696
- Relocalization() failed.
1697
- Fail to track local map!
1698
- Relocalization() failed.
1699
- Fail to track local map!
1700
- Relocalization() failed.
1701
- Fail to track local map!
1702
- Relocalization() failed.
1703
- Fail to track local map!
1704
- Relocalization() failed.
1705
- Fail to track local map!
1706
- Relocalization() failed.
1707
- Fail to track local map!
1708
- Relocalization() failed.
1709
- Fail to track local map!
1710
- Relocalization() failed.
1711
- Fail to track local map!
1712
- Relocalization() failed.
1713
- Fail to track local map!
1714
- Relocalization() failed.
1715
- Fail to track local map!
1716
- Relocalization() failed.
1717
- Fail to track local map!
1718
- Relocalization() failed.
1719
- Fail to track local map!
1720
- Relocalization() failed.
1721
- Fail to track local map!
1722
- Relocalization() failed.
1723
- Fail to track local map!
1724
- Relocalization() failed.
1725
- Fail to track local map!
1726
- Relocalization() failed.
1727
- Fail to track local map!
1728
- Relocalization() failed.
1729
- Fail to track local map!
1730
- Relocalization() failed.
1731
- Fail to track local map!
1732
- Relocalization() failed.
1733
- Fail to track local map!
1734
- Relocalization() failed.
1735
- Fail to track local map!
1736
- Relocalization() failed.
1737
- Fail to track local map!
1738
- Relocalization() failed.
1739
- Fail to track local map!
1740
- Relocalization() failed.
1741
- Fail to track local map!
1742
- Relocalization() failed.
1743
- Fail to track local map!
1744
- Relocalization() failed.
1745
- Fail to track local map!
1746
- Relocalization() failed.
1747
- Fail to track local map!
1748
- Relocalization() failed.
1749
- Fail to track local map!
1750
- Relocalization() failed.
1751
- Fail to track local map!
1752
- Relocalization() failed.
1753
- Fail to track local map!
1754
- Relocalization() failed.
1755
- Fail to track local map!
1756
- Relocalization() failed.
1757
- Fail to track local map!
1758
- Relocalization() failed.
1759
- Fail to track local map!
1760
- Relocalization() failed.
1761
- Fail to track local map!
1762
- Relocalization() failed.
1763
- Fail to track local map!
1764
- Relocalization() failed.
1765
- Fail to track local map!
1766
- Relocalization() failed.
1767
- Fail to track local map!
1768
- Relocalization() failed.
1769
- Fail to track local map!
1770
- Relocalization() failed.
1771
- Fail to track local map!
1772
- Relocalization() failed.
1773
- Fail to track local map!
1774
- Relocalization() failed.
1775
- Fail to track local map!
1776
- Relocalization() failed.
1777
- Fail to track local map!
1778
- Relocalization() failed.
1779
- Fail to track local map!
1780
- Relocalization() failed.
1781
- Fail to track local map!
1782
- Relocalization() failed.
1783
- Fail to track local map!
1784
- Relocalization() failed.
1785
- Fail to track local map!
1786
- Relocalization() failed.
1787
- Fail to track local map!
1788
- Relocalization() failed.
1789
- Fail to track local map!
1790
- Relocalization() failed.
1791
- Fail to track local map!
1792
- Relocalization() failed.
1793
- Fail to track local map!
1794
- Relocalization() failed.
1795
- Fail to track local map!
1796
- Relocalization() failed.
1797
- Fail to track local map!
1798
- Relocalization() failed.
1799
- Fail to track local map!
1800
- Relocalization() failed.
1801
- Fail to track local map!
1802
- Relocalization() failed.
1803
- Fail to track local map!
1804
- Relocalization() failed.
1805
- Fail to track local map!
1806
- Relocalization() failed.
1807
- Fail to track local map!
1808
- Relocalization() failed.
1809
- Fail to track local map!
1810
- Relocalization() failed.
1811
- Fail to track local map!
1812
- Relocalization() failed.
1813
- Fail to track local map!
1814
- Relocalization() failed.
1815
- Fail to track local map!
1816
- Relocalization() failed.
1817
- Fail to track local map!
1818
- Relocalization() failed.
1819
- Fail to track local map!
1820
- Relocalization() failed.
1821
- Fail to track local map!
1822
- Relocalization() failed.
1823
- Fail to track local map!
1824
- Relocalization() failed.
1825
- Fail to track local map!
1826
- Relocalization() failed.
1827
- Fail to track local map!
1828
- Relocalization() failed.
1829
- Fail to track local map!
1830
- Relocalization() failed.
1831
- Fail to track local map!
1832
- Relocalization() failed.
1833
- Fail to track local map!
1834
- Relocalization() failed.
1835
- Fail to track local map!
1836
- Relocalization() failed.
1837
- Fail to track local map!
1838
- Relocalization() failed.
1839
- Fail to track local map!
1840
- Relocalization() failed.
1841
- Fail to track local map!
1842
- Relocalization() failed.
1843
- Fail to track local map!
1844
- Relocalization() failed.
1845
- Fail to track local map!
1846
- Relocalization() failed.
1847
- Fail to track local map!
1848
- Relocalization() failed.
1849
- Fail to track local map!
1850
- Relocalization() failed.
1851
- Fail to track local map!
1852
- Relocalization() failed.
1853
- Fail to track local map!
1854
- Relocalization() failed.
1855
- Fail to track local map!
1856
- Relocalization() failed.
1857
- Fail to track local map!
1858
- Relocalization() failed.
1859
- Fail to track local map!
1860
- Relocalization() failed.
1861
- Fail to track local map!
1862
- Relocalization() failed.
1863
- Fail to track local map!
1864
- Relocalization() failed.
1865
- Fail to track local map!
1866
- Relocalization() failed.
1867
- Fail to track local map!
1868
- Relocalization() failed.
1869
- Fail to track local map!
1870
- Relocalization() failed.
1871
- Fail to track local map!
1872
- Relocalization() failed.
1873
- Fail to track local map!
1874
- Relocalization() failed.
1875
- Fail to track local map!
1876
- Relocalization() failed.
1877
- Fail to track local map!
1878
- Video FPS: 59.940059940059939
1879
- ORB-SLAM 3 running at: 37.21283460245845 FPS
1880
- Relocalization() failed.
1881
- Fail to track local map!
1882
- Relocalization() failed.
1883
- Fail to track local map!
1884
- Relocalization() failed.
1885
- Fail to track local map!
1886
- Relocalization() failed.
1887
- Fail to track local map!
1888
- Relocalization() failed.
1889
- Fail to track local map!
1890
- Relocalization() failed.
1891
- Fail to track local map!
1892
- Relocalization() failed.
1893
- Fail to track local map!
1894
- Relocalization() failed.
1895
- Fail to track local map!
1896
- Relocalization() failed.
1897
- Fail to track local map!
1898
- Relocalization() failed.
1899
- Fail to track local map!
1900
- Relocalization() failed.
1901
- Fail to track local map!
1902
- Relocalization() failed.
1903
- Fail to track local map!
1904
- Relocalization() failed.
1905
- Fail to track local map!
1906
- Relocalization() failed.
1907
- Fail to track local map!
1908
- Relocalization() failed.
1909
- Fail to track local map!
1910
- Relocalization() failed.
1911
- Fail to track local map!
1912
- Relocalization() failed.
1913
- Fail to track local map!
1914
- Relocalization() failed.
1915
- Fail to track local map!
1916
- Relocalization() failed.
1917
- Fail to track local map!
1918
- Relocalization() failed.
1919
- Fail to track local map!
1920
- Relocalization() failed.
1921
- Fail to track local map!
1922
- Relocalization() failed.
1923
- Fail to track local map!
1924
- Relocalization() failed.
1925
- Fail to track local map!
1926
- Relocalization() failed.
1927
- Fail to track local map!
1928
- Relocalization() failed.
1929
- Fail to track local map!
1930
- Relocalization() failed.
1931
- Fail to track local map!
1932
- Relocalization() failed.
1933
- Fail to track local map!
1934
- Relocalization() failed.
1935
- Fail to track local map!
1936
- Relocalization() failed.
1937
- Fail to track local map!
1938
- Relocalization() failed.
1939
- Fail to track local map!
1940
- Relocalization() failed.
1941
- Fail to track local map!
1942
- Relocalization() failed.
1943
- Fail to track local map!
1944
- Relocalization() failed.
1945
- Fail to track local map!
1946
- Relocalization() failed.
1947
- Fail to track local map!
1948
- Relocalization() failed.
1949
- Fail to track local map!
1950
- Relocalization() failed.
1951
- Fail to track local map!
1952
- Relocalization() failed.
1953
- Fail to track local map!
1954
- Relocalization() failed.
1955
- Fail to track local map!
1956
- Relocalization() failed.
1957
- Fail to track local map!
1958
- Relocalization() failed.
1959
- Fail to track local map!
1960
- Relocalization() failed.
1961
- Fail to track local map!
1962
- Relocalization() failed.
1963
- Fail to track local map!
1964
- Relocalization() failed.
1965
- Fail to track local map!
1966
- Relocalization() failed.
1967
- Fail to track local map!
1968
- Relocalization() failed.
1969
- Fail to track local map!
1970
- Relocalization() failed.
1971
- Fail to track local map!
1972
- Relocalization() failed.
1973
- Fail to track local map!
1974
- Relocalization() failed.
1975
- Fail to track local map!
1976
- Relocalization() failed.
1977
- Fail to track local map!
1978
- Relocalization() failed.
1979
- Fail to track local map!
1980
- Relocalization() failed.
1981
- Fail to track local map!
1982
- Relocalization() failed.
1983
- Fail to track local map!
1984
- Relocalization() failed.
1985
- Fail to track local map!
1986
- Relocalization() failed.
1987
- Fail to track local map!
1988
- Relocalization() failed.
1989
- Fail to track local map!
1990
- Relocalization() failed.
1991
- Fail to track local map!
1992
- Relocalization() failed.
1993
- Fail to track local map!
1994
- Relocalization() failed.
1995
- Fail to track local map!
1996
- Relocalization() failed.
1997
- Fail to track local map!
1998
- Relocalization() failed.
1999
- Fail to track local map!
2000
- Relocalization() failed.
2001
- Fail to track local map!
2002
- Relocalization() failed.
2003
- Fail to track local map!
2004
- Relocalization() failed.
2005
- Fail to track local map!
2006
- Relocalization() failed.
2007
- Fail to track local map!
2008
- Relocalization() failed.
2009
- Fail to track local map!
2010
- Relocalization() failed.
2011
- Fail to track local map!
2012
- Relocalization() failed.
2013
- Fail to track local map!
2014
- Relocalization() failed.
2015
- Fail to track local map!
2016
- Relocalization() failed.
2017
- Fail to track local map!
2018
- Relocalization() failed.
2019
- Fail to track local map!
2020
- Relocalization() failed.
2021
- Fail to track local map!
2022
- Relocalization() failed.
2023
- Fail to track local map!
2024
- Relocalization() failed.
2025
- Fail to track local map!
2026
- Relocalization() failed.
2027
- Fail to track local map!
2028
- Relocalization() failed.
2029
- Fail to track local map!
2030
- Relocalization() failed.
2031
- Fail to track local map!
2032
- Relocalization() failed.
2033
- Fail to track local map!
2034
- Relocalization() failed.
2035
- Fail to track local map!
2036
- Relocalization() failed.
2037
- Fail to track local map!
2038
- Relocalization() failed.
2039
- Fail to track local map!
2040
- Relocalization() failed.
2041
- Fail to track local map!
2042
- Relocalization() failed.
2043
- Fail to track local map!
2044
- Relocalization() failed.
2045
- Fail to track local map!
2046
- Relocalization() failed.
2047
- Fail to track local map!
2048
- Relocalization() failed.
2049
- Fail to track local map!
2050
- Relocalization() failed.
2051
- Fail to track local map!
2052
- Relocalization() failed.
2053
- Fail to track local map!
2054
- Relocalization() failed.
2055
- Fail to track local map!
2056
- Relocalization() failed.
2057
- Fail to track local map!
2058
- Relocalization() failed.
2059
- Fail to track local map!
2060
- Relocalization() failed.
2061
- Fail to track local map!
2062
- Relocalization() failed.
2063
- Fail to track local map!
2064
- Relocalization() failed.
2065
- Fail to track local map!
2066
- Relocalization() failed.
2067
- Fail to track local map!
2068
- Relocalization() failed.
2069
- Fail to track local map!
2070
- Relocalization() failed.
2071
- Fail to track local map!
2072
- Relocalization() failed.
2073
- Fail to track local map!
2074
- Relocalization() failed.
2075
- Fail to track local map!
2076
- Relocalization() failed.
2077
- Fail to track local map!
2078
- Relocalization() failed.
2079
- Fail to track local map!
2080
- Video FPS: 59.940059940059939
2081
- ORB-SLAM 3 running at: 32.124704504921198 FPS
2082
- Relocalization() failed.
2083
- Fail to track local map!
2084
- Relocalization() failed.
2085
- Fail to track local map!
2086
- Relocalization() failed.
2087
- Fail to track local map!
2088
- Relocalization() failed.
2089
- Fail to track local map!
2090
- Relocalization() failed.
2091
- Fail to track local map!
2092
- Relocalization() failed.
2093
- Fail to track local map!
2094
- Relocalization() failed.
2095
- Fail to track local map!
2096
- Relocalization() failed.
2097
- Fail to track local map!
2098
- Relocalization() failed.
2099
- Fail to track local map!
2100
- Relocalization() failed.
2101
- Fail to track local map!
2102
- Relocalization() failed.
2103
- Fail to track local map!
2104
- Relocalization() failed.
2105
- Fail to track local map!
2106
- Relocalization() failed.
2107
- Fail to track local map!
2108
- Relocalization() failed.
2109
- Fail to track local map!
2110
- Relocalization() failed.
2111
- Fail to track local map!
2112
- Relocalization() failed.
2113
- Fail to track local map!
2114
- Relocalization() failed.
2115
- Fail to track local map!
2116
- Relocalization() failed.
2117
- Fail to track local map!
2118
- Relocalization() failed.
2119
- Fail to track local map!
2120
- Relocalization() failed.
2121
- Fail to track local map!
2122
- Relocalization() failed.
2123
- Fail to track local map!
2124
- Relocalization() failed.
2125
- Fail to track local map!
2126
- Relocalization() failed.
2127
- Fail to track local map!
2128
- Relocalization() failed.
2129
- Fail to track local map!
2130
- Relocalization() failed.
2131
- Fail to track local map!
2132
- Relocalization() failed.
2133
- Fail to track local map!
2134
- Relocalization() failed.
2135
- Fail to track local map!
2136
- Relocalization() failed.
2137
- Fail to track local map!
2138
- Relocalization() failed.
2139
- Fail to track local map!
2140
- Relocalization() failed.
2141
- Fail to track local map!
2142
- Relocalization() failed.
2143
- Fail to track local map!
2144
- Relocalization() failed.
2145
- Fail to track local map!
2146
- Relocalization() failed.
2147
- Fail to track local map!
2148
- Relocalization() failed.
2149
- Fail to track local map!
2150
- Relocalization() failed.
2151
- Fail to track local map!
2152
- Relocalization() failed.
2153
- Fail to track local map!
2154
- Relocalization() failed.
2155
- Fail to track local map!
2156
- Relocalization() failed.
2157
- Fail to track local map!
2158
- Relocalization() failed.
2159
- Fail to track local map!
2160
- Relocalization() failed.
2161
- Fail to track local map!
2162
- Relocalization() failed.
2163
- Fail to track local map!
2164
- Relocalization() failed.
2165
- Fail to track local map!
2166
- Relocalization() failed.
2167
- Fail to track local map!
2168
- Relocalization() failed.
2169
- Fail to track local map!
2170
- Relocalization() failed.
2171
- Fail to track local map!
2172
- Relocalization() failed.
2173
- Fail to track local map!
2174
- Relocalization() failed.
2175
- Fail to track local map!
2176
- Relocalization() failed.
2177
- Fail to track local map!
2178
- Relocalization() failed.
2179
- Fail to track local map!
2180
- Relocalization() failed.
2181
- Fail to track local map!
2182
- Relocalization() failed.
2183
- Fail to track local map!
2184
- Relocalization() failed.
2185
- Fail to track local map!
2186
- Relocalization() failed.
2187
- Fail to track local map!
2188
- Relocalization() failed.
2189
- Fail to track local map!
2190
- Relocalization() failed.
2191
- Fail to track local map!
2192
- Relocalization() failed.
2193
- Fail to track local map!
2194
- Relocalization() failed.
2195
- Fail to track local map!
2196
- Relocalization() failed.
2197
- Fail to track local map!
2198
- Relocalization() failed.
2199
- Fail to track local map!
2200
- Relocalization() failed.
2201
- Fail to track local map!
2202
- Relocalization() failed.
2203
- Fail to track local map!
2204
- Relocalization() failed.
2205
- Fail to track local map!
2206
- Relocalization() failed.
2207
- Fail to track local map!
2208
- Relocalization() failed.
2209
- Fail to track local map!
2210
- Relocalization() failed.
2211
- Fail to track local map!
2212
- Relocalization() failed.
2213
- Fail to track local map!
2214
- Relocalization() failed.
2215
- Fail to track local map!
2216
- Relocalization() failed.
2217
- Fail to track local map!
2218
- Relocalization() failed.
2219
- Fail to track local map!
2220
- Relocalization() failed.
2221
- Fail to track local map!
2222
- Relocalization() failed.
2223
- Fail to track local map!
2224
- Relocalization() failed.
2225
- Fail to track local map!
2226
- Relocalization() failed.
2227
- Fail to track local map!
2228
- Relocalization() failed.
2229
- Fail to track local map!
2230
- Shutdown
2231
- mpLocalMapper is not finished
2232
- mpLoopCloser is not finished
2233
-
2234
- Saving camera trajectory to /data/camera_trajectory.csv ...
2235
- There are 1 maps in the atlas
2236
- Map 0 has 73 KFs
2237
-
2238
- CSV camera trajectory saved!
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:812b8666ae15cd262dfd56e924fb0db961f4dfa6b1ebc06330c45ac76a799211
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+ oid sha256:b43e0fcb05563fd523ef4b3b4534a7f3b26c91235ec9a57544e4895437ce4263
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+ size 42277
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/extract_gopro_imu_stdout.txt CHANGED
@@ -1,9 +1,3 @@
1
- Input video path: /data/raw_video.mp4
2
- Output file will be: /data/imu_data.json
3
- Opening /data/raw_video.mp4
4
- Read stream data from raw_video.mp4
5
- Extracted information for raw_video.mp4
6
- Flushing on end after 123560362 bytes
7
- Generated telemetry for raw_video.mp4
8
- Telemetry saved as JSON to imu_data.json
9
- Done
 
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bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/imu_data.json CHANGED
The diff for this file is too large to render. See raw diff
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/slam_stderr.txt CHANGED
@@ -1,5 +1,3 @@
1
- Camera.newHeight optional parameter does not exist...
2
- Camera.newWidth optional parameter does not exist...
3
- IMU.InsertKFsWhenLost optional parameter does not exist...
4
- System.LoadAtlasFromFile optional parameter does not exist...
5
- System.SaveAtlasToFile optional parameter does not exist...
 
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+ version https://git-lfs.github.com/spec/v1
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bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.06.658150/slam_stdout.txt CHANGED
@@ -1,2357 +1,3 @@
1
- Mask img size mismatch! Converting [2704 x 2028] to [640 x 480]
2
-
3
- ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
- ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
- This program comes with ABSOLUTELY NO WARRANTY;
6
- This is free software, and you are welcome to redistribute it
7
- under certain conditions. See LICENSE.txt.
8
-
9
- Input sensor was set to: Monocular-Inertial
10
- Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_480.yaml
11
- -Loaded camera 1
12
- -Loaded image info
13
- -Loaded IMU calibration
14
- -Loaded ORB settings
15
- -Loaded viewer settings
16
- -Loaded Atlas settings
17
- -Loaded misc parameters
18
- ----------------------------------
19
- SLAM settings:
20
- -Camera 1 parameters (Kannala-Brandt): [ 188.605 188.605 320.574 239.405 -0.0174584 -0.0280825 0.0128327 -0.0045198 ]
21
- -Original image size: [ 640 , 480 ]
22
- -Current image size: [ 640 , 480 ]
23
- -Sequence FPS: 60
24
- -Gyro noise: 0.0015
25
- -Accelerometer noise: 0.017
26
- -Gyro walk: 5e-05
27
- -Accelerometer walk: 0.0055
28
- -IMU frequency: 200
29
- -Features per image: 1250
30
- -ORB scale factor: 1.2
31
- -ORB number of scales: 6
32
- -Initial FAST threshold: 20
33
- -Min FAST threshold: 7
34
-
35
-
36
- Loading ORB Vocabulary. This could take a while...
37
- Vocabulary loaded!
38
-
39
- Initialization of Atlas from file: /map/map_atlas.osa
40
- Starting to read the save binary file
41
- End to load the save binary file
42
- Change to map with id: 0
43
- Atlas loaded!
44
- There are 1 cameras in the atlas
45
- Camera 0 is fisheye
46
- Discard points further than 20 m from current camera
47
- Video opened using backend FFMPEG
48
- There are 985 frames in total
49
- video FPS 59.9401
50
- line 1873 keyframes 72MapPoints2546
51
- line 1877
52
- mlFrameTimes.size()= 0
53
- KeyFrame::nNextId=393
54
- Relocalization() failed.
55
- Fail to track local map!
56
- Video FPS: 59.9401
57
- ORB-SLAM 3 running at: 12.2199 FPS
58
- Relocalization() failed.
59
- Fail to track local map!
60
- Relocalization() failed.
61
- Fail to track local map!
62
- Relocalization() failed.
63
- Fail to track local map!
64
- Relocalized!!
65
- INIT_RELOCALIZE success!
66
- vpKFs.back()->mpImuPreintegrated0x5645e688bd30
67
- pKFCur->mTimeStamp0.066733333333333339
68
- vpKFs.front()->mTimeStamp-59.192458337502089
69
- vpKFs.back()->mTimeStamp-0.01667500416875356
70
- pKFcur->GetMapPointMatches().size()1254
71
- 1691 pKFcur->GetVelocity() 0
72
- 0
73
- 0
74
- pKFcur->mnId393
75
- TRACK_REF_KF: Less than 15 matches!!
76
- Fail to track local map!
77
- Relocalization() failed.
78
- Fail to track local map!
79
- Relocalization() failed.
80
- Fail to track local map!
81
- Relocalization() failed.
82
- Fail to track local map!
83
- Relocalization() failed.
84
- Fail to track local map!
85
- Relocalization() failed.
86
- Fail to track local map!
87
- Relocalization() failed.
88
- Fail to track local map!
89
- Relocalization() failed.
90
- Fail to track local map!
91
- Relocalization() failed.
92
- Fail to track local map!
93
- Relocalization() failed.
94
- Fail to track local map!
95
- Relocalization() failed.
96
- Fail to track local map!
97
- Relocalization() failed.
98
- Fail to track local map!
99
- Relocalization() failed.
100
- Fail to track local map!
101
- Relocalization() failed.
102
- Fail to track local map!
103
- Relocalization() failed.
104
- Fail to track local map!
105
- Relocalization() failed.
106
- Fail to track local map!
107
- Relocalization() failed.
108
- Fail to track local map!
109
- Relocalization() failed.
110
- Fail to track local map!
111
- Relocalization() failed.
112
- Fail to track local map!
113
- Relocalization() failed.
114
- Fail to track local map!
115
- Relocalization() failed.
116
- Fail to track local map!
117
- Relocalization() failed.
118
- Fail to track local map!
119
- Relocalization() failed.
120
- Fail to track local map!
121
- Relocalization() failed.
122
- Fail to track local map!
123
- Relocalization() failed.
124
- Fail to track local map!
125
- Relocalization() failed.
126
- Fail to track local map!
127
- Relocalization() failed.
128
- Fail to track local map!
129
- Relocalization() failed.
130
- Fail to track local map!
131
- Relocalization() failed.
132
- Fail to track local map!
133
- Relocalization() failed.
134
- Fail to track local map!
135
- Relocalization() failed.
136
- Fail to track local map!
137
- Relocalization() failed.
138
- Fail to track local map!
139
- Relocalization() failed.
140
- Fail to track local map!
141
- Relocalization() failed.
142
- Fail to track local map!
143
- Relocalization() failed.
144
- Fail to track local map!
145
- Relocalization() failed.
146
- Fail to track local map!
147
- Relocalization() failed.
148
- Fail to track local map!
149
- Relocalization() failed.
150
- Fail to track local map!
151
- Relocalization() failed.
152
- Fail to track local map!
153
- Relocalization() failed.
154
- Fail to track local map!
155
- Relocalization() failed.
156
- Fail to track local map!
157
- Relocalization() failed.
158
- Fail to track local map!
159
- Relocalization() failed.
160
- Fail to track local map!
161
- Relocalization() failed.
162
- Fail to track local map!
163
- Relocalization() failed.
164
- Fail to track local map!
165
- Relocalization() failed.
166
- Fail to track local map!
167
- Relocalization() failed.
168
- Fail to track local map!
169
- Relocalization() failed.
170
- Fail to track local map!
171
- Relocalization() failed.
172
- Fail to track local map!
173
- Relocalization() failed.
174
- Fail to track local map!
175
- Relocalization() failed.
176
- Fail to track local map!
177
- Relocalization() failed.
178
- Fail to track local map!
179
- Relocalization() failed.
180
- Fail to track local map!
181
- Relocalization() failed.
182
- Fail to track local map!
183
- Relocalization() failed.
184
- Fail to track local map!
185
- Relocalization() failed.
186
- Fail to track local map!
187
- Relocalization() failed.
188
- Fail to track local map!
189
- Relocalization() failed.
190
- Fail to track local map!
191
- Relocalization() failed.
192
- Fail to track local map!
193
- Relocalization() failed.
194
- Fail to track local map!
195
- Relocalization() failed.
196
- Fail to track local map!
197
- Relocalization() failed.
198
- Fail to track local map!
199
- Relocalization() failed.
200
- Fail to track local map!
201
- Relocalization() failed.
202
- Fail to track local map!
203
- Relocalization() failed.
204
- Fail to track local map!
205
- Relocalization() failed.
206
- Fail to track local map!
207
- Relocalization() failed.
208
- Fail to track local map!
209
- Relocalization() failed.
210
- Fail to track local map!
211
- Relocalization() failed.
212
- Fail to track local map!
213
- Relocalization() failed.
214
- Fail to track local map!
215
- Relocalization() failed.
216
- Fail to track local map!
217
- Relocalization() failed.
218
- Fail to track local map!
219
- Relocalization() failed.
220
- Fail to track local map!
221
- Relocalization() failed.
222
- Fail to track local map!
223
- Relocalization() failed.
224
- Fail to track local map!
225
- Relocalization() failed.
226
- Fail to track local map!
227
- Relocalization() failed.
228
- Fail to track local map!
229
- Relocalization() failed.
230
- Fail to track local map!
231
- Relocalization() failed.
232
- Fail to track local map!
233
- Relocalization() failed.
234
- Fail to track local map!
235
- Relocalization() failed.
236
- Fail to track local map!
237
- Relocalization() failed.
238
- Fail to track local map!
239
- Relocalization() failed.
240
- Fail to track local map!
241
- Relocalization() failed.
242
- Fail to track local map!
243
- Relocalization() failed.
244
- Fail to track local map!
245
- Relocalization() failed.
246
- Fail to track local map!
247
- Relocalization() failed.
248
- Fail to track local map!
249
- Relocalization() failed.
250
- Fail to track local map!
251
- Relocalization() failed.
252
- Fail to track local map!
253
- Relocalization() failed.
254
- Fail to track local map!
255
- Relocalization() failed.
256
- Fail to track local map!
257
- Relocalization() failed.
258
- Fail to track local map!
259
- Relocalization() failed.
260
- Fail to track local map!
261
- Relocalization() failed.
262
- Fail to track local map!
263
- Relocalization() failed.
264
- Fail to track local map!
265
- Relocalization() failed.
266
- Fail to track local map!
267
- Video FPS: 59.940059940059939
268
- ORB-SLAM 3 running at: 30.276317416427375 FPS
269
- Relocalization() failed.
270
- Fail to track local map!
271
- Relocalization() failed.
272
- Fail to track local map!
273
- Relocalization() failed.
274
- Fail to track local map!
275
- Relocalization() failed.
276
- Fail to track local map!
277
- Relocalization() failed.
278
- Fail to track local map!
279
- Relocalization() failed.
280
- Fail to track local map!
281
- Relocalization() failed.
282
- Fail to track local map!
283
- Relocalization() failed.
284
- Fail to track local map!
285
- Relocalization() failed.
286
- Fail to track local map!
287
- Relocalization() failed.
288
- Fail to track local map!
289
- Relocalization() failed.
290
- Fail to track local map!
291
- Relocalization() failed.
292
- Fail to track local map!
293
- Relocalization() failed.
294
- Fail to track local map!
295
- Relocalization() failed.
296
- Fail to track local map!
297
- Relocalization() failed.
298
- Fail to track local map!
299
- Relocalization() failed.
300
- Fail to track local map!
301
- Relocalization() failed.
302
- Fail to track local map!
303
- Relocalization() failed.
304
- Fail to track local map!
305
- Relocalization() failed.
306
- Fail to track local map!
307
- Relocalization() failed.
308
- Fail to track local map!
309
- Relocalization() failed.
310
- Fail to track local map!
311
- Relocalization() failed.
312
- Fail to track local map!
313
- Relocalization() failed.
314
- Fail to track local map!
315
- Relocalization() failed.
316
- Fail to track local map!
317
- Relocalization() failed.
318
- Fail to track local map!
319
- Relocalization() failed.
320
- Fail to track local map!
321
- Relocalization() failed.
322
- Fail to track local map!
323
- Relocalization() failed.
324
- Fail to track local map!
325
- Relocalization() failed.
326
- Fail to track local map!
327
- Relocalization() failed.
328
- Fail to track local map!
329
- Relocalization() failed.
330
- Fail to track local map!
331
- Relocalization() failed.
332
- Fail to track local map!
333
- Relocalization() failed.
334
- Fail to track local map!
335
- Relocalization() failed.
336
- Fail to track local map!
337
- Relocalization() failed.
338
- Fail to track local map!
339
- Relocalization() failed.
340
- Fail to track local map!
341
- Relocalization() failed.
342
- Fail to track local map!
343
- Relocalization() failed.
344
- Fail to track local map!
345
- Relocalization() failed.
346
- Fail to track local map!
347
- Relocalization() failed.
348
- Fail to track local map!
349
- Relocalization() failed.
350
- Fail to track local map!
351
- Relocalization() failed.
352
- Fail to track local map!
353
- Relocalization() failed.
354
- Fail to track local map!
355
- Relocalization() failed.
356
- Fail to track local map!
357
- Relocalization() failed.
358
- Fail to track local map!
359
- Relocalization() failed.
360
- Fail to track local map!
361
- Relocalization() failed.
362
- Fail to track local map!
363
- Relocalization() failed.
364
- Fail to track local map!
365
- Relocalization() failed.
366
- Fail to track local map!
367
- Relocalization() failed.
368
- Fail to track local map!
369
- Relocalization() failed.
370
- Fail to track local map!
371
- Relocalization() failed.
372
- Fail to track local map!
373
- Relocalization() failed.
374
- Fail to track local map!
375
- Relocalization() failed.
376
- Fail to track local map!
377
- Relocalization() failed.
378
- Fail to track local map!
379
- Relocalization() failed.
380
- Fail to track local map!
381
- Relocalization() failed.
382
- Fail to track local map!
383
- Relocalization() failed.
384
- Fail to track local map!
385
- Relocalization() failed.
386
- Fail to track local map!
387
- Relocalization() failed.
388
- Fail to track local map!
389
- Relocalization() failed.
390
- Fail to track local map!
391
- Relocalization() failed.
392
- Fail to track local map!
393
- Relocalization() failed.
394
- Fail to track local map!
395
- Relocalization() failed.
396
- Fail to track local map!
397
- Relocalization() failed.
398
- Fail to track local map!
399
- Relocalization() failed.
400
- Fail to track local map!
401
- Relocalization() failed.
402
- Fail to track local map!
403
- Relocalization() failed.
404
- Fail to track local map!
405
- Relocalization() failed.
406
- Fail to track local map!
407
- Relocalization() failed.
408
- Fail to track local map!
409
- Relocalization() failed.
410
- Fail to track local map!
411
- Relocalization() failed.
412
- Fail to track local map!
413
- Relocalization() failed.
414
- Fail to track local map!
415
- Relocalization() failed.
416
- Fail to track local map!
417
- Relocalization() failed.
418
- Fail to track local map!
419
- Relocalization() failed.
420
- Fail to track local map!
421
- Relocalization() failed.
422
- Fail to track local map!
423
- Relocalization() failed.
424
- Fail to track local map!
425
- Relocalization() failed.
426
- Fail to track local map!
427
- Relocalization() failed.
428
- Fail to track local map!
429
- Relocalization() failed.
430
- Fail to track local map!
431
- Relocalization() failed.
432
- Fail to track local map!
433
- Relocalization() failed.
434
- Fail to track local map!
435
- Relocalization() failed.
436
- Fail to track local map!
437
- Relocalization() failed.
438
- Fail to track local map!
439
- Relocalization() failed.
440
- Fail to track local map!
441
- Relocalization() failed.
442
- Fail to track local map!
443
- Relocalization() failed.
444
- Fail to track local map!
445
- Relocalization() failed.
446
- Fail to track local map!
447
- Relocalization() failed.
448
- Fail to track local map!
449
- Relocalization() failed.
450
- Fail to track local map!
451
- Relocalization() failed.
452
- Fail to track local map!
453
- Relocalization() failed.
454
- Fail to track local map!
455
- Relocalization() failed.
456
- Fail to track local map!
457
- Relocalization() failed.
458
- Fail to track local map!
459
- Relocalization() failed.
460
- Fail to track local map!
461
- Relocalization() failed.
462
- Fail to track local map!
463
- Relocalization() failed.
464
- Fail to track local map!
465
- Relocalization() failed.
466
- Fail to track local map!
467
- Relocalization() failed.
468
- Fail to track local map!
469
- Video FPS: 59.940059940059939
470
- ORB-SLAM 3 running at: 28.657039429793691 FPS
471
- Relocalization() failed.
472
- Fail to track local map!
473
- Relocalization() failed.
474
- Fail to track local map!
475
- Relocalization() failed.
476
- Fail to track local map!
477
- Relocalization() failed.
478
- Fail to track local map!
479
- Relocalization() failed.
480
- Fail to track local map!
481
- Relocalization() failed.
482
- Fail to track local map!
483
- Relocalization() failed.
484
- Fail to track local map!
485
- Relocalization() failed.
486
- Fail to track local map!
487
- Relocalization() failed.
488
- Fail to track local map!
489
- Relocalization() failed.
490
- Fail to track local map!
491
- Relocalization() failed.
492
- Fail to track local map!
493
- Relocalization() failed.
494
- Fail to track local map!
495
- Relocalization() failed.
496
- Fail to track local map!
497
- Relocalization() failed.
498
- Fail to track local map!
499
- Relocalization() failed.
500
- Fail to track local map!
501
- Relocalization() failed.
502
- Fail to track local map!
503
- Relocalization() failed.
504
- Fail to track local map!
505
- Relocalization() failed.
506
- Fail to track local map!
507
- Relocalization() failed.
508
- Fail to track local map!
509
- Relocalization() failed.
510
- Fail to track local map!
511
- Relocalization() failed.
512
- Fail to track local map!
513
- Relocalization() failed.
514
- Fail to track local map!
515
- Relocalization() failed.
516
- Fail to track local map!
517
- Relocalization() failed.
518
- Fail to track local map!
519
- Relocalization() failed.
520
- Fail to track local map!
521
- Relocalization() failed.
522
- Fail to track local map!
523
- Relocalization() failed.
524
- Fail to track local map!
525
- Relocalization() failed.
526
- Fail to track local map!
527
- Relocalization() failed.
528
- Fail to track local map!
529
- Relocalization() failed.
530
- Fail to track local map!
531
- Relocalization() failed.
532
- Fail to track local map!
533
- Relocalization() failed.
534
- Fail to track local map!
535
- Relocalization() failed.
536
- Fail to track local map!
537
- Relocalization() failed.
538
- Fail to track local map!
539
- Relocalization() failed.
540
- Fail to track local map!
541
- Relocalization() failed.
542
- Fail to track local map!
543
- Relocalization() failed.
544
- Fail to track local map!
545
- Relocalization() failed.
546
- Fail to track local map!
547
- Relocalization() failed.
548
- Fail to track local map!
549
- Relocalization() failed.
550
- Fail to track local map!
551
- Relocalization() failed.
552
- Fail to track local map!
553
- Relocalization() failed.
554
- Fail to track local map!
555
- Relocalization() failed.
556
- Fail to track local map!
557
- Relocalization() failed.
558
- Fail to track local map!
559
- Relocalization() failed.
560
- Fail to track local map!
561
- Relocalization() failed.
562
- Fail to track local map!
563
- Relocalization() failed.
564
- Fail to track local map!
565
- Relocalization() failed.
566
- Fail to track local map!
567
- Relocalization() failed.
568
- Fail to track local map!
569
- Relocalization() failed.
570
- Fail to track local map!
571
- Relocalization() failed.
572
- Fail to track local map!
573
- Relocalization() failed.
574
- Fail to track local map!
575
- Relocalization() failed.
576
- Fail to track local map!
577
- Relocalization() failed.
578
- Fail to track local map!
579
- Relocalization() failed.
580
- Fail to track local map!
581
- Relocalization() failed.
582
- Fail to track local map!
583
- Relocalization() failed.
584
- Fail to track local map!
585
- Relocalization() failed.
586
- Fail to track local map!
587
- Relocalization() failed.
588
- Fail to track local map!
589
- Relocalization() failed.
590
- Fail to track local map!
591
- Relocalization() failed.
592
- Fail to track local map!
593
- Relocalization() failed.
594
- Fail to track local map!
595
- Relocalization() failed.
596
- Fail to track local map!
597
- Relocalization() failed.
598
- Fail to track local map!
599
- Relocalization() failed.
600
- Fail to track local map!
601
- Relocalization() failed.
602
- Fail to track local map!
603
- Relocalization() failed.
604
- Fail to track local map!
605
- Relocalization() failed.
606
- Fail to track local map!
607
- Relocalization() failed.
608
- Fail to track local map!
609
- Relocalization() failed.
610
- Fail to track local map!
611
- Relocalization() failed.
612
- Fail to track local map!
613
- Relocalization() failed.
614
- Fail to track local map!
615
- Relocalization() failed.
616
- Fail to track local map!
617
- Relocalization() failed.
618
- Fail to track local map!
619
- Relocalization() failed.
620
- Fail to track local map!
621
- Relocalization() failed.
622
- Fail to track local map!
623
- Relocalization() failed.
624
- Fail to track local map!
625
- Relocalization() failed.
626
- Fail to track local map!
627
- Relocalization() failed.
628
- Fail to track local map!
629
- Relocalization() failed.
630
- Fail to track local map!
631
- Relocalization() failed.
632
- Fail to track local map!
633
- Relocalization() failed.
634
- Fail to track local map!
635
- Relocalization() failed.
636
- Fail to track local map!
637
- Relocalization() failed.
638
- Fail to track local map!
639
- Relocalization() failed.
640
- Fail to track local map!
641
- Relocalization() failed.
642
- Fail to track local map!
643
- Relocalization() failed.
644
- Fail to track local map!
645
- Relocalization() failed.
646
- Fail to track local map!
647
- Relocalization() failed.
648
- Fail to track local map!
649
- Relocalization() failed.
650
- Fail to track local map!
651
- Relocalization() failed.
652
- Fail to track local map!
653
- Relocalization() failed.
654
- Fail to track local map!
655
- Relocalization() failed.
656
- Fail to track local map!
657
- Relocalization() failed.
658
- Fail to track local map!
659
- Relocalization() failed.
660
- Fail to track local map!
661
- Relocalization() failed.
662
- Fail to track local map!
663
- Relocalization() failed.
664
- Fail to track local map!
665
- Relocalization() failed.
666
- Fail to track local map!
667
- Relocalization() failed.
668
- Fail to track local map!
669
- Relocalization() failed.
670
- Fail to track local map!
671
- Video FPS: 59.940059940059939
672
- ORB-SLAM 3 running at: 25.347160412115429 FPS
673
- Relocalization() failed.
674
- Fail to track local map!
675
- Relocalization() failed.
676
- Fail to track local map!
677
- Relocalization() failed.
678
- Fail to track local map!
679
- Relocalization() failed.
680
- Fail to track local map!
681
- Relocalization() failed.
682
- Fail to track local map!
683
- Relocalization() failed.
684
- Fail to track local map!
685
- Relocalization() failed.
686
- Fail to track local map!
687
- Relocalization() failed.
688
- Fail to track local map!
689
- Relocalization() failed.
690
- Fail to track local map!
691
- Relocalization() failed.
692
- Fail to track local map!
693
- Relocalization() failed.
694
- Fail to track local map!
695
- Relocalization() failed.
696
- Fail to track local map!
697
- Relocalization() failed.
698
- Fail to track local map!
699
- Relocalization() failed.
700
- Fail to track local map!
701
- Relocalization() failed.
702
- Fail to track local map!
703
- Relocalization() failed.
704
- Fail to track local map!
705
- Relocalization() failed.
706
- Fail to track local map!
707
- Relocalization() failed.
708
- Fail to track local map!
709
- Relocalization() failed.
710
- Fail to track local map!
711
- Relocalization() failed.
712
- Fail to track local map!
713
- Relocalization() failed.
714
- Fail to track local map!
715
- Relocalization() failed.
716
- Fail to track local map!
717
- Relocalization() failed.
718
- Fail to track local map!
719
- Relocalization() failed.
720
- Fail to track local map!
721
- Relocalization() failed.
722
- Fail to track local map!
723
- Relocalization() failed.
724
- Fail to track local map!
725
- Relocalization() failed.
726
- Fail to track local map!
727
- Relocalization() failed.
728
- Fail to track local map!
729
- Relocalization() failed.
730
- Fail to track local map!
731
- Relocalization() failed.
732
- Fail to track local map!
733
- Relocalization() failed.
734
- Fail to track local map!
735
- Relocalization() failed.
736
- Fail to track local map!
737
- Relocalization() failed.
738
- Fail to track local map!
739
- Relocalization() failed.
740
- Fail to track local map!
741
- Relocalization() failed.
742
- Fail to track local map!
743
- Relocalization() failed.
744
- Fail to track local map!
745
- Relocalization() failed.
746
- Fail to track local map!
747
- Relocalization() failed.
748
- Fail to track local map!
749
- Relocalization() failed.
750
- Fail to track local map!
751
- Relocalization() failed.
752
- Fail to track local map!
753
- Relocalization() failed.
754
- Fail to track local map!
755
- Relocalization() failed.
756
- Fail to track local map!
757
- Relocalization() failed.
758
- Fail to track local map!
759
- Relocalization() failed.
760
- Fail to track local map!
761
- Relocalization() failed.
762
- Fail to track local map!
763
- Relocalization() failed.
764
- Fail to track local map!
765
- Relocalization() failed.
766
- Fail to track local map!
767
- Relocalization() failed.
768
- Fail to track local map!
769
- Relocalization() failed.
770
- Fail to track local map!
771
- Relocalization() failed.
772
- Fail to track local map!
773
- Relocalization() failed.
774
- Fail to track local map!
775
- Relocalization() failed.
776
- Fail to track local map!
777
- Relocalization() failed.
778
- Fail to track local map!
779
- Relocalization() failed.
780
- Fail to track local map!
781
- Relocalization() failed.
782
- Fail to track local map!
783
- Relocalization() failed.
784
- Fail to track local map!
785
- Relocalization() failed.
786
- Fail to track local map!
787
- Relocalization() failed.
788
- Fail to track local map!
789
- Relocalization() failed.
790
- Fail to track local map!
791
- Relocalization() failed.
792
- Fail to track local map!
793
- Relocalization() failed.
794
- Fail to track local map!
795
- Relocalization() failed.
796
- Fail to track local map!
797
- Relocalization() failed.
798
- Fail to track local map!
799
- Relocalization() failed.
800
- Fail to track local map!
801
- Relocalization() failed.
802
- Fail to track local map!
803
- Relocalization() failed.
804
- Fail to track local map!
805
- Relocalization() failed.
806
- Fail to track local map!
807
- Relocalization() failed.
808
- Fail to track local map!
809
- Relocalization() failed.
810
- Fail to track local map!
811
- Relocalization() failed.
812
- Fail to track local map!
813
- Relocalization() failed.
814
- Fail to track local map!
815
- Relocalization() failed.
816
- Fail to track local map!
817
- Relocalization() failed.
818
- Fail to track local map!
819
- Relocalization() failed.
820
- Fail to track local map!
821
- Relocalization() failed.
822
- Fail to track local map!
823
- Relocalization() failed.
824
- Fail to track local map!
825
- Relocalization() failed.
826
- Fail to track local map!
827
- Relocalization() failed.
828
- Fail to track local map!
829
- Relocalization() failed.
830
- Fail to track local map!
831
- Relocalization() failed.
832
- Fail to track local map!
833
- Relocalization() failed.
834
- Fail to track local map!
835
- Relocalization() failed.
836
- Fail to track local map!
837
- Relocalization() failed.
838
- Fail to track local map!
839
- Relocalization() failed.
840
- Fail to track local map!
841
- Relocalization() failed.
842
- Fail to track local map!
843
- Relocalization() failed.
844
- Fail to track local map!
845
- Relocalization() failed.
846
- Fail to track local map!
847
- Relocalization() failed.
848
- Fail to track local map!
849
- Relocalization() failed.
850
- Fail to track local map!
851
- Relocalization() failed.
852
- Fail to track local map!
853
- Relocalization() failed.
854
- Fail to track local map!
855
- Relocalization() failed.
856
- Fail to track local map!
857
- Relocalization() failed.
858
- Fail to track local map!
859
- Relocalization() failed.
860
- Fail to track local map!
861
- Relocalization() failed.
862
- Fail to track local map!
863
- Relocalization() failed.
864
- Fail to track local map!
865
- Relocalization() failed.
866
- Fail to track local map!
867
- Relocalization() failed.
868
- Fail to track local map!
869
- Relocalization() failed.
870
- Fail to track local map!
871
- Relocalization() failed.
872
- Fail to track local map!
873
- Video FPS: 59.940059940059939
874
- ORB-SLAM 3 running at: 26.790137768015569 FPS
875
- Relocalization() failed.
876
- Fail to track local map!
877
- Relocalization() failed.
878
- Fail to track local map!
879
- Relocalization() failed.
880
- Fail to track local map!
881
- Relocalization() failed.
882
- Fail to track local map!
883
- Relocalization() failed.
884
- Fail to track local map!
885
- Relocalization() failed.
886
- Fail to track local map!
887
- Relocalization() failed.
888
- Fail to track local map!
889
- Relocalization() failed.
890
- Fail to track local map!
891
- Relocalization() failed.
892
- Fail to track local map!
893
- Relocalization() failed.
894
- Fail to track local map!
895
- Relocalization() failed.
896
- Fail to track local map!
897
- Relocalization() failed.
898
- Fail to track local map!
899
- Relocalization() failed.
900
- Fail to track local map!
901
- Relocalization() failed.
902
- Fail to track local map!
903
- Relocalization() failed.
904
- Fail to track local map!
905
- Relocalization() failed.
906
- Fail to track local map!
907
- Relocalization() failed.
908
- Fail to track local map!
909
- Relocalization() failed.
910
- Fail to track local map!
911
- Relocalization() failed.
912
- Fail to track local map!
913
- Relocalization() failed.
914
- Fail to track local map!
915
- Relocalization() failed.
916
- Fail to track local map!
917
- Relocalization() failed.
918
- Fail to track local map!
919
- Relocalization() failed.
920
- Fail to track local map!
921
- Relocalization() failed.
922
- Fail to track local map!
923
- Relocalization() failed.
924
- Fail to track local map!
925
- Relocalization() failed.
926
- Fail to track local map!
927
- Relocalization() failed.
928
- Fail to track local map!
929
- Relocalization() failed.
930
- Fail to track local map!
931
- Relocalization() failed.
932
- Fail to track local map!
933
- Relocalization() failed.
934
- Fail to track local map!
935
- Relocalization() failed.
936
- Fail to track local map!
937
- Relocalization() failed.
938
- Fail to track local map!
939
- Relocalization() failed.
940
- Fail to track local map!
941
- Relocalization() failed.
942
- Fail to track local map!
943
- Relocalization() failed.
944
- Fail to track local map!
945
- Relocalization() failed.
946
- Fail to track local map!
947
- Relocalization() failed.
948
- Fail to track local map!
949
- Relocalization() failed.
950
- Fail to track local map!
951
- Relocalization() failed.
952
- Fail to track local map!
953
- Relocalization() failed.
954
- Fail to track local map!
955
- Relocalization() failed.
956
- Fail to track local map!
957
- Relocalization() failed.
958
- Fail to track local map!
959
- Relocalization() failed.
960
- Fail to track local map!
961
- Relocalization() failed.
962
- Fail to track local map!
963
- Relocalization() failed.
964
- Fail to track local map!
965
- Relocalization() failed.
966
- Fail to track local map!
967
- Relocalization() failed.
968
- Fail to track local map!
969
- Relocalization() failed.
970
- Fail to track local map!
971
- Relocalization() failed.
972
- Fail to track local map!
973
- Relocalization() failed.
974
- Fail to track local map!
975
- Relocalization() failed.
976
- Fail to track local map!
977
- Relocalization() failed.
978
- Fail to track local map!
979
- Relocalization() failed.
980
- Fail to track local map!
981
- Relocalization() failed.
982
- Fail to track local map!
983
- Relocalization() failed.
984
- Fail to track local map!
985
- Relocalization() failed.
986
- Fail to track local map!
987
- Relocalization() failed.
988
- Fail to track local map!
989
- Relocalization() failed.
990
- Fail to track local map!
991
- Relocalization() failed.
992
- Fail to track local map!
993
- Relocalization() failed.
994
- Fail to track local map!
995
- Relocalization() failed.
996
- Fail to track local map!
997
- Relocalization() failed.
998
- Fail to track local map!
999
- Relocalization() failed.
1000
- Fail to track local map!
1001
- Relocalization() failed.
1002
- Fail to track local map!
1003
- Relocalization() failed.
1004
- Fail to track local map!
1005
- Relocalization() failed.
1006
- Fail to track local map!
1007
- Relocalization() failed.
1008
- Fail to track local map!
1009
- Relocalization() failed.
1010
- Fail to track local map!
1011
- Relocalization() failed.
1012
- Fail to track local map!
1013
- Relocalization() failed.
1014
- Fail to track local map!
1015
- Relocalization() failed.
1016
- Fail to track local map!
1017
- Relocalization() failed.
1018
- Fail to track local map!
1019
- Relocalization() failed.
1020
- Fail to track local map!
1021
- Relocalization() failed.
1022
- Fail to track local map!
1023
- Relocalization() failed.
1024
- Fail to track local map!
1025
- Relocalization() failed.
1026
- Fail to track local map!
1027
- Relocalization() failed.
1028
- Fail to track local map!
1029
- Relocalization() failed.
1030
- Fail to track local map!
1031
- Relocalization() failed.
1032
- Fail to track local map!
1033
- Relocalization() failed.
1034
- Fail to track local map!
1035
- Relocalization() failed.
1036
- Fail to track local map!
1037
- Relocalization() failed.
1038
- Fail to track local map!
1039
- Relocalization() failed.
1040
- Fail to track local map!
1041
- Relocalization() failed.
1042
- Fail to track local map!
1043
- Relocalization() failed.
1044
- Fail to track local map!
1045
- Relocalization() failed.
1046
- Fail to track local map!
1047
- Relocalization() failed.
1048
- Fail to track local map!
1049
- Relocalization() failed.
1050
- Fail to track local map!
1051
- Relocalization() failed.
1052
- Fail to track local map!
1053
- Relocalization() failed.
1054
- Fail to track local map!
1055
- Relocalization() failed.
1056
- Fail to track local map!
1057
- Relocalization() failed.
1058
- Fail to track local map!
1059
- Relocalization() failed.
1060
- Fail to track local map!
1061
- Relocalization() failed.
1062
- Fail to track local map!
1063
- Relocalization() failed.
1064
- Fail to track local map!
1065
- Relocalization() failed.
1066
- Fail to track local map!
1067
- Relocalization() failed.
1068
- Fail to track local map!
1069
- Relocalization() failed.
1070
- Fail to track local map!
1071
- Relocalization() failed.
1072
- Fail to track local map!
1073
- Relocalization() failed.
1074
- Fail to track local map!
1075
- Video FPS: 59.940059940059939
1076
- ORB-SLAM 3 running at: 27.616708694234237 FPS
1077
- Relocalization() failed.
1078
- Fail to track local map!
1079
- Relocalization() failed.
1080
- Fail to track local map!
1081
- Relocalization() failed.
1082
- Fail to track local map!
1083
- Relocalization() failed.
1084
- Fail to track local map!
1085
- Relocalization() failed.
1086
- Fail to track local map!
1087
- Relocalization() failed.
1088
- Fail to track local map!
1089
- Relocalization() failed.
1090
- Fail to track local map!
1091
- Relocalization() failed.
1092
- Fail to track local map!
1093
- Relocalization() failed.
1094
- Fail to track local map!
1095
- Relocalization() failed.
1096
- Fail to track local map!
1097
- Relocalization() failed.
1098
- Fail to track local map!
1099
- Relocalization() failed.
1100
- Fail to track local map!
1101
- Relocalization() failed.
1102
- Fail to track local map!
1103
- Relocalization() failed.
1104
- Fail to track local map!
1105
- Relocalization() failed.
1106
- Fail to track local map!
1107
- Relocalization() failed.
1108
- Fail to track local map!
1109
- Relocalization() failed.
1110
- Fail to track local map!
1111
- Relocalization() failed.
1112
- Fail to track local map!
1113
- Relocalization() failed.
1114
- Fail to track local map!
1115
- Relocalization() failed.
1116
- Fail to track local map!
1117
- Relocalization() failed.
1118
- Fail to track local map!
1119
- Relocalization() failed.
1120
- Fail to track local map!
1121
- Relocalization() failed.
1122
- Fail to track local map!
1123
- Relocalization() failed.
1124
- Fail to track local map!
1125
- Relocalization() failed.
1126
- Fail to track local map!
1127
- Relocalization() failed.
1128
- Fail to track local map!
1129
- Relocalization() failed.
1130
- Fail to track local map!
1131
- Relocalization() failed.
1132
- Fail to track local map!
1133
- Relocalization() failed.
1134
- Fail to track local map!
1135
- Relocalization() failed.
1136
- Fail to track local map!
1137
- Relocalization() failed.
1138
- Fail to track local map!
1139
- Relocalization() failed.
1140
- Fail to track local map!
1141
- Relocalization() failed.
1142
- Fail to track local map!
1143
- Relocalization() failed.
1144
- Fail to track local map!
1145
- Relocalization() failed.
1146
- Fail to track local map!
1147
- Relocalization() failed.
1148
- Fail to track local map!
1149
- Relocalization() failed.
1150
- Fail to track local map!
1151
- Relocalization() failed.
1152
- Fail to track local map!
1153
- Relocalization() failed.
1154
- Fail to track local map!
1155
- Relocalization() failed.
1156
- Fail to track local map!
1157
- Relocalization() failed.
1158
- Fail to track local map!
1159
- Relocalization() failed.
1160
- Fail to track local map!
1161
- Relocalization() failed.
1162
- Fail to track local map!
1163
- Relocalization() failed.
1164
- Fail to track local map!
1165
- Relocalization() failed.
1166
- Fail to track local map!
1167
- Relocalization() failed.
1168
- Fail to track local map!
1169
- Relocalization() failed.
1170
- Fail to track local map!
1171
- Relocalization() failed.
1172
- Fail to track local map!
1173
- Relocalization() failed.
1174
- Fail to track local map!
1175
- Relocalization() failed.
1176
- Fail to track local map!
1177
- Relocalization() failed.
1178
- Fail to track local map!
1179
- Relocalization() failed.
1180
- Fail to track local map!
1181
- Relocalization() failed.
1182
- Fail to track local map!
1183
- Relocalization() failed.
1184
- Fail to track local map!
1185
- Relocalization() failed.
1186
- Fail to track local map!
1187
- Relocalization() failed.
1188
- Fail to track local map!
1189
- Relocalization() failed.
1190
- Fail to track local map!
1191
- Relocalization() failed.
1192
- Fail to track local map!
1193
- Relocalization() failed.
1194
- Fail to track local map!
1195
- Relocalization() failed.
1196
- Fail to track local map!
1197
- Relocalization() failed.
1198
- Fail to track local map!
1199
- Relocalization() failed.
1200
- Fail to track local map!
1201
- Relocalization() failed.
1202
- Fail to track local map!
1203
- Relocalization() failed.
1204
- Fail to track local map!
1205
- Relocalization() failed.
1206
- Fail to track local map!
1207
- Relocalization() failed.
1208
- Fail to track local map!
1209
- Relocalization() failed.
1210
- Fail to track local map!
1211
- Relocalization() failed.
1212
- Fail to track local map!
1213
- Relocalization() failed.
1214
- Fail to track local map!
1215
- Relocalization() failed.
1216
- Fail to track local map!
1217
- Relocalization() failed.
1218
- Fail to track local map!
1219
- Relocalization() failed.
1220
- Fail to track local map!
1221
- Relocalization() failed.
1222
- Fail to track local map!
1223
- Relocalization() failed.
1224
- Fail to track local map!
1225
- Relocalization() failed.
1226
- Fail to track local map!
1227
- Relocalization() failed.
1228
- Fail to track local map!
1229
- Relocalization() failed.
1230
- Fail to track local map!
1231
- Relocalization() failed.
1232
- Fail to track local map!
1233
- Relocalization() failed.
1234
- Fail to track local map!
1235
- Relocalization() failed.
1236
- Fail to track local map!
1237
- Relocalization() failed.
1238
- Fail to track local map!
1239
- Relocalization() failed.
1240
- Fail to track local map!
1241
- Relocalization() failed.
1242
- Fail to track local map!
1243
- Relocalization() failed.
1244
- Fail to track local map!
1245
- Relocalization() failed.
1246
- Fail to track local map!
1247
- Relocalization() failed.
1248
- Fail to track local map!
1249
- Relocalization() failed.
1250
- Fail to track local map!
1251
- Relocalization() failed.
1252
- Fail to track local map!
1253
- Relocalization() failed.
1254
- Fail to track local map!
1255
- Relocalization() failed.
1256
- Fail to track local map!
1257
- Relocalization() failed.
1258
- Fail to track local map!
1259
- Relocalization() failed.
1260
- Fail to track local map!
1261
- Relocalization() failed.
1262
- Fail to track local map!
1263
- Relocalization() failed.
1264
- Fail to track local map!
1265
- Relocalization() failed.
1266
- Fail to track local map!
1267
- Relocalization() failed.
1268
- Fail to track local map!
1269
- Relocalization() failed.
1270
- Fail to track local map!
1271
- Relocalization() failed.
1272
- Fail to track local map!
1273
- Relocalization() failed.
1274
- Fail to track local map!
1275
- Relocalization() failed.
1276
- Fail to track local map!
1277
- Video FPS: 59.940059940059939
1278
- ORB-SLAM 3 running at: 37.344506809770813 FPS
1279
- Relocalization() failed.
1280
- Fail to track local map!
1281
- Relocalization() failed.
1282
- Fail to track local map!
1283
- Relocalization() failed.
1284
- Fail to track local map!
1285
- Relocalization() failed.
1286
- Fail to track local map!
1287
- Relocalization() failed.
1288
- Fail to track local map!
1289
- Relocalization() failed.
1290
- Fail to track local map!
1291
- Relocalization() failed.
1292
- Fail to track local map!
1293
- Relocalization() failed.
1294
- Fail to track local map!
1295
- Relocalization() failed.
1296
- Fail to track local map!
1297
- Relocalization() failed.
1298
- Fail to track local map!
1299
- Relocalization() failed.
1300
- Fail to track local map!
1301
- Relocalization() failed.
1302
- Fail to track local map!
1303
- Relocalization() failed.
1304
- Fail to track local map!
1305
- Relocalization() failed.
1306
- Fail to track local map!
1307
- Relocalization() failed.
1308
- Fail to track local map!
1309
- Relocalization() failed.
1310
- Fail to track local map!
1311
- Relocalization() failed.
1312
- Fail to track local map!
1313
- Relocalization() failed.
1314
- Fail to track local map!
1315
- Relocalization() failed.
1316
- Fail to track local map!
1317
- Relocalization() failed.
1318
- Fail to track local map!
1319
- Relocalization() failed.
1320
- Fail to track local map!
1321
- Relocalization() failed.
1322
- Fail to track local map!
1323
- Relocalization() failed.
1324
- Fail to track local map!
1325
- Relocalization() failed.
1326
- Fail to track local map!
1327
- Relocalization() failed.
1328
- Fail to track local map!
1329
- Relocalization() failed.
1330
- Fail to track local map!
1331
- Relocalization() failed.
1332
- Fail to track local map!
1333
- Relocalization() failed.
1334
- Fail to track local map!
1335
- Relocalization() failed.
1336
- Fail to track local map!
1337
- Relocalization() failed.
1338
- Fail to track local map!
1339
- Relocalization() failed.
1340
- Fail to track local map!
1341
- Relocalization() failed.
1342
- Fail to track local map!
1343
- Relocalization() failed.
1344
- Fail to track local map!
1345
- Relocalization() failed.
1346
- Fail to track local map!
1347
- Relocalization() failed.
1348
- Fail to track local map!
1349
- Relocalization() failed.
1350
- Fail to track local map!
1351
- Relocalization() failed.
1352
- Fail to track local map!
1353
- Relocalization() failed.
1354
- Fail to track local map!
1355
- Relocalization() failed.
1356
- Fail to track local map!
1357
- Relocalization() failed.
1358
- Fail to track local map!
1359
- Relocalization() failed.
1360
- Fail to track local map!
1361
- Relocalization() failed.
1362
- Fail to track local map!
1363
- Relocalization() failed.
1364
- Fail to track local map!
1365
- Relocalization() failed.
1366
- Fail to track local map!
1367
- Relocalization() failed.
1368
- Fail to track local map!
1369
- Relocalization() failed.
1370
- Fail to track local map!
1371
- Relocalization() failed.
1372
- Fail to track local map!
1373
- Relocalization() failed.
1374
- Fail to track local map!
1375
- Relocalization() failed.
1376
- Fail to track local map!
1377
- Relocalization() failed.
1378
- Fail to track local map!
1379
- Relocalization() failed.
1380
- Fail to track local map!
1381
- Relocalization() failed.
1382
- Fail to track local map!
1383
- Relocalization() failed.
1384
- Fail to track local map!
1385
- Relocalization() failed.
1386
- Fail to track local map!
1387
- Relocalization() failed.
1388
- Fail to track local map!
1389
- Relocalization() failed.
1390
- Fail to track local map!
1391
- Relocalization() failed.
1392
- Fail to track local map!
1393
- Relocalization() failed.
1394
- Fail to track local map!
1395
- Relocalization() failed.
1396
- Fail to track local map!
1397
- Relocalization() failed.
1398
- Fail to track local map!
1399
- Relocalization() failed.
1400
- Fail to track local map!
1401
- Relocalization() failed.
1402
- Fail to track local map!
1403
- Relocalization() failed.
1404
- Fail to track local map!
1405
- Relocalization() failed.
1406
- Fail to track local map!
1407
- Relocalization() failed.
1408
- Fail to track local map!
1409
- Relocalization() failed.
1410
- Fail to track local map!
1411
- Relocalization() failed.
1412
- Fail to track local map!
1413
- Relocalization() failed.
1414
- Fail to track local map!
1415
- Relocalization() failed.
1416
- Fail to track local map!
1417
- Relocalization() failed.
1418
- Fail to track local map!
1419
- Relocalization() failed.
1420
- Fail to track local map!
1421
- Relocalization() failed.
1422
- Fail to track local map!
1423
- Relocalization() failed.
1424
- Fail to track local map!
1425
- Relocalization() failed.
1426
- Fail to track local map!
1427
- Relocalization() failed.
1428
- Fail to track local map!
1429
- Relocalization() failed.
1430
- Fail to track local map!
1431
- Relocalization() failed.
1432
- Fail to track local map!
1433
- Relocalization() failed.
1434
- Fail to track local map!
1435
- Relocalization() failed.
1436
- Fail to track local map!
1437
- Relocalization() failed.
1438
- Fail to track local map!
1439
- Relocalization() failed.
1440
- Fail to track local map!
1441
- Relocalization() failed.
1442
- Fail to track local map!
1443
- Relocalization() failed.
1444
- Fail to track local map!
1445
- Relocalization() failed.
1446
- Fail to track local map!
1447
- Relocalization() failed.
1448
- Fail to track local map!
1449
- Relocalization() failed.
1450
- Fail to track local map!
1451
- Relocalization() failed.
1452
- Fail to track local map!
1453
- Relocalization() failed.
1454
- Fail to track local map!
1455
- Relocalization() failed.
1456
- Fail to track local map!
1457
- Relocalization() failed.
1458
- Fail to track local map!
1459
- Relocalization() failed.
1460
- Fail to track local map!
1461
- Relocalization() failed.
1462
- Fail to track local map!
1463
- Relocalization() failed.
1464
- Fail to track local map!
1465
- Relocalization() failed.
1466
- Fail to track local map!
1467
- Relocalization() failed.
1468
- Fail to track local map!
1469
- Relocalization() failed.
1470
- Fail to track local map!
1471
- Relocalization() failed.
1472
- Fail to track local map!
1473
- Relocalization() failed.
1474
- Fail to track local map!
1475
- Relocalization() failed.
1476
- Fail to track local map!
1477
- Relocalization() failed.
1478
- Fail to track local map!
1479
- Video FPS: 59.940059940059939
1480
- ORB-SLAM 3 running at: 27.111009607491141 FPS
1481
- Relocalization() failed.
1482
- Fail to track local map!
1483
- Relocalization() failed.
1484
- Fail to track local map!
1485
- Relocalization() failed.
1486
- Fail to track local map!
1487
- Relocalization() failed.
1488
- Fail to track local map!
1489
- Relocalization() failed.
1490
- Fail to track local map!
1491
- Relocalization() failed.
1492
- Fail to track local map!
1493
- Relocalization() failed.
1494
- Fail to track local map!
1495
- Relocalization() failed.
1496
- Fail to track local map!
1497
- Relocalization() failed.
1498
- Fail to track local map!
1499
- Relocalization() failed.
1500
- Fail to track local map!
1501
- Relocalization() failed.
1502
- Fail to track local map!
1503
- Relocalization() failed.
1504
- Fail to track local map!
1505
- Relocalization() failed.
1506
- Fail to track local map!
1507
- Relocalization() failed.
1508
- Fail to track local map!
1509
- Relocalization() failed.
1510
- Fail to track local map!
1511
- Relocalization() failed.
1512
- Fail to track local map!
1513
- Relocalization() failed.
1514
- Fail to track local map!
1515
- Relocalization() failed.
1516
- Fail to track local map!
1517
- Relocalization() failed.
1518
- Fail to track local map!
1519
- Relocalization() failed.
1520
- Fail to track local map!
1521
- Relocalization() failed.
1522
- Fail to track local map!
1523
- Relocalization() failed.
1524
- Fail to track local map!
1525
- Relocalization() failed.
1526
- Fail to track local map!
1527
- Relocalization() failed.
1528
- Fail to track local map!
1529
- Relocalization() failed.
1530
- Fail to track local map!
1531
- Relocalization() failed.
1532
- Fail to track local map!
1533
- Relocalization() failed.
1534
- Fail to track local map!
1535
- Relocalization() failed.
1536
- Fail to track local map!
1537
- Relocalization() failed.
1538
- Fail to track local map!
1539
- Relocalization() failed.
1540
- Fail to track local map!
1541
- Relocalization() failed.
1542
- Fail to track local map!
1543
- Relocalization() failed.
1544
- Fail to track local map!
1545
- Relocalization() failed.
1546
- Fail to track local map!
1547
- Relocalization() failed.
1548
- Fail to track local map!
1549
- Relocalization() failed.
1550
- Fail to track local map!
1551
- Relocalization() failed.
1552
- Fail to track local map!
1553
- Relocalization() failed.
1554
- Fail to track local map!
1555
- Relocalization() failed.
1556
- Fail to track local map!
1557
- Relocalization() failed.
1558
- Fail to track local map!
1559
- Relocalization() failed.
1560
- Fail to track local map!
1561
- Relocalization() failed.
1562
- Fail to track local map!
1563
- Relocalization() failed.
1564
- Fail to track local map!
1565
- Relocalization() failed.
1566
- Fail to track local map!
1567
- Relocalization() failed.
1568
- Fail to track local map!
1569
- Relocalization() failed.
1570
- Fail to track local map!
1571
- Relocalization() failed.
1572
- Fail to track local map!
1573
- Relocalization() failed.
1574
- Fail to track local map!
1575
- Relocalization() failed.
1576
- Fail to track local map!
1577
- Relocalization() failed.
1578
- Fail to track local map!
1579
- Relocalization() failed.
1580
- Fail to track local map!
1581
- Relocalization() failed.
1582
- Fail to track local map!
1583
- Relocalization() failed.
1584
- Fail to track local map!
1585
- Relocalization() failed.
1586
- Fail to track local map!
1587
- Relocalization() failed.
1588
- Fail to track local map!
1589
- Relocalization() failed.
1590
- Fail to track local map!
1591
- Relocalization() failed.
1592
- Fail to track local map!
1593
- Relocalization() failed.
1594
- Fail to track local map!
1595
- Relocalization() failed.
1596
- Fail to track local map!
1597
- Relocalization() failed.
1598
- Fail to track local map!
1599
- Relocalization() failed.
1600
- Fail to track local map!
1601
- Relocalization() failed.
1602
- Fail to track local map!
1603
- Relocalization() failed.
1604
- Fail to track local map!
1605
- Relocalization() failed.
1606
- Fail to track local map!
1607
- Relocalization() failed.
1608
- Fail to track local map!
1609
- Relocalization() failed.
1610
- Fail to track local map!
1611
- Relocalization() failed.
1612
- Fail to track local map!
1613
- Relocalization() failed.
1614
- Fail to track local map!
1615
- Relocalization() failed.
1616
- Fail to track local map!
1617
- Relocalization() failed.
1618
- Fail to track local map!
1619
- Relocalization() failed.
1620
- Fail to track local map!
1621
- Relocalization() failed.
1622
- Fail to track local map!
1623
- Relocalization() failed.
1624
- Fail to track local map!
1625
- Relocalization() failed.
1626
- Fail to track local map!
1627
- Relocalization() failed.
1628
- Fail to track local map!
1629
- Relocalization() failed.
1630
- Fail to track local map!
1631
- Relocalization() failed.
1632
- Fail to track local map!
1633
- Relocalization() failed.
1634
- Fail to track local map!
1635
- Relocalization() failed.
1636
- Fail to track local map!
1637
- Relocalization() failed.
1638
- Fail to track local map!
1639
- Relocalization() failed.
1640
- Fail to track local map!
1641
- Relocalization() failed.
1642
- Fail to track local map!
1643
- Relocalization() failed.
1644
- Fail to track local map!
1645
- Relocalization() failed.
1646
- Fail to track local map!
1647
- Relocalization() failed.
1648
- Fail to track local map!
1649
- Relocalization() failed.
1650
- Fail to track local map!
1651
- Relocalization() failed.
1652
- Fail to track local map!
1653
- Relocalization() failed.
1654
- Fail to track local map!
1655
- Relocalization() failed.
1656
- Fail to track local map!
1657
- Relocalization() failed.
1658
- Fail to track local map!
1659
- Relocalization() failed.
1660
- Fail to track local map!
1661
- Relocalization() failed.
1662
- Fail to track local map!
1663
- Relocalization() failed.
1664
- Fail to track local map!
1665
- Relocalization() failed.
1666
- Fail to track local map!
1667
- Relocalization() failed.
1668
- Fail to track local map!
1669
- Relocalization() failed.
1670
- Fail to track local map!
1671
- Relocalization() failed.
1672
- Fail to track local map!
1673
- Relocalization() failed.
1674
- Fail to track local map!
1675
- Relocalization() failed.
1676
- Fail to track local map!
1677
- Relocalization() failed.
1678
- Fail to track local map!
1679
- Relocalization() failed.
1680
- Fail to track local map!
1681
- Video FPS: 59.940059940059939
1682
- ORB-SLAM 3 running at: 28.759273463677456 FPS
1683
- Relocalization() failed.
1684
- Fail to track local map!
1685
- Relocalization() failed.
1686
- Fail to track local map!
1687
- Relocalization() failed.
1688
- Fail to track local map!
1689
- Relocalization() failed.
1690
- Fail to track local map!
1691
- Relocalization() failed.
1692
- Fail to track local map!
1693
- Relocalization() failed.
1694
- Fail to track local map!
1695
- Relocalization() failed.
1696
- Fail to track local map!
1697
- Relocalization() failed.
1698
- Fail to track local map!
1699
- Relocalization() failed.
1700
- Fail to track local map!
1701
- Relocalization() failed.
1702
- Fail to track local map!
1703
- Relocalization() failed.
1704
- Fail to track local map!
1705
- Relocalization() failed.
1706
- Fail to track local map!
1707
- Relocalization() failed.
1708
- Fail to track local map!
1709
- Relocalization() failed.
1710
- Fail to track local map!
1711
- Relocalization() failed.
1712
- Fail to track local map!
1713
- Relocalization() failed.
1714
- Fail to track local map!
1715
- Relocalization() failed.
1716
- Fail to track local map!
1717
- Relocalization() failed.
1718
- Fail to track local map!
1719
- Relocalization() failed.
1720
- Fail to track local map!
1721
- Relocalization() failed.
1722
- Fail to track local map!
1723
- Relocalization() failed.
1724
- Fail to track local map!
1725
- Relocalization() failed.
1726
- Fail to track local map!
1727
- Relocalization() failed.
1728
- Fail to track local map!
1729
- Relocalization() failed.
1730
- Fail to track local map!
1731
- Relocalization() failed.
1732
- Fail to track local map!
1733
- Relocalization() failed.
1734
- Fail to track local map!
1735
- Relocalization() failed.
1736
- Fail to track local map!
1737
- Relocalization() failed.
1738
- Fail to track local map!
1739
- Relocalization() failed.
1740
- Fail to track local map!
1741
- Relocalization() failed.
1742
- Fail to track local map!
1743
- Relocalization() failed.
1744
- Fail to track local map!
1745
- Relocalization() failed.
1746
- Fail to track local map!
1747
- Relocalization() failed.
1748
- Fail to track local map!
1749
- Relocalization() failed.
1750
- Fail to track local map!
1751
- Relocalization() failed.
1752
- Fail to track local map!
1753
- Relocalization() failed.
1754
- Fail to track local map!
1755
- Relocalization() failed.
1756
- Fail to track local map!
1757
- Relocalization() failed.
1758
- Fail to track local map!
1759
- Relocalization() failed.
1760
- Fail to track local map!
1761
- Relocalization() failed.
1762
- Fail to track local map!
1763
- Relocalization() failed.
1764
- Fail to track local map!
1765
- Relocalization() failed.
1766
- Fail to track local map!
1767
- Relocalization() failed.
1768
- Fail to track local map!
1769
- Relocalization() failed.
1770
- Fail to track local map!
1771
- Relocalization() failed.
1772
- Fail to track local map!
1773
- Relocalization() failed.
1774
- Fail to track local map!
1775
- Relocalization() failed.
1776
- Fail to track local map!
1777
- Relocalization() failed.
1778
- Fail to track local map!
1779
- Relocalization() failed.
1780
- Fail to track local map!
1781
- Relocalization() failed.
1782
- Fail to track local map!
1783
- Relocalization() failed.
1784
- Fail to track local map!
1785
- Relocalization() failed.
1786
- Fail to track local map!
1787
- Relocalization() failed.
1788
- Fail to track local map!
1789
- Relocalization() failed.
1790
- Fail to track local map!
1791
- Relocalization() failed.
1792
- Fail to track local map!
1793
- Relocalization() failed.
1794
- Fail to track local map!
1795
- Relocalization() failed.
1796
- Fail to track local map!
1797
- Relocalization() failed.
1798
- Fail to track local map!
1799
- Relocalization() failed.
1800
- Fail to track local map!
1801
- Relocalization() failed.
1802
- Fail to track local map!
1803
- Relocalization() failed.
1804
- Fail to track local map!
1805
- Relocalization() failed.
1806
- Fail to track local map!
1807
- Relocalization() failed.
1808
- Fail to track local map!
1809
- Relocalization() failed.
1810
- Fail to track local map!
1811
- Relocalization() failed.
1812
- Fail to track local map!
1813
- Relocalization() failed.
1814
- Fail to track local map!
1815
- Relocalization() failed.
1816
- Fail to track local map!
1817
- Relocalization() failed.
1818
- Fail to track local map!
1819
- Relocalization() failed.
1820
- Fail to track local map!
1821
- Relocalization() failed.
1822
- Fail to track local map!
1823
- Relocalization() failed.
1824
- Fail to track local map!
1825
- Relocalization() failed.
1826
- Fail to track local map!
1827
- Relocalization() failed.
1828
- Fail to track local map!
1829
- Relocalization() failed.
1830
- Fail to track local map!
1831
- Relocalization() failed.
1832
- Fail to track local map!
1833
- Relocalization() failed.
1834
- Fail to track local map!
1835
- Relocalization() failed.
1836
- Fail to track local map!
1837
- Relocalization() failed.
1838
- Fail to track local map!
1839
- Relocalization() failed.
1840
- Fail to track local map!
1841
- Relocalization() failed.
1842
- Fail to track local map!
1843
- Relocalization() failed.
1844
- Fail to track local map!
1845
- Relocalization() failed.
1846
- Fail to track local map!
1847
- Relocalization() failed.
1848
- Fail to track local map!
1849
- Relocalization() failed.
1850
- Fail to track local map!
1851
- Relocalization() failed.
1852
- Fail to track local map!
1853
- Relocalization() failed.
1854
- Fail to track local map!
1855
- Relocalization() failed.
1856
- Fail to track local map!
1857
- Relocalization() failed.
1858
- Fail to track local map!
1859
- Relocalization() failed.
1860
- Fail to track local map!
1861
- Relocalization() failed.
1862
- Fail to track local map!
1863
- Relocalization() failed.
1864
- Fail to track local map!
1865
- Relocalization() failed.
1866
- Fail to track local map!
1867
- Relocalization() failed.
1868
- Fail to track local map!
1869
- Relocalization() failed.
1870
- Fail to track local map!
1871
- Relocalization() failed.
1872
- Fail to track local map!
1873
- Relocalization() failed.
1874
- Fail to track local map!
1875
- Relocalization() failed.
1876
- Fail to track local map!
1877
- Relocalization() failed.
1878
- Fail to track local map!
1879
- Relocalization() failed.
1880
- Fail to track local map!
1881
- Relocalization() failed.
1882
- Fail to track local map!
1883
- Video FPS: 59.940059940059939
1884
- ORB-SLAM 3 running at: 25.16974729271681 FPS
1885
- Relocalization() failed.
1886
- Fail to track local map!
1887
- Relocalization() failed.
1888
- Fail to track local map!
1889
- Relocalization() failed.
1890
- Fail to track local map!
1891
- Relocalized!!
1892
- INIT_RELOCALIZE success!
1893
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
1894
- pKFCur->mTimeStamp15.081733333333334
1895
- vpKFs.front()->mTimeStamp-59.275866675004174
1896
- vpKFs.back()->mTimeStamp-0.016675004168751034
1897
- pKFcur->GetMapPointMatches().size()1258
1898
- 1691 pKFcur->GetVelocity() 0
1899
- 0
1900
- 0
1901
- pKFcur->mnId394
1902
- TRACK_REF_KF: Less than 15 matches!!
1903
- Fail to track local map!
1904
- Relocalization() failed.
1905
- Fail to track local map!
1906
- Relocalization() failed.
1907
- Fail to track local map!
1908
- Relocalization() failed.
1909
- Fail to track local map!
1910
- Relocalization() failed.
1911
- Fail to track local map!
1912
- Relocalization() failed.
1913
- Fail to track local map!
1914
- Relocalization() failed.
1915
- Fail to track local map!
1916
- Relocalization() failed.
1917
- Fail to track local map!
1918
- Relocalization() failed.
1919
- Fail to track local map!
1920
- Relocalization() failed.
1921
- Fail to track local map!
1922
- Relocalization() failed.
1923
- Fail to track local map!
1924
- Relocalization() failed.
1925
- Fail to track local map!
1926
- Relocalized!!
1927
- INIT_RELOCALIZE success!
1928
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
1929
- pKFCur->mTimeStamp15.298616666666668
1930
- vpKFs.front()->mTimeStamp-74.37427501250626
1931
- vpKFs.back()->mTimeStamp-0.016675004168751784
1932
- pKFcur->GetMapPointMatches().size()1251
1933
- 1691 pKFcur->GetVelocity() 0
1934
- 0
1935
- 0
1936
- pKFcur->mnId395
1937
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1938
- Fail to track local map!
1939
- Relocalized!!
1940
- INIT_RELOCALIZE success!
1941
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
1942
- pKFCur->mTimeStamp15.4154
1943
- vpKFs.front()->mTimeStamp-89.689566683341681
1944
- vpKFs.back()->mTimeStamp-0.016675004168751784
1945
- pKFcur->GetMapPointMatches().size()1254
1946
- 1691 pKFcur->GetVelocity() 38.623455047607422
1947
- -23.669422149658203
1948
- -1.7796002626419067
1949
- pKFcur->mnId396
1950
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1951
- Fail to track local map!
1952
- Relocalized!!
1953
- INIT_RELOCALIZE success!
1954
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
1955
- pKFCur->mTimeStamp15.448766666666668
1956
- vpKFs.front()->mTimeStamp-105.12164168751043
1957
- vpKFs.back()->mTimeStamp-0.016675004168751784
1958
- pKFcur->GetMapPointMatches().size()1254
1959
- 1691 pKFcur->GetVelocity() 73.988517761230469
1960
- -35.415477752685547
1961
- -5.963109016418457
1962
- pKFcur->mnId397
1963
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 4
1964
- Fail to track local map!
1965
- Relocalization() failed.
1966
- Fail to track local map!
1967
- Relocalized!!
1968
- INIT_RELOCALIZE success!
1969
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
1970
- pKFCur->mTimeStamp15.498816666666666
1971
- vpKFs.front()->mTimeStamp-120.58708335834585
1972
- vpKFs.back()->mTimeStamp-0.016675004168751784
1973
- pKFcur->GetMapPointMatches().size()1254
1974
- 1691 pKFcur->GetVelocity() 110.21220397949219
1975
- -46.556781768798828
1976
- -10.280735015869141
1977
- pKFcur->mnId398
1978
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1979
- Fail to track local map!
1980
- Relocalized!!
1981
- INIT_RELOCALIZE success!
1982
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
1983
- pKFCur->mTimeStamp15.532183333333334
1984
- vpKFs.front()->mTimeStamp-136.10257502918128
1985
- vpKFs.back()->mTimeStamp-0.016675004168751784
1986
- pKFcur->GetMapPointMatches().size()1253
1987
- 1691 pKFcur->GetVelocity() 150.64054870605469
1988
- -55.394702911376953
1989
- -15.490911483764648
1990
- pKFcur->mnId399
1991
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
1992
- Fail to track local map!
1993
- Relocalized!!
1994
- INIT_RELOCALIZE success!
1995
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
1996
- pKFCur->mTimeStamp15.56555
1997
- vpKFs.front()->mTimeStamp-151.65143336668336
1998
- vpKFs.back()->mTimeStamp-0.016675004168751784
1999
- pKFcur->GetMapPointMatches().size()1252
2000
- 1691 pKFcur->GetVelocity() 190.43231201171875
2001
- -65.278419494628906
2002
- -20.554347991943359
2003
- pKFcur->mnId400
2004
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 3
2005
- Fail to track local map!
2006
- Relocalized!!
2007
- INIT_RELOCALIZE success!
2008
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2009
- pKFCur->mTimeStamp15.598916666666668
2010
- vpKFs.front()->mTimeStamp-167.23365837085211
2011
- vpKFs.back()->mTimeStamp-0.016675004168751784
2012
- pKFcur->GetMapPointMatches().size()1252
2013
- 1691 pKFcur->GetVelocity() 232.37983703613281
2014
- -75.577400207519531
2015
- -26.359674453735352
2016
- pKFcur->mnId401
2017
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 2
2018
- Fail to track local map!
2019
- Relocalized!!
2020
- INIT_RELOCALIZE success!
2021
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2022
- pKFCur->mTimeStamp15.632283333333334
2023
- vpKFs.front()->mTimeStamp-182.84925004168753
2024
- vpKFs.back()->mTimeStamp-0.016675004168751784
2025
- pKFcur->GetMapPointMatches().size()1255
2026
- 1691 pKFcur->GetVelocity() 268.15786743164062
2027
- -88.346122741699219
2028
- -30.570711135864258
2029
- pKFcur->mnId402
2030
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 3
2031
- Fail to track local map!
2032
- Relocalized!!
2033
- INIT_RELOCALIZE success!
2034
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2035
- pKFCur->mTimeStamp15.665649999999999
2036
- vpKFs.front()->mTimeStamp-198.49820837918961
2037
- vpKFs.back()->mTimeStamp-0.016675004168751784
2038
- pKFcur->GetMapPointMatches().size()1253
2039
- 1691 pKFcur->GetVelocity() 304.32412719726562
2040
- -100.70470428466797
2041
- -34.78179931640625
2042
- pKFcur->mnId403
2043
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 3
2044
- Fail to track local map!
2045
- Relocalized!!
2046
- INIT_RELOCALIZE success!
2047
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2048
- pKFCur->mTimeStamp15.699016666666667
2049
- vpKFs.front()->mTimeStamp-214.18053338335835
2050
- vpKFs.back()->mTimeStamp-0.016675004168751784
2051
- pKFcur->GetMapPointMatches().size()1254
2052
- 1691 pKFcur->GetVelocity() 341.44039916992188
2053
- -113.49569702148438
2054
- -39.278892517089844
2055
- pKFcur->mnId404
2056
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 4
2057
- Fail to track local map!
2058
- Relocalized!!
2059
- INIT_RELOCALIZE success!
2060
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2061
- pKFCur->mTimeStamp15.732383333333333
2062
- vpKFs.front()->mTimeStamp-229.89622505419376
2063
- vpKFs.back()->mTimeStamp-0.016675004168751784
2064
- pKFcur->GetMapPointMatches().size()1253
2065
- 1691 pKFcur->GetVelocity() 377.51889038085938
2066
- -126.49041748046875
2067
- -43.496681213378906
2068
- pKFcur->mnId405
2069
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 3
2070
- Fail to track local map!
2071
- Relocalized!!
2072
- INIT_RELOCALIZE success!
2073
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2074
- pKFCur->mTimeStamp15.765750000000001
2075
- vpKFs.front()->mTimeStamp-245.64528339169584
2076
- vpKFs.back()->mTimeStamp-0.016675004168751784
2077
- pKFcur->GetMapPointMatches().size()1258
2078
- 1691 pKFcur->GetVelocity() 413.75894165039062
2079
- -140.300048828125
2080
- -47.8634033203125
2081
- pKFcur->mnId406
2082
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 4
2083
- Fail to track local map!
2084
- Relocalized!!
2085
- INIT_RELOCALIZE success!
2086
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2087
- pKFCur->mTimeStamp15.799116666666666
2088
- vpKFs.front()->mTimeStamp-261.42770839586461
2089
- vpKFs.back()->mTimeStamp-0.016675004168751784
2090
- pKFcur->GetMapPointMatches().size()1252
2091
- 1691 pKFcur->GetVelocity() 449.62234497070312
2092
- -154.40338134765625
2093
- -52.092288970947266
2094
- pKFcur->mnId407
2095
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 3
2096
- Fail to track local map!
2097
- Relocalized!!
2098
- INIT_RELOCALIZE success!
2099
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2100
- pKFCur->mTimeStamp15.832483333333334
2101
- vpKFs.front()->mTimeStamp-277.24350006670005
2102
- vpKFs.back()->mTimeStamp-0.016675004168751784
2103
- pKFcur->GetMapPointMatches().size()1252
2104
- 1691 pKFcur->GetVelocity() 484.5640869140625
2105
- -164.2337646484375
2106
- -55.869876861572266
2107
- pKFcur->mnId408
2108
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 4
2109
- Fail to track local map!
2110
- Relocalized!!
2111
- INIT_RELOCALIZE success!
2112
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2113
- pKFCur->mTimeStamp15.86585
2114
- vpKFs.front()->mTimeStamp-293.09265840420215
2115
- vpKFs.back()->mTimeStamp-0.016675004168751784
2116
- pKFcur->GetMapPointMatches().size()1254
2117
- 1691 pKFcur->GetVelocity() 519.22564697265625
2118
- -175.08462524414062
2119
- -59.633678436279297
2120
- pKFcur->mnId409
2121
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 5
2122
- Fail to track local map!
2123
- Relocalized!!
2124
- INIT_RELOCALIZE success!
2125
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2126
- pKFCur->mTimeStamp15.899216666666668
2127
- vpKFs.front()->mTimeStamp-308.97518340837092
2128
- vpKFs.back()->mTimeStamp-0.016675004168751784
2129
- pKFcur->GetMapPointMatches().size()1255
2130
- 1691 pKFcur->GetVelocity() 554.16107177734375
2131
- -185.84095764160156
2132
- -63.432994842529297
2133
- pKFcur->mnId410
2134
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 3
2135
- Fail to track local map!
2136
- Relocalized!!
2137
- INIT_RELOCALIZE success!
2138
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2139
- pKFCur->mTimeStamp15.932583333333334
2140
- vpKFs.front()->mTimeStamp-324.89107507920636
2141
- vpKFs.back()->mTimeStamp-0.016675004168751784
2142
- pKFcur->GetMapPointMatches().size()1253
2143
- 1691 pKFcur->GetVelocity() 589.5609130859375
2144
- -196.76579284667969
2145
- -67.32196044921875
2146
- pKFcur->mnId411
2147
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 4
2148
- Fail to track local map!
2149
- Relocalized!!
2150
- INIT_RELOCALIZE success!
2151
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2152
- pKFCur->mTimeStamp15.965949999999999
2153
- vpKFs.front()->mTimeStamp-340.84033341670846
2154
- vpKFs.back()->mTimeStamp-0.016675004168751784
2155
- pKFcur->GetMapPointMatches().size()1255
2156
- 1691 pKFcur->GetVelocity() 624.94561767578125
2157
- -207.78106689453125
2158
- -71.167427062988281
2159
- pKFcur->mnId412
2160
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 4
2161
- Fail to track local map!
2162
- Relocalized!!
2163
- INIT_RELOCALIZE success!
2164
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2165
- pKFCur->mTimeStamp15.999316666666667
2166
- vpKFs.front()->mTimeStamp-356.82295842087723
2167
- vpKFs.back()->mTimeStamp-0.016675004168751784
2168
- pKFcur->GetMapPointMatches().size()1254
2169
- 1691 pKFcur->GetVelocity() 660.61053466796875
2170
- -218.36174011230469
2171
- -75.015274047851562
2172
- pKFcur->mnId413
2173
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
2174
- Fail to track local map!
2175
- Relocalized!!
2176
- INIT_RELOCALIZE success!
2177
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2178
- pKFCur->mTimeStamp16.032683333333335
2179
- vpKFs.front()->mTimeStamp-372.83895009171266
2180
- vpKFs.back()->mTimeStamp-0.016675004168751784
2181
- pKFcur->GetMapPointMatches().size()1251
2182
- 1691 pKFcur->GetVelocity() 696.2265625
2183
- -228.3720703125
2184
- -78.760673522949219
2185
- pKFcur->mnId414
2186
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 6
2187
- Fail to track local map!
2188
- Relocalized!!
2189
- INIT_RELOCALIZE success!
2190
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2191
- pKFCur->mTimeStamp16.066050000000001
2192
- vpKFs.front()->mTimeStamp-388.88830842921476
2193
- vpKFs.back()->mTimeStamp-0.016675004168750007
2194
- pKFcur->GetMapPointMatches().size()1251
2195
- 1691 pKFcur->GetVelocity() 732.24420166015625
2196
- -239.19841003417969
2197
- -82.655029296875
2198
- pKFcur->mnId415
2199
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 5
2200
- Fail to track local map!
2201
- Relocalized!!
2202
- INIT_RELOCALIZE success!
2203
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2204
- pKFCur->mTimeStamp16.099416666666666
2205
- vpKFs.front()->mTimeStamp-404.97103343338352
2206
- vpKFs.back()->mTimeStamp-0.016675004168750007
2207
- pKFcur->GetMapPointMatches().size()1253
2208
- 1691 pKFcur->GetVelocity() 768.06121826171875
2209
- -250.19636535644531
2210
- -86.494583129882812
2211
- pKFcur->mnId416
2212
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 4
2213
- Fail to track local map!
2214
- Relocalized!!
2215
- INIT_RELOCALIZE success!
2216
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2217
- pKFCur->mTimeStamp16.132783333333332
2218
- vpKFs.front()->mTimeStamp-421.08712510421896
2219
- vpKFs.back()->mTimeStamp-0.016675004168750007
2220
- pKFcur->GetMapPointMatches().size()1252
2221
- 1691 pKFcur->GetVelocity() 804.3516845703125
2222
- -263.626220703125
2223
- -90.570060729980469
2224
- pKFcur->mnId417
2225
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 6
2226
- Fail to track local map!
2227
- Relocalized!!
2228
- INIT_RELOCALIZE success!
2229
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2230
- pKFCur->mTimeStamp16.166150000000002
2231
- vpKFs.front()->mTimeStamp-437.23658344172105
2232
- vpKFs.back()->mTimeStamp-0.016675004168750007
2233
- pKFcur->GetMapPointMatches().size()1251
2234
- 1691 pKFcur->GetVelocity() 840.6614990234375
2235
- -276.7314453125
2236
- -94.590225219726562
2237
- pKFcur->mnId418
2238
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 4
2239
- Fail to track local map!
2240
- Relocalized!!
2241
- INIT_RELOCALIZE success!
2242
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2243
- pKFCur->mTimeStamp16.199516666666668
2244
- vpKFs.front()->mTimeStamp-453.41940844588981
2245
- vpKFs.back()->mTimeStamp-0.016675004168750007
2246
- pKFcur->GetMapPointMatches().size()1253
2247
- 1691 pKFcur->GetVelocity() 877.60943603515625
2248
- -290.30511474609375
2249
- -98.844581604003906
2250
- pKFcur->mnId419
2251
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 4
2252
- Fail to track local map!
2253
- Relocalized!!
2254
- INIT_RELOCALIZE success!
2255
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2256
- pKFCur->mTimeStamp16.232883333333334
2257
- vpKFs.front()->mTimeStamp-469.63560011672524
2258
- vpKFs.back()->mTimeStamp-0.016675004168750007
2259
- pKFcur->GetMapPointMatches().size()1250
2260
- 1691 pKFcur->GetVelocity() 914.52587890625
2261
- -303.09796142578125
2262
- -102.97477722167969
2263
- pKFcur->mnId420
2264
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 2
2265
- Fail to track local map!
2266
- Relocalized!!
2267
- INIT_RELOCALIZE success!
2268
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2269
- pKFCur->mTimeStamp16.266249999999999
2270
- vpKFs.front()->mTimeStamp-485.88515845422734
2271
- vpKFs.back()->mTimeStamp-0.016675004168750007
2272
- pKFcur->GetMapPointMatches().size()1250
2273
- 1691 pKFcur->GetVelocity() 952.02166748046875
2274
- -315.21316528320312
2275
- -107.19758605957031
2276
- pKFcur->mnId421
2277
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 5
2278
- Fail to track local map!
2279
- Relocalized!!
2280
- INIT_RELOCALIZE success!
2281
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2282
- pKFCur->mTimeStamp16.299616666666665
2283
- vpKFs.front()->mTimeStamp-502.1680834583961
2284
- vpKFs.back()->mTimeStamp-0.016675004168750007
2285
- pKFcur->GetMapPointMatches().size()1254
2286
- 1691 pKFcur->GetVelocity() 989.0594482421875
2287
- -327.2791748046875
2288
- -111.24468231201172
2289
- pKFcur->mnId422
2290
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 4
2291
- Fail to track local map!
2292
- Relocalized!!
2293
- INIT_RELOCALIZE success!
2294
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2295
- pKFCur->mTimeStamp16.332983333333335
2296
- vpKFs.front()->mTimeStamp-518.48437512923147
2297
- vpKFs.back()->mTimeStamp-0.016675004168750007
2298
- pKFcur->GetMapPointMatches().size()1251
2299
- 1691 pKFcur->GetVelocity() 1026.42041015625
2300
- -338.88125610351562
2301
- -115.32867431640625
2302
- pKFcur->mnId423
2303
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 3
2304
- Fail to track local map!
2305
- Relocalized!!
2306
- INIT_RELOCALIZE success!
2307
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2308
- pKFCur->mTimeStamp16.366350000000001
2309
- vpKFs.front()->mTimeStamp-534.83403346673356
2310
- vpKFs.back()->mTimeStamp-0.016675004168750007
2311
- pKFcur->GetMapPointMatches().size()1255
2312
- 1691 pKFcur->GetVelocity() 1063.7708740234375
2313
- -350.60028076171875
2314
- -119.38722991943359
2315
- pKFcur->mnId424
2316
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 2
2317
- Fail to track local map!
2318
- Relocalized!!
2319
- INIT_RELOCALIZE success!
2320
- vpKFs.back()->mpImuPreintegrated0x5645e71073d0
2321
- pKFCur->mTimeStamp16.399716666666666
2322
- vpKFs.front()->mTimeStamp-551.21705847090232
2323
- vpKFs.back()->mTimeStamp-0.016675004168750007
2324
- pKFcur->GetMapPointMatches().size()1254
2325
- 1691 pKFcur->GetVelocity() 1101.5301513671875
2326
- -362.51852416992188
2327
- -123.54427337646484
2328
- pKFcur->mnId425
2329
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 3
2330
- Fail to track local map!
2331
- Shutdown
2332
- mpLocalMapper is not finished
2333
- mpLoopCloser is not finished
2334
- mpLocalMapper is not finished
2335
- mpLocalMapper is not finished
2336
- mpLocalMapper is not finished
2337
- mpLocalMapper is not finished
2338
- mpLocalMapper is not finished
2339
- mpLocalMapper is not finished
2340
- mpLocalMapper is not finished
2341
- mpLocalMapper is not finished
2342
- mpLocalMapper is not finished
2343
- mpLocalMapper is not finished
2344
- mpLocalMapper is not finished
2345
- mpLocalMapper is not finished
2346
- mpLocalMapper is not finished
2347
- mpLocalMapper is not finished
2348
- mpLocalMapper is not finished
2349
- mpLocalMapper is not finished
2350
- mpLocalMapper is not finished
2351
- mpLocalMapper is not finished
2352
-
2353
- Saving camera trajectory to /data/camera_trajectory.csv ...
2354
- There are 1 maps in the atlas
2355
- Map 0 has 101 KFs
2356
-
2357
- CSV camera trajectory saved!
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:671540a359e30932cc665aa40e0d57efa64e2bb170dc27d2edd2b4e49e368165
3
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+ size 55695
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/extract_gopro_imu_stdout.txt CHANGED
@@ -1,9 +1,3 @@
1
- Input video path: /data/raw_video.mp4
2
- Output file will be: /data/imu_data.json
3
- Opening /data/raw_video.mp4
4
- Read stream data from raw_video.mp4
5
- Extracted information for raw_video.mp4
6
- Flushing on end after 169897359 bytes
7
- Generated telemetry for raw_video.mp4
8
- Telemetry saved as JSON to imu_data.json
9
- Done
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:d934b0a3c1fbfcdf9ce1185ad98f5786f37bf35049039b65669b59c584ecc383
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+ size 305
 
 
 
 
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/imu_data.json CHANGED
The diff for this file is too large to render. See raw diff
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/slam_stderr.txt CHANGED
@@ -1,5 +1,3 @@
1
- Camera.newHeight optional parameter does not exist...
2
- Camera.newWidth optional parameter does not exist...
3
- IMU.InsertKFsWhenLost optional parameter does not exist...
4
- System.LoadAtlasFromFile optional parameter does not exist...
5
- System.SaveAtlasToFile optional parameter does not exist...
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a
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+ size 288
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.16.59.761200/slam_stdout.txt CHANGED
@@ -1,2927 +1,3 @@
1
- Mask img size mismatch! Converting [2704 x 2028] to [640 x 480]
2
-
3
- ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
- ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
- This program comes with ABSOLUTELY NO WARRANTY;
6
- This is free software, and you are welcome to redistribute it
7
- under certain conditions. See LICENSE.txt.
8
-
9
- Input sensor was set to: Monocular-Inertial
10
- Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_480.yaml
11
- -Loaded camera 1
12
- -Loaded image info
13
- -Loaded IMU calibration
14
- -Loaded ORB settings
15
- -Loaded viewer settings
16
- -Loaded Atlas settings
17
- -Loaded misc parameters
18
- ----------------------------------
19
- SLAM settings:
20
- -Camera 1 parameters (Kannala-Brandt): [ 188.605 188.605 320.574 239.405 -0.0174584 -0.0280825 0.0128327 -0.0045198 ]
21
- -Original image size: [ 640 , 480 ]
22
- -Current image size: [ 640 , 480 ]
23
- -Sequence FPS: 60
24
- -Gyro noise: 0.0015
25
- -Accelerometer noise: 0.017
26
- -Gyro walk: 5e-05
27
- -Accelerometer walk: 0.0055
28
- -IMU frequency: 200
29
- -Features per image: 1250
30
- -ORB scale factor: 1.2
31
- -ORB number of scales: 6
32
- -Initial FAST threshold: 20
33
- -Min FAST threshold: 7
34
-
35
-
36
- Loading ORB Vocabulary. This could take a while...
37
- Vocabulary loaded!
38
-
39
- Initialization of Atlas from file: /map/map_atlas.osa
40
- Starting to read the save binary file
41
- End to load the save binary file
42
- Change to map with id: 0
43
- Atlas loaded!
44
- There are 1 cameras in the atlas
45
- Camera 0 is fisheye
46
- Discard points further than 20 m from current camera
47
- Video opened using backend FFMPEG
48
- There are 1353 frames in total
49
- video FPS 59.9401
50
- line 1873 keyframes 72MapPoints2546
51
- line 1877
52
- mlFrameTimes.size()= 0
53
- KeyFrame::nNextId=393
54
- Relocalization() failed.
55
- Fail to track local map!
56
- Video FPS: 59.9401
57
- ORB-SLAM 3 running at: 4.38162 FPS
58
- Relocalization() failed.
59
- Fail to track local map!
60
- Relocalization() failed.
61
- Fail to track local map!
62
- Relocalization() failed.
63
- Fail to track local map!
64
- Relocalization() failed.
65
- Fail to track local map!
66
- Relocalization() failed.
67
- Fail to track local map!
68
- Relocalization() failed.
69
- Fail to track local map!
70
- Relocalization() failed.
71
- Fail to track local map!
72
- Relocalization() failed.
73
- Fail to track local map!
74
- Relocalization() failed.
75
- Fail to track local map!
76
- Relocalization() failed.
77
- Fail to track local map!
78
- Relocalization() failed.
79
- Fail to track local map!
80
- Relocalization() failed.
81
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82
- Relocalization() failed.
83
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84
- Relocalization() failed.
85
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86
- Relocalization() failed.
87
- Fail to track local map!
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- Relocalization() failed.
89
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90
- Relocalization() failed.
91
- Fail to track local map!
92
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93
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96
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116
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
220
- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
223
- Fail to track local map!
224
- Relocalization() failed.
225
- Fail to track local map!
226
- Relocalization() failed.
227
- Fail to track local map!
228
- Relocalization() failed.
229
- Fail to track local map!
230
- Relocalization() failed.
231
- Fail to track local map!
232
- Relocalization() failed.
233
- Fail to track local map!
234
- Relocalization() failed.
235
- Fail to track local map!
236
- Relocalization() failed.
237
- Fail to track local map!
238
- Relocalization() failed.
239
- Fail to track local map!
240
- Relocalization() failed.
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- Fail to track local map!
242
- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
250
- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
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- Fail to track local map!
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- Relocalization() failed.
255
- Fail to track local map!
256
- Relocalization() failed.
257
- Fail to track local map!
258
- Video FPS: 59.940059940059939
259
- ORB-SLAM 3 running at: 19.783508668965339 FPS
260
- Relocalization() failed.
261
- Fail to track local map!
262
- Relocalization() failed.
263
- Fail to track local map!
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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430
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- Relocalization() failed.
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- Relocalization() failed.
435
- Fail to track local map!
436
- Relocalization() failed.
437
- Fail to track local map!
438
- Relocalization() failed.
439
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440
- Relocalization() failed.
441
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442
- Relocalization() failed.
443
- Fail to track local map!
444
- Relocalization() failed.
445
- Fail to track local map!
446
- Relocalization() failed.
447
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448
- Relocalization() failed.
449
- Fail to track local map!
450
- Relocalization() failed.
451
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452
- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
457
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458
- Relocalization() failed.
459
- Fail to track local map!
460
- Video FPS: 59.940059940059939
461
- ORB-SLAM 3 running at: 25.687851960498147 FPS
462
- Relocalization() failed.
463
- Fail to track local map!
464
- Relocalization() failed.
465
- Fail to track local map!
466
- Relocalization() failed.
467
- Fail to track local map!
468
- Relocalization() failed.
469
- Fail to track local map!
470
- Relocalization() failed.
471
- Fail to track local map!
472
- Relocalization() failed.
473
- Fail to track local map!
474
- Relocalization() failed.
475
- Fail to track local map!
476
- Relocalization() failed.
477
- Fail to track local map!
478
- Relocalization() failed.
479
- Fail to track local map!
480
- Relocalization() failed.
481
- Fail to track local map!
482
- Relocalization() failed.
483
- Fail to track local map!
484
- Relocalization() failed.
485
- Fail to track local map!
486
- Relocalization() failed.
487
- Fail to track local map!
488
- Relocalization() failed.
489
- Fail to track local map!
490
- Relocalization() failed.
491
- Fail to track local map!
492
- Relocalization() failed.
493
- Fail to track local map!
494
- Relocalization() failed.
495
- Fail to track local map!
496
- Relocalization() failed.
497
- Fail to track local map!
498
- Relocalization() failed.
499
- Fail to track local map!
500
- Relocalization() failed.
501
- Fail to track local map!
502
- Relocalization() failed.
503
- Fail to track local map!
504
- Relocalization() failed.
505
- Fail to track local map!
506
- Relocalization() failed.
507
- Fail to track local map!
508
- Relocalization() failed.
509
- Fail to track local map!
510
- Relocalization() failed.
511
- Fail to track local map!
512
- Relocalization() failed.
513
- Fail to track local map!
514
- Relocalization() failed.
515
- Fail to track local map!
516
- Relocalization() failed.
517
- Fail to track local map!
518
- Relocalization() failed.
519
- Fail to track local map!
520
- Relocalization() failed.
521
- Fail to track local map!
522
- Relocalization() failed.
523
- Fail to track local map!
524
- Relocalization() failed.
525
- Fail to track local map!
526
- Relocalization() failed.
527
- Fail to track local map!
528
- Relocalization() failed.
529
- Fail to track local map!
530
- Relocalization() failed.
531
- Fail to track local map!
532
- Relocalization() failed.
533
- Fail to track local map!
534
- Relocalization() failed.
535
- Fail to track local map!
536
- Relocalization() failed.
537
- Fail to track local map!
538
- Relocalization() failed.
539
- Fail to track local map!
540
- Relocalization() failed.
541
- Fail to track local map!
542
- Relocalization() failed.
543
- Fail to track local map!
544
- Relocalization() failed.
545
- Fail to track local map!
546
- Relocalization() failed.
547
- Fail to track local map!
548
- Relocalization() failed.
549
- Fail to track local map!
550
- Relocalization() failed.
551
- Fail to track local map!
552
- Relocalization() failed.
553
- Fail to track local map!
554
- Relocalization() failed.
555
- Fail to track local map!
556
- Relocalization() failed.
557
- Fail to track local map!
558
- Relocalization() failed.
559
- Fail to track local map!
560
- Relocalization() failed.
561
- Fail to track local map!
562
- Relocalization() failed.
563
- Fail to track local map!
564
- Relocalization() failed.
565
- Fail to track local map!
566
- Relocalization() failed.
567
- Fail to track local map!
568
- Relocalization() failed.
569
- Fail to track local map!
570
- Relocalization() failed.
571
- Fail to track local map!
572
- Relocalization() failed.
573
- Fail to track local map!
574
- Relocalization() failed.
575
- Fail to track local map!
576
- Relocalization() failed.
577
- Fail to track local map!
578
- Relocalization() failed.
579
- Fail to track local map!
580
- Relocalization() failed.
581
- Fail to track local map!
582
- Relocalization() failed.
583
- Fail to track local map!
584
- Relocalization() failed.
585
- Fail to track local map!
586
- Relocalization() failed.
587
- Fail to track local map!
588
- Relocalization() failed.
589
- Fail to track local map!
590
- Relocalization() failed.
591
- Fail to track local map!
592
- Relocalization() failed.
593
- Fail to track local map!
594
- Relocalization() failed.
595
- Fail to track local map!
596
- Relocalization() failed.
597
- Fail to track local map!
598
- Relocalization() failed.
599
- Fail to track local map!
600
- Relocalization() failed.
601
- Fail to track local map!
602
- Relocalization() failed.
603
- Fail to track local map!
604
- Relocalization() failed.
605
- Fail to track local map!
606
- Relocalization() failed.
607
- Fail to track local map!
608
- Relocalization() failed.
609
- Fail to track local map!
610
- Relocalization() failed.
611
- Fail to track local map!
612
- Relocalization() failed.
613
- Fail to track local map!
614
- Relocalization() failed.
615
- Fail to track local map!
616
- Relocalization() failed.
617
- Fail to track local map!
618
- Relocalization() failed.
619
- Fail to track local map!
620
- Relocalization() failed.
621
- Fail to track local map!
622
- Relocalization() failed.
623
- Fail to track local map!
624
- Relocalization() failed.
625
- Fail to track local map!
626
- Relocalization() failed.
627
- Fail to track local map!
628
- Relocalization() failed.
629
- Fail to track local map!
630
- Relocalization() failed.
631
- Fail to track local map!
632
- Relocalization() failed.
633
- Fail to track local map!
634
- Relocalization() failed.
635
- Fail to track local map!
636
- Relocalization() failed.
637
- Fail to track local map!
638
- Relocalization() failed.
639
- Fail to track local map!
640
- Relocalization() failed.
641
- Fail to track local map!
642
- Relocalization() failed.
643
- Fail to track local map!
644
- Relocalization() failed.
645
- Fail to track local map!
646
- Relocalization() failed.
647
- Fail to track local map!
648
- Relocalization() failed.
649
- Fail to track local map!
650
- Relocalization() failed.
651
- Fail to track local map!
652
- Relocalization() failed.
653
- Fail to track local map!
654
- Relocalization() failed.
655
- Fail to track local map!
656
- Relocalization() failed.
657
- Fail to track local map!
658
- Relocalization() failed.
659
- Fail to track local map!
660
- Relocalization() failed.
661
- Fail to track local map!
662
- Video FPS: 59.940059940059939
663
- ORB-SLAM 3 running at: 19.862735389056265 FPS
664
- Relocalization() failed.
665
- Fail to track local map!
666
- Relocalization() failed.
667
- Fail to track local map!
668
- Relocalization() failed.
669
- Fail to track local map!
670
- Relocalization() failed.
671
- Fail to track local map!
672
- Relocalization() failed.
673
- Fail to track local map!
674
- Relocalization() failed.
675
- Fail to track local map!
676
- Relocalization() failed.
677
- Fail to track local map!
678
- Relocalization() failed.
679
- Fail to track local map!
680
- Relocalization() failed.
681
- Fail to track local map!
682
- Relocalization() failed.
683
- Fail to track local map!
684
- Relocalization() failed.
685
- Fail to track local map!
686
- Relocalization() failed.
687
- Fail to track local map!
688
- Relocalization() failed.
689
- Fail to track local map!
690
- Relocalization() failed.
691
- Fail to track local map!
692
- Relocalization() failed.
693
- Fail to track local map!
694
- Relocalization() failed.
695
- Fail to track local map!
696
- Relocalization() failed.
697
- Fail to track local map!
698
- Relocalization() failed.
699
- Fail to track local map!
700
- Relocalization() failed.
701
- Fail to track local map!
702
- Relocalization() failed.
703
- Fail to track local map!
704
- Relocalization() failed.
705
- Fail to track local map!
706
- Relocalization() failed.
707
- Fail to track local map!
708
- Relocalization() failed.
709
- Fail to track local map!
710
- Relocalization() failed.
711
- Fail to track local map!
712
- Relocalization() failed.
713
- Fail to track local map!
714
- Relocalization() failed.
715
- Fail to track local map!
716
- Relocalization() failed.
717
- Fail to track local map!
718
- Relocalization() failed.
719
- Fail to track local map!
720
- Relocalization() failed.
721
- Fail to track local map!
722
- Relocalization() failed.
723
- Fail to track local map!
724
- Relocalization() failed.
725
- Fail to track local map!
726
- Relocalization() failed.
727
- Fail to track local map!
728
- Relocalization() failed.
729
- Fail to track local map!
730
- Relocalization() failed.
731
- Fail to track local map!
732
- Relocalization() failed.
733
- Fail to track local map!
734
- Relocalization() failed.
735
- Fail to track local map!
736
- Relocalization() failed.
737
- Fail to track local map!
738
- Relocalization() failed.
739
- Fail to track local map!
740
- Relocalization() failed.
741
- Fail to track local map!
742
- Relocalization() failed.
743
- Fail to track local map!
744
- Relocalization() failed.
745
- Fail to track local map!
746
- Relocalization() failed.
747
- Fail to track local map!
748
- Relocalization() failed.
749
- Fail to track local map!
750
- Relocalization() failed.
751
- Fail to track local map!
752
- Relocalization() failed.
753
- Fail to track local map!
754
- Relocalization() failed.
755
- Fail to track local map!
756
- Relocalization() failed.
757
- Fail to track local map!
758
- Relocalization() failed.
759
- Fail to track local map!
760
- Relocalization() failed.
761
- Fail to track local map!
762
- Relocalization() failed.
763
- Fail to track local map!
764
- Relocalization() failed.
765
- Fail to track local map!
766
- Relocalization() failed.
767
- Fail to track local map!
768
- Relocalization() failed.
769
- Fail to track local map!
770
- Relocalization() failed.
771
- Fail to track local map!
772
- Relocalization() failed.
773
- Fail to track local map!
774
- Relocalization() failed.
775
- Fail to track local map!
776
- Relocalization() failed.
777
- Fail to track local map!
778
- Relocalization() failed.
779
- Fail to track local map!
780
- Relocalization() failed.
781
- Fail to track local map!
782
- Relocalization() failed.
783
- Fail to track local map!
784
- Relocalization() failed.
785
- Fail to track local map!
786
- Relocalization() failed.
787
- Fail to track local map!
788
- Relocalization() failed.
789
- Fail to track local map!
790
- Relocalization() failed.
791
- Fail to track local map!
792
- Relocalization() failed.
793
- Fail to track local map!
794
- Relocalization() failed.
795
- Fail to track local map!
796
- Relocalization() failed.
797
- Fail to track local map!
798
- Relocalization() failed.
799
- Fail to track local map!
800
- Relocalization() failed.
801
- Fail to track local map!
802
- Relocalization() failed.
803
- Fail to track local map!
804
- Relocalization() failed.
805
- Fail to track local map!
806
- Relocalization() failed.
807
- Fail to track local map!
808
- Relocalization() failed.
809
- Fail to track local map!
810
- Relocalization() failed.
811
- Fail to track local map!
812
- Relocalization() failed.
813
- Fail to track local map!
814
- Relocalization() failed.
815
- Fail to track local map!
816
- Relocalization() failed.
817
- Fail to track local map!
818
- Relocalization() failed.
819
- Fail to track local map!
820
- Relocalization() failed.
821
- Fail to track local map!
822
- Relocalization() failed.
823
- Fail to track local map!
824
- Relocalization() failed.
825
- Fail to track local map!
826
- Relocalization() failed.
827
- Fail to track local map!
828
- Relocalization() failed.
829
- Fail to track local map!
830
- Relocalization() failed.
831
- Fail to track local map!
832
- Relocalization() failed.
833
- Fail to track local map!
834
- Relocalization() failed.
835
- Fail to track local map!
836
- Relocalization() failed.
837
- Fail to track local map!
838
- Relocalization() failed.
839
- Fail to track local map!
840
- Relocalization() failed.
841
- Fail to track local map!
842
- Relocalization() failed.
843
- Fail to track local map!
844
- Relocalization() failed.
845
- Fail to track local map!
846
- Relocalization() failed.
847
- Fail to track local map!
848
- Relocalization() failed.
849
- Fail to track local map!
850
- Relocalization() failed.
851
- Fail to track local map!
852
- Relocalization() failed.
853
- Fail to track local map!
854
- Relocalization() failed.
855
- Fail to track local map!
856
- Relocalization() failed.
857
- Fail to track local map!
858
- Relocalization() failed.
859
- Fail to track local map!
860
- Relocalization() failed.
861
- Fail to track local map!
862
- Relocalization() failed.
863
- Fail to track local map!
864
- Video FPS: 59.940059940059939
865
- ORB-SLAM 3 running at: 21.211163367404541 FPS
866
- Relocalization() failed.
867
- Fail to track local map!
868
- Relocalization() failed.
869
- Fail to track local map!
870
- Relocalization() failed.
871
- Fail to track local map!
872
- Relocalization() failed.
873
- Fail to track local map!
874
- Relocalization() failed.
875
- Fail to track local map!
876
- Relocalization() failed.
877
- Fail to track local map!
878
- Relocalization() failed.
879
- Fail to track local map!
880
- Relocalization() failed.
881
- Fail to track local map!
882
- Relocalization() failed.
883
- Fail to track local map!
884
- Relocalization() failed.
885
- Fail to track local map!
886
- Relocalization() failed.
887
- Fail to track local map!
888
- Relocalization() failed.
889
- Fail to track local map!
890
- Relocalization() failed.
891
- Fail to track local map!
892
- Relocalization() failed.
893
- Fail to track local map!
894
- Relocalized!!
895
- INIT_RELOCALIZE success!
896
- vpKFs.back()->mpImuPreintegrated0x55fa6de58f60
897
- pKFCur->mTimeStamp6.9235833333333332
898
- vpKFs.front()->mTimeStamp-59.192458337502089
899
- vpKFs.back()->mTimeStamp-0.01667500416875356
900
- pKFcur->GetMapPointMatches().size()1251
901
- 1691 pKFcur->GetVelocity() 0
902
- 0
903
- 0
904
- pKFcur->mnId393
905
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 20
906
- Fail to track local map!
907
- Relocalized!!
908
- INIT_RELOCALIZE success!
909
- vpKFs.back()->mpImuPreintegrated0x55fa6e6d4850
910
- pKFCur->mTimeStamp6.9903166666666667
911
- vpKFs.front()->mTimeStamp-66.132716675004175
912
- vpKFs.back()->mTimeStamp-0.016675004168750895
913
- pKFcur->GetMapPointMatches().size()1254
914
- 1691 pKFcur->GetVelocity() 2.7822768688201904
915
- 1.0145882368087769
916
- 8.1933088302612305
917
- pKFcur->mnId394
918
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
919
- Fail to track local map!
920
- Relocalization() failed.
921
- Fail to track local map!
922
- Relocalized!!
923
- INIT_RELOCALIZE success!
924
- vpKFs.back()->mpImuPreintegrated0x55fa6e6d4850
925
- pKFCur->mTimeStamp7.0403666666666664
926
- vpKFs.front()->mTimeStamp-73.139708345839594
927
- vpKFs.back()->mTimeStamp-0.016675004168750895
928
- pKFcur->GetMapPointMatches().size()1252
929
- 1691 pKFcur->GetVelocity() -41.496139526367188
930
- -4.9466433525085449
931
- -8.8311281204223633
932
- pKFcur->mnId395
933
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
934
- Fail to track local map!
935
- Relocalized!!
936
- INIT_RELOCALIZE success!
937
- vpKFs.back()->mpImuPreintegrated0x55fa6e6d4850
938
- pKFCur->mTimeStamp7.0737333333333332
939
- vpKFs.front()->mTimeStamp-80.196750016675011
940
- vpKFs.back()->mTimeStamp-0.016675004168750895
941
- pKFcur->GetMapPointMatches().size()1252
942
- 1691 pKFcur->GetVelocity() -84.725837707519531
943
- -7.373293399810791
944
- -24.691577911376953
945
- pKFcur->mnId396
946
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
947
- Fail to track local map!
948
- Relocalized!!
949
- INIT_RELOCALIZE success!
950
- vpKFs.back()->mpImuPreintegrated0x55fa6e6d4850
951
- pKFCur->mTimeStamp7.1071
952
- vpKFs.front()->mTimeStamp-87.287158354177095
953
- vpKFs.back()->mTimeStamp-0.016675004168750895
954
- pKFcur->GetMapPointMatches().size()1252
955
- 1691 pKFcur->GetVelocity() -127.00811767578125
956
- -8.2535238265991211
957
- -39.731758117675781
958
- pKFcur->mnId397
959
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
960
- Fail to track local map!
961
- Relocalized!!
962
- INIT_RELOCALIZE success!
963
- vpKFs.back()->mpImuPreintegrated0x55fa6e6d4850
964
- pKFCur->mTimeStamp7.1404666666666667
965
- vpKFs.front()->mTimeStamp-94.410933358345844
966
- vpKFs.back()->mTimeStamp-0.016675004168750895
967
- pKFcur->GetMapPointMatches().size()1252
968
- 1691 pKFcur->GetVelocity() -167.41868591308594
969
- -7.4051117897033691
970
- -53.355785369873047
971
- pKFcur->mnId398
972
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
973
- Fail to track local map!
974
- Relocalized!!
975
- INIT_RELOCALIZE success!
976
- vpKFs.back()->mpImuPreintegrated0x55fa6e6d4850
977
- pKFCur->mTimeStamp7.1738333333333335
978
- vpKFs.front()->mTimeStamp-101.56807502918126
979
- vpKFs.back()->mTimeStamp-0.016675004168750895
980
- pKFcur->GetMapPointMatches().size()1254
981
- 1691 pKFcur->GetVelocity() -206.01396179199219
982
- -3.0177295207977295
983
- -65.853630065917969
984
- pKFcur->mnId399
985
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 6
986
- Fail to track local map!
987
- Relocalized!!
988
- INIT_RELOCALIZE success!
989
- vpKFs.back()->mpImuPreintegrated0x55fa6e6d4850
990
- pKFCur->mTimeStamp7.2072000000000003
991
- vpKFs.front()->mTimeStamp-108.75858336668334
992
- vpKFs.back()->mTimeStamp-0.016675004168750895
993
- pKFcur->GetMapPointMatches().size()1253
994
- 1691 pKFcur->GetVelocity() -240.86524963378906
995
- 5.717750072479248
996
- -76.432235717773438
997
- pKFcur->mnId400
998
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 3
999
- Fail to track local map!
1000
- Relocalized!!
1001
- INIT_RELOCALIZE success!
1002
- vpKFs.back()->mpImuPreintegrated0x55fa6e6d4850
1003
- pKFCur->mTimeStamp7.240566666666667
1004
- vpKFs.front()->mTimeStamp-115.98245837085209
1005
- vpKFs.back()->mTimeStamp-0.016675004168750895
1006
- pKFcur->GetMapPointMatches().size()1255
1007
- 1691 pKFcur->GetVelocity() -272.82052612304688
1008
- 17.530912399291992
1009
- -85.864158630371094
1010
- pKFcur->mnId401
1011
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
1012
- Fail to track local map!
1013
- Relocalized!!
1014
- INIT_RELOCALIZE success!
1015
- vpKFs.back()->mpImuPreintegrated0x55fa6e6d4850
1016
- pKFCur->mTimeStamp7.2739333333333338
1017
- vpKFs.front()->mTimeStamp-123.2397000416875
1018
- vpKFs.back()->mTimeStamp-0.016675004168750895
1019
- pKFcur->GetMapPointMatches().size()1252
1020
- 1691 pKFcur->GetVelocity() -303.7451171875
1021
- 30.729719161987305
1022
- -94.9588623046875
1023
- pKFcur->mnId402
1024
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
1025
- Fail to track local map!
1026
- Relocalized!!
1027
- INIT_RELOCALIZE success!
1028
- vpKFs.back()->mpImuPreintegrated0x55fa6e6d4850
1029
- pKFCur->mTimeStamp7.3073000000000006
1030
- vpKFs.front()->mTimeStamp-130.53030837918959
1031
- vpKFs.back()->mTimeStamp-0.016675004168750895
1032
- pKFcur->GetMapPointMatches().size()1254
1033
- 1691 pKFcur->GetVelocity() -325.74713134765625
1034
- 49.246860504150391
1035
- -101.56888580322266
1036
- pKFcur->mnId403
1037
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 3
1038
- Fail to track local map!
1039
- Relocalized!!
1040
- INIT_RELOCALIZE success!
1041
- vpKFs.back()->mpImuPreintegrated0x55fa6e6d4850
1042
- pKFCur->mTimeStamp7.3406666666666665
1043
- vpKFs.front()->mTimeStamp-137.85428338335834
1044
- vpKFs.back()->mTimeStamp-0.016675004168750895
1045
- pKFcur->GetMapPointMatches().size()1254
1046
- 1691 pKFcur->GetVelocity() -346.70132446289062
1047
- 69.467903137207031
1048
- -108.23729705810547
1049
- pKFcur->mnId404
1050
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 2
1051
- Fail to track local map!
1052
- Relocalization() failed.
1053
- Fail to track local map!
1054
- Relocalization() failed.
1055
- Fail to track local map!
1056
- Relocalization() failed.
1057
- Fail to track local map!
1058
- Relocalization() failed.
1059
- Fail to track local map!
1060
- Relocalization() failed.
1061
- Fail to track local map!
1062
- Relocalization() failed.
1063
- Fail to track local map!
1064
- Relocalization() failed.
1065
- Fail to track local map!
1066
- Relocalization() failed.
1067
- Fail to track local map!
1068
- Relocalization() failed.
1069
- Fail to track local map!
1070
- Relocalization() failed.
1071
- Fail to track local map!
1072
- Relocalization() failed.
1073
- Fail to track local map!
1074
- Relocalization() failed.
1075
- Fail to track local map!
1076
- Relocalization() failed.
1077
- Fail to track local map!
1078
- Relocalization() failed.
1079
- Fail to track local map!
1080
- Relocalization() failed.
1081
- Fail to track local map!
1082
- Relocalization() failed.
1083
- Fail to track local map!
1084
- Relocalization() failed.
1085
- Fail to track local map!
1086
- Relocalization() failed.
1087
- Fail to track local map!
1088
- Relocalization() failed.
1089
- Fail to track local map!
1090
- Relocalization() failed.
1091
- Fail to track local map!
1092
- Relocalization() failed.
1093
- Fail to track local map!
1094
- Relocalization() failed.
1095
- Fail to track local map!
1096
- Relocalization() failed.
1097
- Fail to track local map!
1098
- Relocalization() failed.
1099
- Fail to track local map!
1100
- Relocalization() failed.
1101
- Fail to track local map!
1102
- Relocalization() failed.
1103
- Fail to track local map!
1104
- Relocalization() failed.
1105
- Fail to track local map!
1106
- Relocalization() failed.
1107
- Fail to track local map!
1108
- Relocalization() failed.
1109
- Fail to track local map!
1110
- Relocalization() failed.
1111
- Fail to track local map!
1112
- Relocalization() failed.
1113
- Fail to track local map!
1114
- Relocalization() failed.
1115
- Fail to track local map!
1116
- Relocalization() failed.
1117
- Fail to track local map!
1118
- Relocalization() failed.
1119
- Fail to track local map!
1120
- Relocalization() failed.
1121
- Fail to track local map!
1122
- Relocalization() failed.
1123
- Fail to track local map!
1124
- Relocalization() failed.
1125
- Fail to track local map!
1126
- Relocalization() failed.
1127
- Fail to track local map!
1128
- Relocalization() failed.
1129
- Fail to track local map!
1130
- Relocalization() failed.
1131
- Fail to track local map!
1132
- Relocalization() failed.
1133
- Fail to track local map!
1134
- Relocalization() failed.
1135
- Fail to track local map!
1136
- Relocalization() failed.
1137
- Fail to track local map!
1138
- Relocalization() failed.
1139
- Fail to track local map!
1140
- Relocalization() failed.
1141
- Fail to track local map!
1142
- Relocalization() failed.
1143
- Fail to track local map!
1144
- Relocalized!!
1145
- INIT_RELOCALIZE success!
1146
- vpKFs.back()->mpImuPreintegrated0x55fa6e6d4850
1147
- pKFCur->mTimeStamp8.1414666666666662
1148
- vpKFs.front()->mTimeStamp-145.21162505419375
1149
- vpKFs.back()->mTimeStamp-0.016675004168750895
1150
- pKFcur->GetMapPointMatches().size()1252
1151
- 1691 pKFcur->GetVelocity() -360.93896484375
1152
- 89.919776916503906
1153
- -113.10794830322266
1154
- pKFcur->mnId405
1155
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1156
- Fail to track local map!
1157
- Relocalized!!
1158
- INIT_RELOCALIZE success!
1159
- vpKFs.back()->mpImuPreintegrated0x55fa6e6d4850
1160
- pKFCur->mTimeStamp8.1748333333333338
1161
- vpKFs.front()->mTimeStamp-153.36976672502917
1162
- vpKFs.back()->mTimeStamp-0.016675004168751784
1163
- pKFcur->GetMapPointMatches().size()1255
1164
- 1691 pKFcur->GetVelocity() -378.27001953125
1165
- 101.86457824707031
1166
- -116.53606414794922
1167
- pKFcur->mnId406
1168
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1169
- Fail to track local map!
1170
- Relocalized!!
1171
- INIT_RELOCALIZE success!
1172
- vpKFs.back()->mpImuPreintegrated0x55fa6e6d4850
1173
- pKFCur->mTimeStamp8.2081999999999997
1174
- vpKFs.front()->mTimeStamp-161.56127506253125
1175
- vpKFs.back()->mTimeStamp-0.016675004168751784
1176
- pKFcur->GetMapPointMatches().size()1252
1177
- 1691 pKFcur->GetVelocity() -398.507080078125
1178
- 114.17063140869141
1179
- -120.64354705810547
1180
- pKFcur->mnId407
1181
- TRACK_REF_KF: Less than 15 matches!!
1182
- Fail to track local map!
1183
- Relocalization() failed.
1184
- Fail to track local map!
1185
- Relocalization() failed.
1186
- Fail to track local map!
1187
- Relocalization() failed.
1188
- Fail to track local map!
1189
- Relocalization() failed.
1190
- Fail to track local map!
1191
- Relocalization() failed.
1192
- Fail to track local map!
1193
- Relocalization() failed.
1194
- Fail to track local map!
1195
- Relocalization() failed.
1196
- Fail to track local map!
1197
- Video FPS: 59.940059940059939
1198
- ORB-SLAM 3 running at: 23.130153210202739 FPS
1199
- Relocalization() failed.
1200
- Fail to track local map!
1201
- Relocalization() failed.
1202
- Fail to track local map!
1203
- Relocalization() failed.
1204
- Fail to track local map!
1205
- Relocalization() failed.
1206
- Fail to track local map!
1207
- Relocalization() failed.
1208
- Fail to track local map!
1209
- Relocalization() failed.
1210
- Fail to track local map!
1211
- Relocalization() failed.
1212
- Fail to track local map!
1213
- Relocalization() failed.
1214
- Fail to track local map!
1215
- Relocalization() failed.
1216
- Fail to track local map!
1217
- Relocalization() failed.
1218
- Fail to track local map!
1219
- Relocalization() failed.
1220
- Fail to track local map!
1221
- Relocalization() failed.
1222
- Fail to track local map!
1223
- Relocalization() failed.
1224
- Fail to track local map!
1225
- Relocalization() failed.
1226
- Fail to track local map!
1227
- Relocalization() failed.
1228
- Fail to track local map!
1229
- Relocalization() failed.
1230
- Fail to track local map!
1231
- Relocalization() failed.
1232
- Fail to track local map!
1233
- Relocalization() failed.
1234
- Fail to track local map!
1235
- Relocalization() failed.
1236
- Fail to track local map!
1237
- Relocalization() failed.
1238
- Fail to track local map!
1239
- Relocalization() failed.
1240
- Fail to track local map!
1241
- Relocalization() failed.
1242
- Fail to track local map!
1243
- Relocalization() failed.
1244
- Fail to track local map!
1245
- Relocalization() failed.
1246
- Fail to track local map!
1247
- Relocalization() failed.
1248
- Fail to track local map!
1249
- Relocalization() failed.
1250
- Fail to track local map!
1251
- Relocalization() failed.
1252
- Fail to track local map!
1253
- Relocalization() failed.
1254
- Fail to track local map!
1255
- Relocalization() failed.
1256
- Fail to track local map!
1257
- Relocalization() failed.
1258
- Fail to track local map!
1259
- Relocalization() failed.
1260
- Fail to track local map!
1261
- Relocalization() failed.
1262
- Fail to track local map!
1263
- Relocalization() failed.
1264
- Fail to track local map!
1265
- Relocalization() failed.
1266
- Fail to track local map!
1267
- Relocalization() failed.
1268
- Fail to track local map!
1269
- Relocalization() failed.
1270
- Fail to track local map!
1271
- Relocalization() failed.
1272
- Fail to track local map!
1273
- Relocalization() failed.
1274
- Fail to track local map!
1275
- Relocalization() failed.
1276
- Fail to track local map!
1277
- Relocalization() failed.
1278
- Fail to track local map!
1279
- Relocalization() failed.
1280
- Fail to track local map!
1281
- Relocalization() failed.
1282
- Fail to track local map!
1283
- Relocalization() failed.
1284
- Fail to track local map!
1285
- Relocalization() failed.
1286
- Fail to track local map!
1287
- Relocalization() failed.
1288
- Fail to track local map!
1289
- Relocalization() failed.
1290
- Fail to track local map!
1291
- Relocalization() failed.
1292
- Fail to track local map!
1293
- Relocalization() failed.
1294
- Fail to track local map!
1295
- Relocalization() failed.
1296
- Fail to track local map!
1297
- Relocalization() failed.
1298
- Fail to track local map!
1299
- Relocalization() failed.
1300
- Fail to track local map!
1301
- Relocalization() failed.
1302
- Fail to track local map!
1303
- Relocalization() failed.
1304
- Fail to track local map!
1305
- Relocalization() failed.
1306
- Fail to track local map!
1307
- Relocalization() failed.
1308
- Fail to track local map!
1309
- Relocalization() failed.
1310
- Fail to track local map!
1311
- Relocalization() failed.
1312
- Fail to track local map!
1313
- Relocalization() failed.
1314
- Fail to track local map!
1315
- Relocalization() failed.
1316
- Fail to track local map!
1317
- Relocalization() failed.
1318
- Fail to track local map!
1319
- Relocalization() failed.
1320
- Fail to track local map!
1321
- Relocalization() failed.
1322
- Fail to track local map!
1323
- Relocalization() failed.
1324
- Fail to track local map!
1325
- Relocalization() failed.
1326
- Fail to track local map!
1327
- Relocalization() failed.
1328
- Fail to track local map!
1329
- Relocalization() failed.
1330
- Fail to track local map!
1331
- Relocalization() failed.
1332
- Fail to track local map!
1333
- Relocalization() failed.
1334
- Fail to track local map!
1335
- Relocalization() failed.
1336
- Fail to track local map!
1337
- Relocalization() failed.
1338
- Fail to track local map!
1339
- Relocalization() failed.
1340
- Fail to track local map!
1341
- Relocalization() failed.
1342
- Fail to track local map!
1343
- Relocalization() failed.
1344
- Fail to track local map!
1345
- Relocalization() failed.
1346
- Fail to track local map!
1347
- Relocalization() failed.
1348
- Fail to track local map!
1349
- Relocalization() failed.
1350
- Fail to track local map!
1351
- Relocalization() failed.
1352
- Fail to track local map!
1353
- Relocalization() failed.
1354
- Fail to track local map!
1355
- Relocalization() failed.
1356
- Fail to track local map!
1357
- Relocalization() failed.
1358
- Fail to track local map!
1359
- Relocalization() failed.
1360
- Fail to track local map!
1361
- Relocalization() failed.
1362
- Fail to track local map!
1363
- Relocalization() failed.
1364
- Fail to track local map!
1365
- Relocalization() failed.
1366
- Fail to track local map!
1367
- Relocalization() failed.
1368
- Fail to track local map!
1369
- Relocalization() failed.
1370
- Fail to track local map!
1371
- Relocalization() failed.
1372
- Fail to track local map!
1373
- Relocalization() failed.
1374
- Fail to track local map!
1375
- Relocalization() failed.
1376
- Fail to track local map!
1377
- Relocalization() failed.
1378
- Fail to track local map!
1379
- Relocalization() failed.
1380
- Fail to track local map!
1381
- Relocalization() failed.
1382
- Fail to track local map!
1383
- Relocalization() failed.
1384
- Fail to track local map!
1385
- Relocalization() failed.
1386
- Fail to track local map!
1387
- Relocalization() failed.
1388
- Fail to track local map!
1389
- Relocalization() failed.
1390
- Fail to track local map!
1391
- Relocalization() failed.
1392
- Fail to track local map!
1393
- Relocalization() failed.
1394
- Fail to track local map!
1395
- Relocalization() failed.
1396
- Fail to track local map!
1397
- Relocalization() failed.
1398
- Fail to track local map!
1399
- Video FPS: 59.940059940059939
1400
- ORB-SLAM 3 running at: 23.628054165234904 FPS
1401
- Relocalization() failed.
1402
- Fail to track local map!
1403
- Relocalization() failed.
1404
- Fail to track local map!
1405
- Relocalization() failed.
1406
- Fail to track local map!
1407
- Relocalization() failed.
1408
- Fail to track local map!
1409
- Relocalization() failed.
1410
- Fail to track local map!
1411
- Relocalization() failed.
1412
- Fail to track local map!
1413
- Relocalization() failed.
1414
- Fail to track local map!
1415
- Relocalization() failed.
1416
- Fail to track local map!
1417
- Relocalization() failed.
1418
- Fail to track local map!
1419
- Relocalization() failed.
1420
- Fail to track local map!
1421
- Relocalization() failed.
1422
- Fail to track local map!
1423
- Relocalization() failed.
1424
- Fail to track local map!
1425
- Relocalization() failed.
1426
- Fail to track local map!
1427
- Relocalization() failed.
1428
- Fail to track local map!
1429
- Relocalization() failed.
1430
- Fail to track local map!
1431
- Relocalization() failed.
1432
- Fail to track local map!
1433
- Relocalization() failed.
1434
- Fail to track local map!
1435
- Relocalization() failed.
1436
- Fail to track local map!
1437
- Relocalization() failed.
1438
- Fail to track local map!
1439
- Relocalization() failed.
1440
- Fail to track local map!
1441
- Relocalization() failed.
1442
- Fail to track local map!
1443
- Relocalization() failed.
1444
- Fail to track local map!
1445
- Relocalization() failed.
1446
- Fail to track local map!
1447
- Relocalization() failed.
1448
- Fail to track local map!
1449
- Relocalization() failed.
1450
- Fail to track local map!
1451
- Relocalization() failed.
1452
- Fail to track local map!
1453
- Relocalization() failed.
1454
- Fail to track local map!
1455
- Relocalization() failed.
1456
- Fail to track local map!
1457
- Relocalization() failed.
1458
- Fail to track local map!
1459
- Relocalization() failed.
1460
- Fail to track local map!
1461
- Relocalization() failed.
1462
- Fail to track local map!
1463
- Relocalization() failed.
1464
- Fail to track local map!
1465
- Relocalization() failed.
1466
- Fail to track local map!
1467
- Relocalization() failed.
1468
- Fail to track local map!
1469
- Relocalization() failed.
1470
- Fail to track local map!
1471
- Relocalization() failed.
1472
- Fail to track local map!
1473
- Relocalization() failed.
1474
- Fail to track local map!
1475
- Relocalization() failed.
1476
- Fail to track local map!
1477
- Relocalization() failed.
1478
- Fail to track local map!
1479
- Relocalization() failed.
1480
- Fail to track local map!
1481
- Relocalization() failed.
1482
- Fail to track local map!
1483
- Relocalization() failed.
1484
- Fail to track local map!
1485
- Relocalization() failed.
1486
- Fail to track local map!
1487
- Relocalization() failed.
1488
- Fail to track local map!
1489
- Relocalization() failed.
1490
- Fail to track local map!
1491
- Relocalization() failed.
1492
- Fail to track local map!
1493
- Relocalization() failed.
1494
- Fail to track local map!
1495
- Relocalization() failed.
1496
- Fail to track local map!
1497
- Relocalization() failed.
1498
- Fail to track local map!
1499
- Relocalization() failed.
1500
- Fail to track local map!
1501
- Relocalization() failed.
1502
- Fail to track local map!
1503
- Relocalization() failed.
1504
- Fail to track local map!
1505
- Relocalization() failed.
1506
- Fail to track local map!
1507
- Relocalization() failed.
1508
- Fail to track local map!
1509
- Relocalization() failed.
1510
- Fail to track local map!
1511
- Relocalization() failed.
1512
- Fail to track local map!
1513
- Relocalization() failed.
1514
- Fail to track local map!
1515
- Relocalization() failed.
1516
- Fail to track local map!
1517
- Relocalization() failed.
1518
- Fail to track local map!
1519
- Relocalization() failed.
1520
- Fail to track local map!
1521
- Relocalization() failed.
1522
- Fail to track local map!
1523
- Relocalization() failed.
1524
- Fail to track local map!
1525
- Relocalization() failed.
1526
- Fail to track local map!
1527
- Relocalization() failed.
1528
- Fail to track local map!
1529
- Relocalization() failed.
1530
- Fail to track local map!
1531
- Relocalization() failed.
1532
- Fail to track local map!
1533
- Relocalization() failed.
1534
- Fail to track local map!
1535
- Relocalization() failed.
1536
- Fail to track local map!
1537
- Relocalization() failed.
1538
- Fail to track local map!
1539
- Relocalization() failed.
1540
- Fail to track local map!
1541
- Relocalization() failed.
1542
- Fail to track local map!
1543
- Relocalization() failed.
1544
- Fail to track local map!
1545
- Relocalization() failed.
1546
- Fail to track local map!
1547
- Relocalization() failed.
1548
- Fail to track local map!
1549
- Relocalization() failed.
1550
- Fail to track local map!
1551
- Relocalization() failed.
1552
- Fail to track local map!
1553
- Relocalization() failed.
1554
- Fail to track local map!
1555
- Relocalization() failed.
1556
- Fail to track local map!
1557
- Relocalization() failed.
1558
- Fail to track local map!
1559
- Relocalization() failed.
1560
- Fail to track local map!
1561
- Relocalization() failed.
1562
- Fail to track local map!
1563
- Relocalization() failed.
1564
- Fail to track local map!
1565
- Relocalization() failed.
1566
- Fail to track local map!
1567
- Relocalization() failed.
1568
- Fail to track local map!
1569
- Relocalization() failed.
1570
- Fail to track local map!
1571
- Relocalization() failed.
1572
- Fail to track local map!
1573
- Relocalization() failed.
1574
- Fail to track local map!
1575
- Relocalization() failed.
1576
- Fail to track local map!
1577
- Relocalization() failed.
1578
- Fail to track local map!
1579
- Relocalization() failed.
1580
- Fail to track local map!
1581
- Relocalization() failed.
1582
- Fail to track local map!
1583
- Relocalization() failed.
1584
- Fail to track local map!
1585
- Relocalization() failed.
1586
- Fail to track local map!
1587
- Relocalization() failed.
1588
- Fail to track local map!
1589
- Relocalization() failed.
1590
- Fail to track local map!
1591
- Relocalization() failed.
1592
- Fail to track local map!
1593
- Relocalization() failed.
1594
- Fail to track local map!
1595
- Relocalization() failed.
1596
- Fail to track local map!
1597
- Relocalization() failed.
1598
- Fail to track local map!
1599
- Relocalization() failed.
1600
- Fail to track local map!
1601
- Video FPS: 59.940059940059939
1602
- ORB-SLAM 3 running at: 23.053140924749545 FPS
1603
- Relocalization() failed.
1604
- Fail to track local map!
1605
- Relocalization() failed.
1606
- Fail to track local map!
1607
- Relocalization() failed.
1608
- Fail to track local map!
1609
- Relocalization() failed.
1610
- Fail to track local map!
1611
- Relocalization() failed.
1612
- Fail to track local map!
1613
- Relocalization() failed.
1614
- Fail to track local map!
1615
- Relocalization() failed.
1616
- Fail to track local map!
1617
- Relocalization() failed.
1618
- Fail to track local map!
1619
- Relocalization() failed.
1620
- Fail to track local map!
1621
- Relocalization() failed.
1622
- Fail to track local map!
1623
- Relocalization() failed.
1624
- Fail to track local map!
1625
- Relocalization() failed.
1626
- Fail to track local map!
1627
- Relocalization() failed.
1628
- Fail to track local map!
1629
- Relocalization() failed.
1630
- Fail to track local map!
1631
- Relocalization() failed.
1632
- Fail to track local map!
1633
- Relocalization() failed.
1634
- Fail to track local map!
1635
- Relocalization() failed.
1636
- Fail to track local map!
1637
- Relocalization() failed.
1638
- Fail to track local map!
1639
- Relocalization() failed.
1640
- Fail to track local map!
1641
- Relocalization() failed.
1642
- Fail to track local map!
1643
- Relocalization() failed.
1644
- Fail to track local map!
1645
- Relocalization() failed.
1646
- Fail to track local map!
1647
- Relocalization() failed.
1648
- Fail to track local map!
1649
- Relocalization() failed.
1650
- Fail to track local map!
1651
- Relocalization() failed.
1652
- Fail to track local map!
1653
- Relocalization() failed.
1654
- Fail to track local map!
1655
- Relocalization() failed.
1656
- Fail to track local map!
1657
- Relocalization() failed.
1658
- Fail to track local map!
1659
- Relocalization() failed.
1660
- Fail to track local map!
1661
- Relocalization() failed.
1662
- Fail to track local map!
1663
- Relocalization() failed.
1664
- Fail to track local map!
1665
- Relocalization() failed.
1666
- Fail to track local map!
1667
- Relocalization() failed.
1668
- Fail to track local map!
1669
- Relocalization() failed.
1670
- Fail to track local map!
1671
- Relocalization() failed.
1672
- Fail to track local map!
1673
- Relocalization() failed.
1674
- Fail to track local map!
1675
- Relocalization() failed.
1676
- Fail to track local map!
1677
- Relocalization() failed.
1678
- Fail to track local map!
1679
- Relocalization() failed.
1680
- Fail to track local map!
1681
- Relocalization() failed.
1682
- Fail to track local map!
1683
- Relocalization() failed.
1684
- Fail to track local map!
1685
- Relocalization() failed.
1686
- Fail to track local map!
1687
- Relocalization() failed.
1688
- Fail to track local map!
1689
- Relocalization() failed.
1690
- Fail to track local map!
1691
- Relocalization() failed.
1692
- Fail to track local map!
1693
- Relocalization() failed.
1694
- Fail to track local map!
1695
- Relocalization() failed.
1696
- Fail to track local map!
1697
- Relocalization() failed.
1698
- Fail to track local map!
1699
- Relocalization() failed.
1700
- Fail to track local map!
1701
- Relocalization() failed.
1702
- Fail to track local map!
1703
- Relocalization() failed.
1704
- Fail to track local map!
1705
- Relocalization() failed.
1706
- Fail to track local map!
1707
- Relocalization() failed.
1708
- Fail to track local map!
1709
- Relocalization() failed.
1710
- Fail to track local map!
1711
- Relocalization() failed.
1712
- Fail to track local map!
1713
- Relocalization() failed.
1714
- Fail to track local map!
1715
- Relocalization() failed.
1716
- Fail to track local map!
1717
- Relocalization() failed.
1718
- Fail to track local map!
1719
- Relocalization() failed.
1720
- Fail to track local map!
1721
- Relocalization() failed.
1722
- Fail to track local map!
1723
- Relocalization() failed.
1724
- Fail to track local map!
1725
- Relocalization() failed.
1726
- Fail to track local map!
1727
- Relocalization() failed.
1728
- Fail to track local map!
1729
- Relocalization() failed.
1730
- Fail to track local map!
1731
- Relocalization() failed.
1732
- Fail to track local map!
1733
- Relocalization() failed.
1734
- Fail to track local map!
1735
- Relocalization() failed.
1736
- Fail to track local map!
1737
- Relocalization() failed.
1738
- Fail to track local map!
1739
- Relocalization() failed.
1740
- Fail to track local map!
1741
- Relocalization() failed.
1742
- Fail to track local map!
1743
- Relocalization() failed.
1744
- Fail to track local map!
1745
- Relocalization() failed.
1746
- Fail to track local map!
1747
- Relocalization() failed.
1748
- Fail to track local map!
1749
- Relocalization() failed.
1750
- Fail to track local map!
1751
- Relocalization() failed.
1752
- Fail to track local map!
1753
- Relocalization() failed.
1754
- Fail to track local map!
1755
- Relocalization() failed.
1756
- Fail to track local map!
1757
- Relocalization() failed.
1758
- Fail to track local map!
1759
- Relocalization() failed.
1760
- Fail to track local map!
1761
- Relocalization() failed.
1762
- Fail to track local map!
1763
- Relocalization() failed.
1764
- Fail to track local map!
1765
- Relocalization() failed.
1766
- Fail to track local map!
1767
- Relocalization() failed.
1768
- Fail to track local map!
1769
- Relocalization() failed.
1770
- Fail to track local map!
1771
- Relocalization() failed.
1772
- Fail to track local map!
1773
- Relocalization() failed.
1774
- Fail to track local map!
1775
- Relocalization() failed.
1776
- Fail to track local map!
1777
- Relocalization() failed.
1778
- Fail to track local map!
1779
- Relocalization() failed.
1780
- Fail to track local map!
1781
- Relocalization() failed.
1782
- Fail to track local map!
1783
- Relocalization() failed.
1784
- Fail to track local map!
1785
- Relocalization() failed.
1786
- Fail to track local map!
1787
- Relocalization() failed.
1788
- Fail to track local map!
1789
- Relocalization() failed.
1790
- Fail to track local map!
1791
- Relocalization() failed.
1792
- Fail to track local map!
1793
- Relocalization() failed.
1794
- Fail to track local map!
1795
- Relocalization() failed.
1796
- Fail to track local map!
1797
- Relocalization() failed.
1798
- Fail to track local map!
1799
- Relocalization() failed.
1800
- Fail to track local map!
1801
- Relocalization() failed.
1802
- Fail to track local map!
1803
- Video FPS: 59.940059940059939
1804
- ORB-SLAM 3 running at: 31.35083113091132 FPS
1805
- Relocalization() failed.
1806
- Fail to track local map!
1807
- Relocalization() failed.
1808
- Fail to track local map!
1809
- Relocalization() failed.
1810
- Fail to track local map!
1811
- Relocalization() failed.
1812
- Fail to track local map!
1813
- Relocalization() failed.
1814
- Fail to track local map!
1815
- Relocalization() failed.
1816
- Fail to track local map!
1817
- Relocalization() failed.
1818
- Fail to track local map!
1819
- Relocalization() failed.
1820
- Fail to track local map!
1821
- Relocalization() failed.
1822
- Fail to track local map!
1823
- Relocalization() failed.
1824
- Fail to track local map!
1825
- Relocalization() failed.
1826
- Fail to track local map!
1827
- Relocalization() failed.
1828
- Fail to track local map!
1829
- Relocalization() failed.
1830
- Fail to track local map!
1831
- Relocalization() failed.
1832
- Fail to track local map!
1833
- Relocalization() failed.
1834
- Fail to track local map!
1835
- Relocalization() failed.
1836
- Fail to track local map!
1837
- Relocalization() failed.
1838
- Fail to track local map!
1839
- Relocalization() failed.
1840
- Fail to track local map!
1841
- Relocalization() failed.
1842
- Fail to track local map!
1843
- Relocalization() failed.
1844
- Fail to track local map!
1845
- Relocalization() failed.
1846
- Fail to track local map!
1847
- Relocalization() failed.
1848
- Fail to track local map!
1849
- Relocalization() failed.
1850
- Fail to track local map!
1851
- Relocalization() failed.
1852
- Fail to track local map!
1853
- Relocalization() failed.
1854
- Fail to track local map!
1855
- Relocalization() failed.
1856
- Fail to track local map!
1857
- Relocalization() failed.
1858
- Fail to track local map!
1859
- Relocalization() failed.
1860
- Fail to track local map!
1861
- Relocalization() failed.
1862
- Fail to track local map!
1863
- Relocalization() failed.
1864
- Fail to track local map!
1865
- Relocalization() failed.
1866
- Fail to track local map!
1867
- Relocalization() failed.
1868
- Fail to track local map!
1869
- Relocalization() failed.
1870
- Fail to track local map!
1871
- Relocalization() failed.
1872
- Fail to track local map!
1873
- Relocalization() failed.
1874
- Fail to track local map!
1875
- Relocalization() failed.
1876
- Fail to track local map!
1877
- Relocalization() failed.
1878
- Fail to track local map!
1879
- Relocalization() failed.
1880
- Fail to track local map!
1881
- Relocalization() failed.
1882
- Fail to track local map!
1883
- Relocalization() failed.
1884
- Fail to track local map!
1885
- Relocalization() failed.
1886
- Fail to track local map!
1887
- Relocalization() failed.
1888
- Fail to track local map!
1889
- Relocalization() failed.
1890
- Fail to track local map!
1891
- Relocalization() failed.
1892
- Fail to track local map!
1893
- Relocalization() failed.
1894
- Fail to track local map!
1895
- Relocalization() failed.
1896
- Fail to track local map!
1897
- Relocalization() failed.
1898
- Fail to track local map!
1899
- Relocalization() failed.
1900
- Fail to track local map!
1901
- Relocalization() failed.
1902
- Fail to track local map!
1903
- Relocalization() failed.
1904
- Fail to track local map!
1905
- Relocalization() failed.
1906
- Fail to track local map!
1907
- Relocalization() failed.
1908
- Fail to track local map!
1909
- Relocalization() failed.
1910
- Fail to track local map!
1911
- Relocalization() failed.
1912
- Fail to track local map!
1913
- Relocalization() failed.
1914
- Fail to track local map!
1915
- Relocalization() failed.
1916
- Fail to track local map!
1917
- Relocalization() failed.
1918
- Fail to track local map!
1919
- Relocalization() failed.
1920
- Fail to track local map!
1921
- Relocalization() failed.
1922
- Fail to track local map!
1923
- Relocalization() failed.
1924
- Fail to track local map!
1925
- Relocalization() failed.
1926
- Fail to track local map!
1927
- Relocalization() failed.
1928
- Fail to track local map!
1929
- Relocalization() failed.
1930
- Fail to track local map!
1931
- Relocalization() failed.
1932
- Fail to track local map!
1933
- Relocalization() failed.
1934
- Fail to track local map!
1935
- Relocalization() failed.
1936
- Fail to track local map!
1937
- Relocalization() failed.
1938
- Fail to track local map!
1939
- Relocalization() failed.
1940
- Fail to track local map!
1941
- Relocalization() failed.
1942
- Fail to track local map!
1943
- Relocalization() failed.
1944
- Fail to track local map!
1945
- Relocalization() failed.
1946
- Fail to track local map!
1947
- Relocalization() failed.
1948
- Fail to track local map!
1949
- Relocalization() failed.
1950
- Fail to track local map!
1951
- Relocalization() failed.
1952
- Fail to track local map!
1953
- Relocalization() failed.
1954
- Fail to track local map!
1955
- Relocalization() failed.
1956
- Fail to track local map!
1957
- Relocalization() failed.
1958
- Fail to track local map!
1959
- Relocalization() failed.
1960
- Fail to track local map!
1961
- Relocalization() failed.
1962
- Fail to track local map!
1963
- Relocalization() failed.
1964
- Fail to track local map!
1965
- Relocalization() failed.
1966
- Fail to track local map!
1967
- Relocalization() failed.
1968
- Fail to track local map!
1969
- Relocalization() failed.
1970
- Fail to track local map!
1971
- Relocalization() failed.
1972
- Fail to track local map!
1973
- Relocalization() failed.
1974
- Fail to track local map!
1975
- Relocalization() failed.
1976
- Fail to track local map!
1977
- Relocalization() failed.
1978
- Fail to track local map!
1979
- Relocalization() failed.
1980
- Fail to track local map!
1981
- Relocalization() failed.
1982
- Fail to track local map!
1983
- Relocalization() failed.
1984
- Fail to track local map!
1985
- Relocalization() failed.
1986
- Fail to track local map!
1987
- Relocalization() failed.
1988
- Fail to track local map!
1989
- Relocalization() failed.
1990
- Fail to track local map!
1991
- Relocalization() failed.
1992
- Fail to track local map!
1993
- Relocalization() failed.
1994
- Fail to track local map!
1995
- Relocalization() failed.
1996
- Fail to track local map!
1997
- Relocalization() failed.
1998
- Fail to track local map!
1999
- Relocalization() failed.
2000
- Fail to track local map!
2001
- Relocalization() failed.
2002
- Fail to track local map!
2003
- Relocalization() failed.
2004
- Fail to track local map!
2005
- Video FPS: 59.940059940059939
2006
- ORB-SLAM 3 running at: 25.869760759039476 FPS
2007
- Relocalization() failed.
2008
- Fail to track local map!
2009
- Relocalization() failed.
2010
- Fail to track local map!
2011
- Relocalization() failed.
2012
- Fail to track local map!
2013
- Relocalization() failed.
2014
- Fail to track local map!
2015
- Relocalization() failed.
2016
- Fail to track local map!
2017
- Relocalization() failed.
2018
- Fail to track local map!
2019
- Relocalization() failed.
2020
- Fail to track local map!
2021
- Relocalization() failed.
2022
- Fail to track local map!
2023
- Relocalization() failed.
2024
- Fail to track local map!
2025
- Relocalization() failed.
2026
- Fail to track local map!
2027
- Relocalization() failed.
2028
- Fail to track local map!
2029
- Relocalization() failed.
2030
- Fail to track local map!
2031
- Relocalization() failed.
2032
- Fail to track local map!
2033
- Relocalization() failed.
2034
- Fail to track local map!
2035
- Relocalization() failed.
2036
- Fail to track local map!
2037
- Relocalization() failed.
2038
- Fail to track local map!
2039
- Relocalization() failed.
2040
- Fail to track local map!
2041
- Relocalization() failed.
2042
- Fail to track local map!
2043
- Relocalization() failed.
2044
- Fail to track local map!
2045
- Relocalization() failed.
2046
- Fail to track local map!
2047
- Relocalization() failed.
2048
- Fail to track local map!
2049
- Relocalization() failed.
2050
- Fail to track local map!
2051
- Relocalization() failed.
2052
- Fail to track local map!
2053
- Relocalization() failed.
2054
- Fail to track local map!
2055
- Relocalization() failed.
2056
- Fail to track local map!
2057
- Relocalization() failed.
2058
- Fail to track local map!
2059
- Relocalization() failed.
2060
- Fail to track local map!
2061
- Relocalization() failed.
2062
- Fail to track local map!
2063
- Relocalization() failed.
2064
- Fail to track local map!
2065
- Relocalization() failed.
2066
- Fail to track local map!
2067
- Relocalization() failed.
2068
- Fail to track local map!
2069
- Relocalization() failed.
2070
- Fail to track local map!
2071
- Relocalization() failed.
2072
- Fail to track local map!
2073
- Relocalization() failed.
2074
- Fail to track local map!
2075
- Relocalization() failed.
2076
- Fail to track local map!
2077
- Relocalization() failed.
2078
- Fail to track local map!
2079
- Relocalization() failed.
2080
- Fail to track local map!
2081
- Relocalization() failed.
2082
- Fail to track local map!
2083
- Relocalization() failed.
2084
- Fail to track local map!
2085
- Relocalization() failed.
2086
- Fail to track local map!
2087
- Relocalization() failed.
2088
- Fail to track local map!
2089
- Relocalization() failed.
2090
- Fail to track local map!
2091
- Relocalization() failed.
2092
- Fail to track local map!
2093
- Relocalization() failed.
2094
- Fail to track local map!
2095
- Relocalization() failed.
2096
- Fail to track local map!
2097
- Relocalization() failed.
2098
- Fail to track local map!
2099
- Relocalization() failed.
2100
- Fail to track local map!
2101
- Relocalization() failed.
2102
- Fail to track local map!
2103
- Relocalization() failed.
2104
- Fail to track local map!
2105
- Relocalization() failed.
2106
- Fail to track local map!
2107
- Relocalization() failed.
2108
- Fail to track local map!
2109
- Relocalization() failed.
2110
- Fail to track local map!
2111
- Relocalization() failed.
2112
- Fail to track local map!
2113
- Relocalization() failed.
2114
- Fail to track local map!
2115
- Relocalization() failed.
2116
- Fail to track local map!
2117
- Relocalization() failed.
2118
- Fail to track local map!
2119
- Relocalization() failed.
2120
- Fail to track local map!
2121
- Relocalization() failed.
2122
- Fail to track local map!
2123
- Relocalization() failed.
2124
- Fail to track local map!
2125
- Relocalization() failed.
2126
- Fail to track local map!
2127
- Relocalization() failed.
2128
- Fail to track local map!
2129
- Relocalization() failed.
2130
- Fail to track local map!
2131
- Relocalization() failed.
2132
- Fail to track local map!
2133
- Relocalization() failed.
2134
- Fail to track local map!
2135
- Relocalization() failed.
2136
- Fail to track local map!
2137
- Relocalization() failed.
2138
- Fail to track local map!
2139
- Relocalization() failed.
2140
- Fail to track local map!
2141
- Relocalization() failed.
2142
- Fail to track local map!
2143
- Relocalization() failed.
2144
- Fail to track local map!
2145
- Relocalization() failed.
2146
- Fail to track local map!
2147
- Relocalization() failed.
2148
- Fail to track local map!
2149
- Relocalization() failed.
2150
- Fail to track local map!
2151
- Relocalization() failed.
2152
- Fail to track local map!
2153
- Relocalization() failed.
2154
- Fail to track local map!
2155
- Relocalization() failed.
2156
- Fail to track local map!
2157
- Relocalization() failed.
2158
- Fail to track local map!
2159
- Relocalization() failed.
2160
- Fail to track local map!
2161
- Relocalization() failed.
2162
- Fail to track local map!
2163
- Relocalization() failed.
2164
- Fail to track local map!
2165
- Relocalization() failed.
2166
- Fail to track local map!
2167
- Relocalization() failed.
2168
- Fail to track local map!
2169
- Relocalization() failed.
2170
- Fail to track local map!
2171
- Relocalization() failed.
2172
- Fail to track local map!
2173
- Relocalization() failed.
2174
- Fail to track local map!
2175
- Relocalization() failed.
2176
- Fail to track local map!
2177
- Relocalization() failed.
2178
- Fail to track local map!
2179
- Relocalization() failed.
2180
- Fail to track local map!
2181
- Relocalization() failed.
2182
- Fail to track local map!
2183
- Relocalization() failed.
2184
- Fail to track local map!
2185
- Relocalization() failed.
2186
- Fail to track local map!
2187
- Relocalization() failed.
2188
- Fail to track local map!
2189
- Relocalization() failed.
2190
- Fail to track local map!
2191
- Relocalization() failed.
2192
- Fail to track local map!
2193
- Relocalization() failed.
2194
- Fail to track local map!
2195
- Relocalization() failed.
2196
- Fail to track local map!
2197
- Relocalization() failed.
2198
- Fail to track local map!
2199
- Relocalization() failed.
2200
- Fail to track local map!
2201
- Relocalization() failed.
2202
- Fail to track local map!
2203
- Relocalization() failed.
2204
- Fail to track local map!
2205
- Relocalization() failed.
2206
- Fail to track local map!
2207
- Video FPS: 59.940059940059939
2208
- ORB-SLAM 3 running at: 25.488147081289835 FPS
2209
- Relocalization() failed.
2210
- Fail to track local map!
2211
- Relocalization() failed.
2212
- Fail to track local map!
2213
- Relocalization() failed.
2214
- Fail to track local map!
2215
- Relocalization() failed.
2216
- Fail to track local map!
2217
- Relocalization() failed.
2218
- Fail to track local map!
2219
- Relocalization() failed.
2220
- Fail to track local map!
2221
- Relocalization() failed.
2222
- Fail to track local map!
2223
- Relocalization() failed.
2224
- Fail to track local map!
2225
- Relocalization() failed.
2226
- Fail to track local map!
2227
- Relocalization() failed.
2228
- Fail to track local map!
2229
- Relocalization() failed.
2230
- Fail to track local map!
2231
- Relocalization() failed.
2232
- Fail to track local map!
2233
- Relocalization() failed.
2234
- Fail to track local map!
2235
- Relocalization() failed.
2236
- Fail to track local map!
2237
- Relocalization() failed.
2238
- Fail to track local map!
2239
- Relocalization() failed.
2240
- Fail to track local map!
2241
- Relocalization() failed.
2242
- Fail to track local map!
2243
- Relocalization() failed.
2244
- Fail to track local map!
2245
- Relocalization() failed.
2246
- Fail to track local map!
2247
- Relocalization() failed.
2248
- Fail to track local map!
2249
- Relocalization() failed.
2250
- Fail to track local map!
2251
- Relocalization() failed.
2252
- Fail to track local map!
2253
- Relocalization() failed.
2254
- Fail to track local map!
2255
- Relocalization() failed.
2256
- Fail to track local map!
2257
- Relocalization() failed.
2258
- Fail to track local map!
2259
- Relocalization() failed.
2260
- Fail to track local map!
2261
- Relocalization() failed.
2262
- Fail to track local map!
2263
- Relocalization() failed.
2264
- Fail to track local map!
2265
- Relocalization() failed.
2266
- Fail to track local map!
2267
- Relocalization() failed.
2268
- Fail to track local map!
2269
- Relocalization() failed.
2270
- Fail to track local map!
2271
- Relocalization() failed.
2272
- Fail to track local map!
2273
- Relocalization() failed.
2274
- Fail to track local map!
2275
- Relocalization() failed.
2276
- Fail to track local map!
2277
- Relocalization() failed.
2278
- Fail to track local map!
2279
- Relocalization() failed.
2280
- Fail to track local map!
2281
- Relocalization() failed.
2282
- Fail to track local map!
2283
- Relocalization() failed.
2284
- Fail to track local map!
2285
- Relocalization() failed.
2286
- Fail to track local map!
2287
- Relocalization() failed.
2288
- Fail to track local map!
2289
- Relocalization() failed.
2290
- Fail to track local map!
2291
- Relocalization() failed.
2292
- Fail to track local map!
2293
- Relocalization() failed.
2294
- Fail to track local map!
2295
- Relocalization() failed.
2296
- Fail to track local map!
2297
- Relocalization() failed.
2298
- Fail to track local map!
2299
- Relocalization() failed.
2300
- Fail to track local map!
2301
- Relocalization() failed.
2302
- Fail to track local map!
2303
- Relocalization() failed.
2304
- Fail to track local map!
2305
- Relocalization() failed.
2306
- Fail to track local map!
2307
- Relocalization() failed.
2308
- Fail to track local map!
2309
- Relocalization() failed.
2310
- Fail to track local map!
2311
- Relocalization() failed.
2312
- Fail to track local map!
2313
- Relocalization() failed.
2314
- Fail to track local map!
2315
- Relocalization() failed.
2316
- Fail to track local map!
2317
- Relocalization() failed.
2318
- Fail to track local map!
2319
- Relocalization() failed.
2320
- Fail to track local map!
2321
- Relocalization() failed.
2322
- Fail to track local map!
2323
- Relocalization() failed.
2324
- Fail to track local map!
2325
- Relocalization() failed.
2326
- Fail to track local map!
2327
- Relocalization() failed.
2328
- Fail to track local map!
2329
- Relocalization() failed.
2330
- Fail to track local map!
2331
- Relocalization() failed.
2332
- Fail to track local map!
2333
- Relocalization() failed.
2334
- Fail to track local map!
2335
- Relocalization() failed.
2336
- Fail to track local map!
2337
- Relocalization() failed.
2338
- Fail to track local map!
2339
- Relocalization() failed.
2340
- Fail to track local map!
2341
- Relocalization() failed.
2342
- Fail to track local map!
2343
- Relocalization() failed.
2344
- Fail to track local map!
2345
- Relocalization() failed.
2346
- Fail to track local map!
2347
- Relocalization() failed.
2348
- Fail to track local map!
2349
- Relocalization() failed.
2350
- Fail to track local map!
2351
- Relocalization() failed.
2352
- Fail to track local map!
2353
- Relocalization() failed.
2354
- Fail to track local map!
2355
- Relocalization() failed.
2356
- Fail to track local map!
2357
- Relocalization() failed.
2358
- Fail to track local map!
2359
- Relocalization() failed.
2360
- Fail to track local map!
2361
- Relocalization() failed.
2362
- Fail to track local map!
2363
- Relocalization() failed.
2364
- Fail to track local map!
2365
- Relocalization() failed.
2366
- Fail to track local map!
2367
- Relocalization() failed.
2368
- Fail to track local map!
2369
- Relocalization() failed.
2370
- Fail to track local map!
2371
- Relocalization() failed.
2372
- Fail to track local map!
2373
- Relocalization() failed.
2374
- Fail to track local map!
2375
- Relocalization() failed.
2376
- Fail to track local map!
2377
- Relocalization() failed.
2378
- Fail to track local map!
2379
- Relocalization() failed.
2380
- Fail to track local map!
2381
- Relocalization() failed.
2382
- Fail to track local map!
2383
- Relocalization() failed.
2384
- Fail to track local map!
2385
- Relocalization() failed.
2386
- Fail to track local map!
2387
- Relocalization() failed.
2388
- Fail to track local map!
2389
- Relocalization() failed.
2390
- Fail to track local map!
2391
- Relocalization() failed.
2392
- Fail to track local map!
2393
- Relocalization() failed.
2394
- Fail to track local map!
2395
- Relocalization() failed.
2396
- Fail to track local map!
2397
- Relocalization() failed.
2398
- Fail to track local map!
2399
- Relocalization() failed.
2400
- Fail to track local map!
2401
- Relocalization() failed.
2402
- Fail to track local map!
2403
- Relocalization() failed.
2404
- Fail to track local map!
2405
- Relocalization() failed.
2406
- Fail to track local map!
2407
- Relocalization() failed.
2408
- Fail to track local map!
2409
- Video FPS: 59.940059940059939
2410
- ORB-SLAM 3 running at: 26.233205272444032 FPS
2411
- Relocalization() failed.
2412
- Fail to track local map!
2413
- Relocalization() failed.
2414
- Fail to track local map!
2415
- Relocalization() failed.
2416
- Fail to track local map!
2417
- Relocalization() failed.
2418
- Fail to track local map!
2419
- Relocalization() failed.
2420
- Fail to track local map!
2421
- Relocalization() failed.
2422
- Fail to track local map!
2423
- Relocalization() failed.
2424
- Fail to track local map!
2425
- Relocalization() failed.
2426
- Fail to track local map!
2427
- Relocalization() failed.
2428
- Fail to track local map!
2429
- Relocalization() failed.
2430
- Fail to track local map!
2431
- Relocalization() failed.
2432
- Fail to track local map!
2433
- Relocalization() failed.
2434
- Fail to track local map!
2435
- Relocalization() failed.
2436
- Fail to track local map!
2437
- Relocalization() failed.
2438
- Fail to track local map!
2439
- Relocalization() failed.
2440
- Fail to track local map!
2441
- Relocalization() failed.
2442
- Fail to track local map!
2443
- Relocalization() failed.
2444
- Fail to track local map!
2445
- Relocalization() failed.
2446
- Fail to track local map!
2447
- Relocalization() failed.
2448
- Fail to track local map!
2449
- Relocalization() failed.
2450
- Fail to track local map!
2451
- Relocalization() failed.
2452
- Fail to track local map!
2453
- Relocalization() failed.
2454
- Fail to track local map!
2455
- Relocalization() failed.
2456
- Fail to track local map!
2457
- Relocalization() failed.
2458
- Fail to track local map!
2459
- Relocalization() failed.
2460
- Fail to track local map!
2461
- Relocalization() failed.
2462
- Fail to track local map!
2463
- Relocalization() failed.
2464
- Fail to track local map!
2465
- Relocalization() failed.
2466
- Fail to track local map!
2467
- Relocalization() failed.
2468
- Fail to track local map!
2469
- Relocalization() failed.
2470
- Fail to track local map!
2471
- Relocalization() failed.
2472
- Fail to track local map!
2473
- Relocalization() failed.
2474
- Fail to track local map!
2475
- Relocalization() failed.
2476
- Fail to track local map!
2477
- Relocalization() failed.
2478
- Fail to track local map!
2479
- Relocalization() failed.
2480
- Fail to track local map!
2481
- Relocalization() failed.
2482
- Fail to track local map!
2483
- Relocalization() failed.
2484
- Fail to track local map!
2485
- Relocalization() failed.
2486
- Fail to track local map!
2487
- Relocalization() failed.
2488
- Fail to track local map!
2489
- Relocalization() failed.
2490
- Fail to track local map!
2491
- Relocalization() failed.
2492
- Fail to track local map!
2493
- Relocalization() failed.
2494
- Fail to track local map!
2495
- Relocalization() failed.
2496
- Fail to track local map!
2497
- Relocalization() failed.
2498
- Fail to track local map!
2499
- Relocalization() failed.
2500
- Fail to track local map!
2501
- Relocalization() failed.
2502
- Fail to track local map!
2503
- Relocalization() failed.
2504
- Fail to track local map!
2505
- Relocalization() failed.
2506
- Fail to track local map!
2507
- Relocalization() failed.
2508
- Fail to track local map!
2509
- Relocalization() failed.
2510
- Fail to track local map!
2511
- Relocalization() failed.
2512
- Fail to track local map!
2513
- Relocalization() failed.
2514
- Fail to track local map!
2515
- Relocalization() failed.
2516
- Fail to track local map!
2517
- Relocalization() failed.
2518
- Fail to track local map!
2519
- Relocalization() failed.
2520
- Fail to track local map!
2521
- Relocalization() failed.
2522
- Fail to track local map!
2523
- Relocalization() failed.
2524
- Fail to track local map!
2525
- Relocalization() failed.
2526
- Fail to track local map!
2527
- Relocalization() failed.
2528
- Fail to track local map!
2529
- Relocalization() failed.
2530
- Fail to track local map!
2531
- Relocalization() failed.
2532
- Fail to track local map!
2533
- Relocalization() failed.
2534
- Fail to track local map!
2535
- Relocalization() failed.
2536
- Fail to track local map!
2537
- Relocalization() failed.
2538
- Fail to track local map!
2539
- Relocalization() failed.
2540
- Fail to track local map!
2541
- Relocalization() failed.
2542
- Fail to track local map!
2543
- Relocalization() failed.
2544
- Fail to track local map!
2545
- Relocalization() failed.
2546
- Fail to track local map!
2547
- Relocalization() failed.
2548
- Fail to track local map!
2549
- Relocalization() failed.
2550
- Fail to track local map!
2551
- Relocalization() failed.
2552
- Fail to track local map!
2553
- Relocalization() failed.
2554
- Fail to track local map!
2555
- Relocalization() failed.
2556
- Fail to track local map!
2557
- Relocalization() failed.
2558
- Fail to track local map!
2559
- Relocalization() failed.
2560
- Fail to track local map!
2561
- Relocalization() failed.
2562
- Fail to track local map!
2563
- Relocalization() failed.
2564
- Fail to track local map!
2565
- Relocalization() failed.
2566
- Fail to track local map!
2567
- Relocalization() failed.
2568
- Fail to track local map!
2569
- Relocalization() failed.
2570
- Fail to track local map!
2571
- Relocalization() failed.
2572
- Fail to track local map!
2573
- Relocalization() failed.
2574
- Fail to track local map!
2575
- Relocalization() failed.
2576
- Fail to track local map!
2577
- Relocalization() failed.
2578
- Fail to track local map!
2579
- Relocalization() failed.
2580
- Fail to track local map!
2581
- Relocalization() failed.
2582
- Fail to track local map!
2583
- Relocalization() failed.
2584
- Fail to track local map!
2585
- Relocalization() failed.
2586
- Fail to track local map!
2587
- Relocalization() failed.
2588
- Fail to track local map!
2589
- Relocalization() failed.
2590
- Fail to track local map!
2591
- Relocalization() failed.
2592
- Fail to track local map!
2593
- Relocalization() failed.
2594
- Fail to track local map!
2595
- Relocalization() failed.
2596
- Fail to track local map!
2597
- Relocalization() failed.
2598
- Fail to track local map!
2599
- Relocalization() failed.
2600
- Fail to track local map!
2601
- Relocalization() failed.
2602
- Fail to track local map!
2603
- Relocalization() failed.
2604
- Fail to track local map!
2605
- Relocalization() failed.
2606
- Fail to track local map!
2607
- Relocalization() failed.
2608
- Fail to track local map!
2609
- Relocalization() failed.
2610
- Fail to track local map!
2611
- Video FPS: 59.940059940059939
2612
- ORB-SLAM 3 running at: 34.616232846228705 FPS
2613
- Relocalization() failed.
2614
- Fail to track local map!
2615
- Relocalization() failed.
2616
- Fail to track local map!
2617
- Relocalization() failed.
2618
- Fail to track local map!
2619
- Relocalization() failed.
2620
- Fail to track local map!
2621
- Relocalization() failed.
2622
- Fail to track local map!
2623
- Relocalization() failed.
2624
- Fail to track local map!
2625
- Relocalization() failed.
2626
- Fail to track local map!
2627
- Relocalization() failed.
2628
- Fail to track local map!
2629
- Relocalization() failed.
2630
- Fail to track local map!
2631
- Relocalization() failed.
2632
- Fail to track local map!
2633
- Relocalization() failed.
2634
- Fail to track local map!
2635
- Relocalization() failed.
2636
- Fail to track local map!
2637
- Relocalization() failed.
2638
- Fail to track local map!
2639
- Relocalization() failed.
2640
- Fail to track local map!
2641
- Relocalization() failed.
2642
- Fail to track local map!
2643
- Relocalization() failed.
2644
- Fail to track local map!
2645
- Relocalization() failed.
2646
- Fail to track local map!
2647
- Relocalization() failed.
2648
- Fail to track local map!
2649
- Relocalization() failed.
2650
- Fail to track local map!
2651
- Relocalization() failed.
2652
- Fail to track local map!
2653
- Relocalization() failed.
2654
- Fail to track local map!
2655
- Relocalization() failed.
2656
- Fail to track local map!
2657
- Relocalization() failed.
2658
- Fail to track local map!
2659
- Relocalization() failed.
2660
- Fail to track local map!
2661
- Relocalization() failed.
2662
- Fail to track local map!
2663
- Relocalization() failed.
2664
- Fail to track local map!
2665
- Relocalization() failed.
2666
- Fail to track local map!
2667
- Relocalization() failed.
2668
- Fail to track local map!
2669
- Relocalization() failed.
2670
- Fail to track local map!
2671
- Relocalization() failed.
2672
- Fail to track local map!
2673
- Relocalization() failed.
2674
- Fail to track local map!
2675
- Relocalization() failed.
2676
- Fail to track local map!
2677
- Relocalization() failed.
2678
- Fail to track local map!
2679
- Relocalization() failed.
2680
- Fail to track local map!
2681
- Relocalization() failed.
2682
- Fail to track local map!
2683
- Relocalization() failed.
2684
- Fail to track local map!
2685
- Relocalization() failed.
2686
- Fail to track local map!
2687
- Relocalization() failed.
2688
- Fail to track local map!
2689
- Relocalization() failed.
2690
- Fail to track local map!
2691
- Relocalization() failed.
2692
- Fail to track local map!
2693
- Relocalization() failed.
2694
- Fail to track local map!
2695
- Relocalization() failed.
2696
- Fail to track local map!
2697
- Relocalization() failed.
2698
- Fail to track local map!
2699
- Relocalization() failed.
2700
- Fail to track local map!
2701
- Relocalization() failed.
2702
- Fail to track local map!
2703
- Relocalization() failed.
2704
- Fail to track local map!
2705
- Relocalization() failed.
2706
- Fail to track local map!
2707
- Relocalization() failed.
2708
- Fail to track local map!
2709
- Relocalization() failed.
2710
- Fail to track local map!
2711
- Relocalization() failed.
2712
- Fail to track local map!
2713
- Relocalization() failed.
2714
- Fail to track local map!
2715
- Relocalization() failed.
2716
- Fail to track local map!
2717
- Relocalization() failed.
2718
- Fail to track local map!
2719
- Relocalization() failed.
2720
- Fail to track local map!
2721
- Relocalization() failed.
2722
- Fail to track local map!
2723
- Relocalization() failed.
2724
- Fail to track local map!
2725
- Relocalization() failed.
2726
- Fail to track local map!
2727
- Relocalization() failed.
2728
- Fail to track local map!
2729
- Relocalization() failed.
2730
- Fail to track local map!
2731
- Relocalization() failed.
2732
- Fail to track local map!
2733
- Relocalization() failed.
2734
- Fail to track local map!
2735
- Relocalization() failed.
2736
- Fail to track local map!
2737
- Relocalization() failed.
2738
- Fail to track local map!
2739
- Relocalization() failed.
2740
- Fail to track local map!
2741
- Relocalization() failed.
2742
- Fail to track local map!
2743
- Relocalization() failed.
2744
- Fail to track local map!
2745
- Relocalization() failed.
2746
- Fail to track local map!
2747
- Relocalization() failed.
2748
- Fail to track local map!
2749
- Relocalization() failed.
2750
- Fail to track local map!
2751
- Relocalization() failed.
2752
- Fail to track local map!
2753
- Relocalization() failed.
2754
- Fail to track local map!
2755
- Relocalization() failed.
2756
- Fail to track local map!
2757
- Relocalization() failed.
2758
- Fail to track local map!
2759
- Relocalization() failed.
2760
- Fail to track local map!
2761
- Relocalization() failed.
2762
- Fail to track local map!
2763
- Relocalization() failed.
2764
- Fail to track local map!
2765
- Relocalization() failed.
2766
- Fail to track local map!
2767
- Relocalization() failed.
2768
- Fail to track local map!
2769
- Relocalization() failed.
2770
- Fail to track local map!
2771
- Relocalization() failed.
2772
- Fail to track local map!
2773
- Relocalization() failed.
2774
- Fail to track local map!
2775
- Relocalization() failed.
2776
- Fail to track local map!
2777
- Relocalization() failed.
2778
- Fail to track local map!
2779
- Relocalization() failed.
2780
- Fail to track local map!
2781
- Relocalization() failed.
2782
- Fail to track local map!
2783
- Relocalization() failed.
2784
- Fail to track local map!
2785
- Relocalization() failed.
2786
- Fail to track local map!
2787
- Relocalization() failed.
2788
- Fail to track local map!
2789
- Relocalization() failed.
2790
- Fail to track local map!
2791
- Relocalization() failed.
2792
- Fail to track local map!
2793
- Relocalization() failed.
2794
- Fail to track local map!
2795
- Relocalization() failed.
2796
- Fail to track local map!
2797
- Relocalization() failed.
2798
- Fail to track local map!
2799
- Relocalization() failed.
2800
- Fail to track local map!
2801
- Relocalization() failed.
2802
- Fail to track local map!
2803
- Relocalization() failed.
2804
- Fail to track local map!
2805
- Relocalization() failed.
2806
- Fail to track local map!
2807
- Relocalization() failed.
2808
- Fail to track local map!
2809
- Relocalization() failed.
2810
- Fail to track local map!
2811
- Relocalization() failed.
2812
- Fail to track local map!
2813
- Video FPS: 59.940059940059939
2814
- ORB-SLAM 3 running at: 24.937443798794629 FPS
2815
- Relocalization() failed.
2816
- Fail to track local map!
2817
- Relocalization() failed.
2818
- Fail to track local map!
2819
- Relocalization() failed.
2820
- Fail to track local map!
2821
- Relocalization() failed.
2822
- Fail to track local map!
2823
- Relocalization() failed.
2824
- Fail to track local map!
2825
- Relocalization() failed.
2826
- Fail to track local map!
2827
- Relocalization() failed.
2828
- Fail to track local map!
2829
- Relocalization() failed.
2830
- Fail to track local map!
2831
- Relocalization() failed.
2832
- Fail to track local map!
2833
- Relocalization() failed.
2834
- Fail to track local map!
2835
- Relocalization() failed.
2836
- Fail to track local map!
2837
- Relocalization() failed.
2838
- Fail to track local map!
2839
- Relocalization() failed.
2840
- Fail to track local map!
2841
- Relocalization() failed.
2842
- Fail to track local map!
2843
- Relocalization() failed.
2844
- Fail to track local map!
2845
- Relocalization() failed.
2846
- Fail to track local map!
2847
- Relocalization() failed.
2848
- Fail to track local map!
2849
- Relocalization() failed.
2850
- Fail to track local map!
2851
- Relocalization() failed.
2852
- Fail to track local map!
2853
- Relocalization() failed.
2854
- Fail to track local map!
2855
- Relocalization() failed.
2856
- Fail to track local map!
2857
- Relocalization() failed.
2858
- Fail to track local map!
2859
- Relocalization() failed.
2860
- Fail to track local map!
2861
- Relocalization() failed.
2862
- Fail to track local map!
2863
- Relocalization() failed.
2864
- Fail to track local map!
2865
- Relocalization() failed.
2866
- Fail to track local map!
2867
- Relocalization() failed.
2868
- Fail to track local map!
2869
- Relocalization() failed.
2870
- Fail to track local map!
2871
- Relocalization() failed.
2872
- Fail to track local map!
2873
- Relocalization() failed.
2874
- Fail to track local map!
2875
- Relocalization() failed.
2876
- Fail to track local map!
2877
- Relocalization() failed.
2878
- Fail to track local map!
2879
- Relocalization() failed.
2880
- Fail to track local map!
2881
- Relocalization() failed.
2882
- Fail to track local map!
2883
- Relocalization() failed.
2884
- Fail to track local map!
2885
- Relocalization() failed.
2886
- Fail to track local map!
2887
- Relocalization() failed.
2888
- Fail to track local map!
2889
- Relocalization() failed.
2890
- Fail to track local map!
2891
- Relocalization() failed.
2892
- Fail to track local map!
2893
- Relocalization() failed.
2894
- Fail to track local map!
2895
- Relocalization() failed.
2896
- Fail to track local map!
2897
- Relocalization() failed.
2898
- Fail to track local map!
2899
- Relocalization() failed.
2900
- Fail to track local map!
2901
- Relocalization() failed.
2902
- Fail to track local map!
2903
- Relocalization() failed.
2904
- Fail to track local map!
2905
- Relocalization() failed.
2906
- Fail to track local map!
2907
- Relocalization() failed.
2908
- Fail to track local map!
2909
- Relocalization() failed.
2910
- Fail to track local map!
2911
- Relocalization() failed.
2912
- Fail to track local map!
2913
- Relocalization() failed.
2914
- Fail to track local map!
2915
- Relocalization() failed.
2916
- Fail to track local map!
2917
- Relocalization() failed.
2918
- Fail to track local map!
2919
- Shutdown
2920
- mpLocalMapper is not finished
2921
- mpLoopCloser is not finished
2922
-
2923
- Saving camera trajectory to /data/camera_trajectory.csv ...
2924
- There are 1 maps in the atlas
2925
- Map 0 has 84 KFs
2926
-
2927
- CSV camera trajectory saved!
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:92caada094257ed8a1d09614c4c470be765a8968bdb878515960b0cbb2e2d4a9
3
+ size 76095
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/extract_gopro_imu_stdout.txt CHANGED
@@ -1,9 +1,3 @@
1
- Input video path: /data/raw_video.mp4
2
- Output file will be: /data/imu_data.json
3
- Opening /data/raw_video.mp4
4
- Read stream data from raw_video.mp4
5
- Extracted information for raw_video.mp4
6
- Flushing on end after 179852939 bytes
7
- Generated telemetry for raw_video.mp4
8
- Telemetry saved as JSON to imu_data.json
9
- Done
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:51248a3af27fb080cbfcdc57dbbf6e592eb06e9842305c87c9908b73f4e37afa
3
+ size 305
 
 
 
 
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/imu_data.json CHANGED
The diff for this file is too large to render. See raw diff
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/slam_stderr.txt CHANGED
@@ -1,5 +1,3 @@
1
- Camera.newHeight optional parameter does not exist...
2
- Camera.newWidth optional parameter does not exist...
3
- IMU.InsertKFsWhenLost optional parameter does not exist...
4
- System.LoadAtlasFromFile optional parameter does not exist...
5
- System.SaveAtlasToFile optional parameter does not exist...
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a
3
+ size 288
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.17.32.977717/slam_stdout.txt CHANGED
The diff for this file is too large to render. See raw diff
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/extract_gopro_imu_stdout.txt CHANGED
@@ -1,9 +1,3 @@
1
- Input video path: /data/raw_video.mp4
2
- Output file will be: /data/imu_data.json
3
- Opening /data/raw_video.mp4
4
- Read stream data from raw_video.mp4
5
- Extracted information for raw_video.mp4
6
- Flushing on end after 185850714 bytes
7
- Generated telemetry for raw_video.mp4
8
- Telemetry saved as JSON to imu_data.json
9
- Done
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b3da660367bbce7ec777b8cafe2829c0e3fadf6819df1a1ba5dcc7aae472f8c8
3
+ size 305
 
 
 
 
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/imu_data.json CHANGED
The diff for this file is too large to render. See raw diff
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/slam_stderr.txt CHANGED
@@ -1,5 +1,3 @@
1
- Camera.newHeight optional parameter does not exist...
2
- Camera.newWidth optional parameter does not exist...
3
- IMU.InsertKFsWhenLost optional parameter does not exist...
4
- System.LoadAtlasFromFile optional parameter does not exist...
5
- System.SaveAtlasToFile optional parameter does not exist...
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a
3
+ size 288
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.18.08.529900/slam_stdout.txt CHANGED
@@ -1,2809 +1,3 @@
1
- Mask img size mismatch! Converting [2704 x 2028] to [640 x 480]
2
-
3
- ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
- ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
- This program comes with ABSOLUTELY NO WARRANTY;
6
- This is free software, and you are welcome to redistribute it
7
- under certain conditions. See LICENSE.txt.
8
-
9
- Input sensor was set to: Monocular-Inertial
10
- Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_480.yaml
11
- -Loaded camera 1
12
- -Loaded image info
13
- -Loaded IMU calibration
14
- -Loaded ORB settings
15
- -Loaded viewer settings
16
- -Loaded Atlas settings
17
- -Loaded misc parameters
18
- ----------------------------------
19
- SLAM settings:
20
- -Camera 1 parameters (Kannala-Brandt): [ 188.605 188.605 320.574 239.405 -0.0174584 -0.0280825 0.0128327 -0.0045198 ]
21
- -Original image size: [ 640 , 480 ]
22
- -Current image size: [ 640 , 480 ]
23
- -Sequence FPS: 60
24
- -Gyro noise: 0.0015
25
- -Accelerometer noise: 0.017
26
- -Gyro walk: 5e-05
27
- -Accelerometer walk: 0.0055
28
- -IMU frequency: 200
29
- -Features per image: 1250
30
- -ORB scale factor: 1.2
31
- -ORB number of scales: 6
32
- -Initial FAST threshold: 20
33
- -Min FAST threshold: 7
34
-
35
-
36
- Loading ORB Vocabulary. This could take a while...
37
- Vocabulary loaded!
38
-
39
- Initialization of Atlas from file: /map/map_atlas.osa
40
- Starting to read the save binary file
41
- End to load the save binary file
42
- Change to map with id: 0
43
- Atlas loaded!
44
- There are 1 cameras in the atlas
45
- Camera 0 is fisheye
46
- Discard points further than 20 m from current camera
47
- Video opened using backend FFMPEG
48
- There are 1479 frames in total
49
- video FPS 59.9401
50
- line 1873 keyframes 72MapPoints2546
51
- line 1877
52
- mlFrameTimes.size()= 0
53
- KeyFrame::nNextId=393
54
- Relocalization() failed.
55
- Fail to track local map!
56
- Video FPS: 59.9401
57
- ORB-SLAM 3 running at: 8.17179 FPS
58
- Relocalization() failed.
59
- Fail to track local map!
60
- Relocalization() failed.
61
- Fail to track local map!
62
- Relocalization() failed.
63
- Fail to track local map!
64
- Relocalization() failed.
65
- Fail to track local map!
66
- Relocalization() failed.
67
- Fail to track local map!
68
- Relocalization() failed.
69
- Fail to track local map!
70
- Relocalization() failed.
71
- Fail to track local map!
72
- Relocalization() failed.
73
- Fail to track local map!
74
- Relocalization() failed.
75
- Fail to track local map!
76
- Relocalization() failed.
77
- Fail to track local map!
78
- Relocalization() failed.
79
- Fail to track local map!
80
- Relocalization() failed.
81
- Fail to track local map!
82
- Relocalization() failed.
83
- Fail to track local map!
84
- Relocalization() failed.
85
- Fail to track local map!
86
- Relocalization() failed.
87
- Fail to track local map!
88
- Relocalization() failed.
89
- Fail to track local map!
90
- Relocalization() failed.
91
- Fail to track local map!
92
- Relocalization() failed.
93
- Fail to track local map!
94
- Relocalization() failed.
95
- Fail to track local map!
96
- Relocalization() failed.
97
- Fail to track local map!
98
- Relocalization() failed.
99
- Fail to track local map!
100
- Relocalization() failed.
101
- Fail to track local map!
102
- Relocalization() failed.
103
- Fail to track local map!
104
- Relocalization() failed.
105
- Fail to track local map!
106
- Relocalization() failed.
107
- Fail to track local map!
108
- Relocalization() failed.
109
- Fail to track local map!
110
- Relocalization() failed.
111
- Fail to track local map!
112
- Relocalization() failed.
113
- Fail to track local map!
114
- Relocalization() failed.
115
- Fail to track local map!
116
- Relocalization() failed.
117
- Fail to track local map!
118
- Relocalization() failed.
119
- Fail to track local map!
120
- Relocalization() failed.
121
- Fail to track local map!
122
- Relocalization() failed.
123
- Fail to track local map!
124
- Relocalization() failed.
125
- Fail to track local map!
126
- Relocalization() failed.
127
- Fail to track local map!
128
- Relocalization() failed.
129
- Fail to track local map!
130
- Relocalization() failed.
131
- Fail to track local map!
132
- Relocalization() failed.
133
- Fail to track local map!
134
- Relocalization() failed.
135
- Fail to track local map!
136
- Relocalization() failed.
137
- Fail to track local map!
138
- Relocalization() failed.
139
- Fail to track local map!
140
- Relocalization() failed.
141
- Fail to track local map!
142
- Relocalization() failed.
143
- Fail to track local map!
144
- Relocalization() failed.
145
- Fail to track local map!
146
- Relocalization() failed.
147
- Fail to track local map!
148
- Relocalization() failed.
149
- Fail to track local map!
150
- Relocalization() failed.
151
- Fail to track local map!
152
- Relocalization() failed.
153
- Fail to track local map!
154
- Relocalization() failed.
155
- Fail to track local map!
156
- Relocalization() failed.
157
- Fail to track local map!
158
- Relocalization() failed.
159
- Fail to track local map!
160
- Relocalization() failed.
161
- Fail to track local map!
162
- Relocalization() failed.
163
- Fail to track local map!
164
- Relocalization() failed.
165
- Fail to track local map!
166
- Relocalization() failed.
167
- Fail to track local map!
168
- Relocalization() failed.
169
- Fail to track local map!
170
- Relocalization() failed.
171
- Fail to track local map!
172
- Relocalization() failed.
173
- Fail to track local map!
174
- Relocalization() failed.
175
- Fail to track local map!
176
- Relocalization() failed.
177
- Fail to track local map!
178
- Relocalization() failed.
179
- Fail to track local map!
180
- Relocalization() failed.
181
- Fail to track local map!
182
- Relocalization() failed.
183
- Fail to track local map!
184
- Relocalization() failed.
185
- Fail to track local map!
186
- Relocalization() failed.
187
- Fail to track local map!
188
- Relocalization() failed.
189
- Fail to track local map!
190
- Relocalization() failed.
191
- Fail to track local map!
192
- Relocalization() failed.
193
- Fail to track local map!
194
- Relocalization() failed.
195
- Fail to track local map!
196
- Relocalization() failed.
197
- Fail to track local map!
198
- Relocalization() failed.
199
- Fail to track local map!
200
- Relocalization() failed.
201
- Fail to track local map!
202
- Relocalization() failed.
203
- Fail to track local map!
204
- Relocalization() failed.
205
- Fail to track local map!
206
- Relocalization() failed.
207
- Fail to track local map!
208
- Relocalization() failed.
209
- Fail to track local map!
210
- Relocalization() failed.
211
- Fail to track local map!
212
- Relocalization() failed.
213
- Fail to track local map!
214
- Relocalization() failed.
215
- Fail to track local map!
216
- Relocalization() failed.
217
- Fail to track local map!
218
- Relocalization() failed.
219
- Fail to track local map!
220
- Relocalization() failed.
221
- Fail to track local map!
222
- Relocalization() failed.
223
- Fail to track local map!
224
- Relocalization() failed.
225
- Fail to track local map!
226
- Relocalization() failed.
227
- Fail to track local map!
228
- Relocalization() failed.
229
- Fail to track local map!
230
- Relocalization() failed.
231
- Fail to track local map!
232
- Relocalization() failed.
233
- Fail to track local map!
234
- Relocalization() failed.
235
- Fail to track local map!
236
- Relocalization() failed.
237
- Fail to track local map!
238
- Relocalization() failed.
239
- Fail to track local map!
240
- Relocalization() failed.
241
- Fail to track local map!
242
- Relocalization() failed.
243
- Fail to track local map!
244
- Relocalized!!
245
- INIT_RELOCALIZE success!
246
- vpKFs.back()->mpImuPreintegrated0x5638fc881f30
247
- pKFCur->mTimeStamp1.5682333333333334
248
- vpKFs.front()->mTimeStamp-59.192458337502089
249
- vpKFs.back()->mTimeStamp-0.01667500416875356
250
- pKFcur->GetMapPointMatches().size()1253
251
- 1691 pKFcur->GetVelocity() 0
252
- 0
253
- 0
254
- pKFcur->mnId393
255
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 8
256
- Fail to track local map!
257
- Relocalization() failed.
258
- Fail to track local map!
259
- Relocalization() failed.
260
- Fail to track local map!
261
- Relocalization() failed.
262
- Fail to track local map!
263
- Relocalization() failed.
264
- Fail to track local map!
265
- Relocalization() failed.
266
- Fail to track local map!
267
- Video FPS: 59.940059940059939
268
- ORB-SLAM 3 running at: 25.270081577888153 FPS
269
- Relocalization() failed.
270
- Fail to track local map!
271
- Relocalization() failed.
272
- Fail to track local map!
273
- Relocalization() failed.
274
- Fail to track local map!
275
- Relocalization() failed.
276
- Fail to track local map!
277
- Relocalization() failed.
278
- Fail to track local map!
279
- Relocalization() failed.
280
- Fail to track local map!
281
- Relocalization() failed.
282
- Fail to track local map!
283
- Relocalization() failed.
284
- Fail to track local map!
285
- Relocalization() failed.
286
- Fail to track local map!
287
- Relocalization() failed.
288
- Fail to track local map!
289
- Relocalization() failed.
290
- Fail to track local map!
291
- Relocalization() failed.
292
- Fail to track local map!
293
- Relocalization() failed.
294
- Fail to track local map!
295
- Relocalization() failed.
296
- Fail to track local map!
297
- Relocalization() failed.
298
- Fail to track local map!
299
- Relocalization() failed.
300
- Fail to track local map!
301
- Relocalization() failed.
302
- Fail to track local map!
303
- Relocalization() failed.
304
- Fail to track local map!
305
- Relocalization() failed.
306
- Fail to track local map!
307
- Relocalization() failed.
308
- Fail to track local map!
309
- Relocalization() failed.
310
- Fail to track local map!
311
- Relocalization() failed.
312
- Fail to track local map!
313
- Relocalization() failed.
314
- Fail to track local map!
315
- Relocalization() failed.
316
- Fail to track local map!
317
- Relocalization() failed.
318
- Fail to track local map!
319
- Relocalization() failed.
320
- Fail to track local map!
321
- Relocalization() failed.
322
- Fail to track local map!
323
- Relocalization() failed.
324
- Fail to track local map!
325
- Relocalization() failed.
326
- Fail to track local map!
327
- Relocalization() failed.
328
- Fail to track local map!
329
- Relocalization() failed.
330
- Fail to track local map!
331
- Relocalization() failed.
332
- Fail to track local map!
333
- Relocalization() failed.
334
- Fail to track local map!
335
- Relocalization() failed.
336
- Fail to track local map!
337
- Relocalization() failed.
338
- Fail to track local map!
339
- Relocalization() failed.
340
- Fail to track local map!
341
- Relocalization() failed.
342
- Fail to track local map!
343
- Relocalization() failed.
344
- Fail to track local map!
345
- Relocalization() failed.
346
- Fail to track local map!
347
- Relocalization() failed.
348
- Fail to track local map!
349
- Relocalization() failed.
350
- Fail to track local map!
351
- Relocalization() failed.
352
- Fail to track local map!
353
- Relocalization() failed.
354
- Fail to track local map!
355
- Relocalization() failed.
356
- Fail to track local map!
357
- Relocalization() failed.
358
- Fail to track local map!
359
- Relocalization() failed.
360
- Fail to track local map!
361
- Relocalization() failed.
362
- Fail to track local map!
363
- Relocalization() failed.
364
- Fail to track local map!
365
- Relocalization() failed.
366
- Fail to track local map!
367
- Relocalization() failed.
368
- Fail to track local map!
369
- Relocalization() failed.
370
- Fail to track local map!
371
- Relocalization() failed.
372
- Fail to track local map!
373
- Relocalization() failed.
374
- Fail to track local map!
375
- Relocalization() failed.
376
- Fail to track local map!
377
- Relocalization() failed.
378
- Fail to track local map!
379
- Relocalization() failed.
380
- Fail to track local map!
381
- Relocalization() failed.
382
- Fail to track local map!
383
- Relocalization() failed.
384
- Fail to track local map!
385
- Relocalization() failed.
386
- Fail to track local map!
387
- Relocalization() failed.
388
- Fail to track local map!
389
- Relocalization() failed.
390
- Fail to track local map!
391
- Relocalization() failed.
392
- Fail to track local map!
393
- Relocalization() failed.
394
- Fail to track local map!
395
- Relocalization() failed.
396
- Fail to track local map!
397
- Relocalization() failed.
398
- Fail to track local map!
399
- Relocalization() failed.
400
- Fail to track local map!
401
- Relocalization() failed.
402
- Fail to track local map!
403
- Relocalization() failed.
404
- Fail to track local map!
405
- Relocalization() failed.
406
- Fail to track local map!
407
- Relocalization() failed.
408
- Fail to track local map!
409
- Relocalization() failed.
410
- Fail to track local map!
411
- Relocalization() failed.
412
- Fail to track local map!
413
- Relocalization() failed.
414
- Fail to track local map!
415
- Relocalization() failed.
416
- Fail to track local map!
417
- Relocalization() failed.
418
- Fail to track local map!
419
- Relocalization() failed.
420
- Fail to track local map!
421
- Relocalization() failed.
422
- Fail to track local map!
423
- Relocalization() failed.
424
- Fail to track local map!
425
- Relocalization() failed.
426
- Fail to track local map!
427
- Relocalization() failed.
428
- Fail to track local map!
429
- Relocalization() failed.
430
- Fail to track local map!
431
- Relocalization() failed.
432
- Fail to track local map!
433
- Relocalization() failed.
434
- Fail to track local map!
435
- Relocalization() failed.
436
- Fail to track local map!
437
- Relocalization() failed.
438
- Fail to track local map!
439
- Relocalization() failed.
440
- Fail to track local map!
441
- Relocalization() failed.
442
- Fail to track local map!
443
- Relocalization() failed.
444
- Fail to track local map!
445
- Relocalization() failed.
446
- Fail to track local map!
447
- Relocalization() failed.
448
- Fail to track local map!
449
- Relocalization() failed.
450
- Fail to track local map!
451
- Relocalization() failed.
452
- Fail to track local map!
453
- Relocalization() failed.
454
- Fail to track local map!
455
- Relocalization() failed.
456
- Fail to track local map!
457
- Relocalization() failed.
458
- Fail to track local map!
459
- Relocalization() failed.
460
- Fail to track local map!
461
- Relocalization() failed.
462
- Fail to track local map!
463
- Relocalization() failed.
464
- Fail to track local map!
465
- Relocalization() failed.
466
- Fail to track local map!
467
- Relocalization() failed.
468
- Fail to track local map!
469
- Video FPS: 59.940059940059939
470
- ORB-SLAM 3 running at: 21.771701373334974 FPS
471
- Relocalization() failed.
472
- Fail to track local map!
473
- Relocalization() failed.
474
- Fail to track local map!
475
- Relocalization() failed.
476
- Fail to track local map!
477
- Relocalization() failed.
478
- Fail to track local map!
479
- Relocalization() failed.
480
- Fail to track local map!
481
- Relocalization() failed.
482
- Fail to track local map!
483
- Relocalization() failed.
484
- Fail to track local map!
485
- Relocalization() failed.
486
- Fail to track local map!
487
- Relocalization() failed.
488
- Fail to track local map!
489
- Relocalization() failed.
490
- Fail to track local map!
491
- Relocalization() failed.
492
- Fail to track local map!
493
- Relocalization() failed.
494
- Fail to track local map!
495
- Relocalization() failed.
496
- Fail to track local map!
497
- Relocalization() failed.
498
- Fail to track local map!
499
- Relocalization() failed.
500
- Fail to track local map!
501
- Relocalization() failed.
502
- Fail to track local map!
503
- Relocalization() failed.
504
- Fail to track local map!
505
- Relocalization() failed.
506
- Fail to track local map!
507
- Relocalization() failed.
508
- Fail to track local map!
509
- Relocalization() failed.
510
- Fail to track local map!
511
- Relocalization() failed.
512
- Fail to track local map!
513
- Relocalization() failed.
514
- Fail to track local map!
515
- Relocalization() failed.
516
- Fail to track local map!
517
- Relocalization() failed.
518
- Fail to track local map!
519
- Relocalization() failed.
520
- Fail to track local map!
521
- Relocalization() failed.
522
- Fail to track local map!
523
- Relocalization() failed.
524
- Fail to track local map!
525
- Relocalization() failed.
526
- Fail to track local map!
527
- Relocalization() failed.
528
- Fail to track local map!
529
- Relocalization() failed.
530
- Fail to track local map!
531
- Relocalization() failed.
532
- Fail to track local map!
533
- Relocalization() failed.
534
- Fail to track local map!
535
- Relocalization() failed.
536
- Fail to track local map!
537
- Relocalization() failed.
538
- Fail to track local map!
539
- Relocalization() failed.
540
- Fail to track local map!
541
- Relocalization() failed.
542
- Fail to track local map!
543
- Relocalization() failed.
544
- Fail to track local map!
545
- Relocalization() failed.
546
- Fail to track local map!
547
- Relocalization() failed.
548
- Fail to track local map!
549
- Relocalization() failed.
550
- Fail to track local map!
551
- Relocalization() failed.
552
- Fail to track local map!
553
- Relocalization() failed.
554
- Fail to track local map!
555
- Relocalization() failed.
556
- Fail to track local map!
557
- Relocalization() failed.
558
- Fail to track local map!
559
- Relocalization() failed.
560
- Fail to track local map!
561
- Relocalization() failed.
562
- Fail to track local map!
563
- Relocalization() failed.
564
- Fail to track local map!
565
- Relocalization() failed.
566
- Fail to track local map!
567
- Relocalization() failed.
568
- Fail to track local map!
569
- Relocalization() failed.
570
- Fail to track local map!
571
- Relocalization() failed.
572
- Fail to track local map!
573
- Relocalization() failed.
574
- Fail to track local map!
575
- Relocalization() failed.
576
- Fail to track local map!
577
- Relocalization() failed.
578
- Fail to track local map!
579
- Relocalization() failed.
580
- Fail to track local map!
581
- Relocalization() failed.
582
- Fail to track local map!
583
- Relocalization() failed.
584
- Fail to track local map!
585
- Relocalization() failed.
586
- Fail to track local map!
587
- Relocalization() failed.
588
- Fail to track local map!
589
- Relocalization() failed.
590
- Fail to track local map!
591
- Relocalization() failed.
592
- Fail to track local map!
593
- Relocalization() failed.
594
- Fail to track local map!
595
- Relocalization() failed.
596
- Fail to track local map!
597
- Relocalization() failed.
598
- Fail to track local map!
599
- Relocalization() failed.
600
- Fail to track local map!
601
- Relocalization() failed.
602
- Fail to track local map!
603
- Relocalization() failed.
604
- Fail to track local map!
605
- Relocalization() failed.
606
- Fail to track local map!
607
- Relocalization() failed.
608
- Fail to track local map!
609
- Relocalization() failed.
610
- Fail to track local map!
611
- Relocalization() failed.
612
- Fail to track local map!
613
- Relocalization() failed.
614
- Fail to track local map!
615
- Relocalization() failed.
616
- Fail to track local map!
617
- Relocalization() failed.
618
- Fail to track local map!
619
- Relocalization() failed.
620
- Fail to track local map!
621
- Relocalization() failed.
622
- Fail to track local map!
623
- Relocalization() failed.
624
- Fail to track local map!
625
- Relocalization() failed.
626
- Fail to track local map!
627
- Relocalization() failed.
628
- Fail to track local map!
629
- Relocalization() failed.
630
- Fail to track local map!
631
- Relocalization() failed.
632
- Fail to track local map!
633
- Relocalization() failed.
634
- Fail to track local map!
635
- Relocalization() failed.
636
- Fail to track local map!
637
- Relocalization() failed.
638
- Fail to track local map!
639
- Relocalization() failed.
640
- Fail to track local map!
641
- Relocalization() failed.
642
- Fail to track local map!
643
- Relocalization() failed.
644
- Fail to track local map!
645
- Relocalization() failed.
646
- Fail to track local map!
647
- Relocalization() failed.
648
- Fail to track local map!
649
- Relocalization() failed.
650
- Fail to track local map!
651
- Relocalization() failed.
652
- Fail to track local map!
653
- Relocalization() failed.
654
- Fail to track local map!
655
- Relocalization() failed.
656
- Fail to track local map!
657
- Relocalization() failed.
658
- Fail to track local map!
659
- Relocalization() failed.
660
- Fail to track local map!
661
- Relocalization() failed.
662
- Fail to track local map!
663
- Relocalization() failed.
664
- Fail to track local map!
665
- Relocalization() failed.
666
- Fail to track local map!
667
- Relocalization() failed.
668
- Fail to track local map!
669
- Relocalization() failed.
670
- Fail to track local map!
671
- Video FPS: 59.940059940059939
672
- ORB-SLAM 3 running at: 20.190785151793516 FPS
673
- Relocalization() failed.
674
- Fail to track local map!
675
- Relocalization() failed.
676
- Fail to track local map!
677
- Relocalization() failed.
678
- Fail to track local map!
679
- Relocalization() failed.
680
- Fail to track local map!
681
- Relocalization() failed.
682
- Fail to track local map!
683
- Relocalization() failed.
684
- Fail to track local map!
685
- Relocalization() failed.
686
- Fail to track local map!
687
- Relocalization() failed.
688
- Fail to track local map!
689
- Relocalization() failed.
690
- Fail to track local map!
691
- Relocalization() failed.
692
- Fail to track local map!
693
- Relocalization() failed.
694
- Fail to track local map!
695
- Relocalization() failed.
696
- Fail to track local map!
697
- Relocalization() failed.
698
- Fail to track local map!
699
- Relocalization() failed.
700
- Fail to track local map!
701
- Relocalization() failed.
702
- Fail to track local map!
703
- Relocalization() failed.
704
- Fail to track local map!
705
- Relocalization() failed.
706
- Fail to track local map!
707
- Relocalization() failed.
708
- Fail to track local map!
709
- Relocalization() failed.
710
- Fail to track local map!
711
- Relocalization() failed.
712
- Fail to track local map!
713
- Relocalization() failed.
714
- Fail to track local map!
715
- Relocalization() failed.
716
- Fail to track local map!
717
- Relocalization() failed.
718
- Fail to track local map!
719
- Relocalization() failed.
720
- Fail to track local map!
721
- Relocalization() failed.
722
- Fail to track local map!
723
- Relocalization() failed.
724
- Fail to track local map!
725
- Relocalization() failed.
726
- Fail to track local map!
727
- Relocalization() failed.
728
- Fail to track local map!
729
- Relocalization() failed.
730
- Fail to track local map!
731
- Relocalization() failed.
732
- Fail to track local map!
733
- Relocalization() failed.
734
- Fail to track local map!
735
- Relocalization() failed.
736
- Fail to track local map!
737
- Relocalization() failed.
738
- Fail to track local map!
739
- Relocalization() failed.
740
- Fail to track local map!
741
- Relocalization() failed.
742
- Fail to track local map!
743
- Relocalization() failed.
744
- Fail to track local map!
745
- Relocalization() failed.
746
- Fail to track local map!
747
- Relocalization() failed.
748
- Fail to track local map!
749
- Relocalization() failed.
750
- Fail to track local map!
751
- Relocalization() failed.
752
- Fail to track local map!
753
- Relocalization() failed.
754
- Fail to track local map!
755
- Relocalization() failed.
756
- Fail to track local map!
757
- Relocalization() failed.
758
- Fail to track local map!
759
- Relocalization() failed.
760
- Fail to track local map!
761
- Relocalization() failed.
762
- Fail to track local map!
763
- Relocalization() failed.
764
- Fail to track local map!
765
- Relocalization() failed.
766
- Fail to track local map!
767
- Relocalization() failed.
768
- Fail to track local map!
769
- Relocalization() failed.
770
- Fail to track local map!
771
- Relocalization() failed.
772
- Fail to track local map!
773
- Relocalization() failed.
774
- Fail to track local map!
775
- Relocalization() failed.
776
- Fail to track local map!
777
- Relocalization() failed.
778
- Fail to track local map!
779
- Relocalization() failed.
780
- Fail to track local map!
781
- Relocalization() failed.
782
- Fail to track local map!
783
- Relocalization() failed.
784
- Fail to track local map!
785
- Relocalization() failed.
786
- Fail to track local map!
787
- Relocalization() failed.
788
- Fail to track local map!
789
- Relocalization() failed.
790
- Fail to track local map!
791
- Relocalization() failed.
792
- Fail to track local map!
793
- Relocalization() failed.
794
- Fail to track local map!
795
- Relocalization() failed.
796
- Fail to track local map!
797
- Relocalization() failed.
798
- Fail to track local map!
799
- Relocalization() failed.
800
- Fail to track local map!
801
- Relocalization() failed.
802
- Fail to track local map!
803
- Relocalization() failed.
804
- Fail to track local map!
805
- Relocalization() failed.
806
- Fail to track local map!
807
- Relocalization() failed.
808
- Fail to track local map!
809
- Relocalization() failed.
810
- Fail to track local map!
811
- Relocalization() failed.
812
- Fail to track local map!
813
- Relocalization() failed.
814
- Fail to track local map!
815
- Relocalization() failed.
816
- Fail to track local map!
817
- Relocalization() failed.
818
- Fail to track local map!
819
- Relocalization() failed.
820
- Fail to track local map!
821
- Relocalization() failed.
822
- Fail to track local map!
823
- Relocalization() failed.
824
- Fail to track local map!
825
- Relocalization() failed.
826
- Fail to track local map!
827
- Relocalization() failed.
828
- Fail to track local map!
829
- Relocalization() failed.
830
- Fail to track local map!
831
- Relocalization() failed.
832
- Fail to track local map!
833
- Relocalization() failed.
834
- Fail to track local map!
835
- Relocalization() failed.
836
- Fail to track local map!
837
- Relocalization() failed.
838
- Fail to track local map!
839
- Relocalization() failed.
840
- Fail to track local map!
841
- Relocalization() failed.
842
- Fail to track local map!
843
- Relocalization() failed.
844
- Fail to track local map!
845
- Relocalization() failed.
846
- Fail to track local map!
847
- Relocalization() failed.
848
- Fail to track local map!
849
- Relocalization() failed.
850
- Fail to track local map!
851
- Relocalization() failed.
852
- Fail to track local map!
853
- Relocalization() failed.
854
- Fail to track local map!
855
- Relocalization() failed.
856
- Fail to track local map!
857
- Relocalization() failed.
858
- Fail to track local map!
859
- Relocalization() failed.
860
- Fail to track local map!
861
- Relocalization() failed.
862
- Fail to track local map!
863
- Relocalization() failed.
864
- Fail to track local map!
865
- Relocalization() failed.
866
- Fail to track local map!
867
- Relocalization() failed.
868
- Fail to track local map!
869
- Relocalization() failed.
870
- Fail to track local map!
871
- Relocalization() failed.
872
- Fail to track local map!
873
- Video FPS: 59.940059940059939
874
- ORB-SLAM 3 running at: 22.821686563259629 FPS
875
- Relocalization() failed.
876
- Fail to track local map!
877
- Relocalization() failed.
878
- Fail to track local map!
879
- Relocalization() failed.
880
- Fail to track local map!
881
- Relocalization() failed.
882
- Fail to track local map!
883
- Relocalization() failed.
884
- Fail to track local map!
885
- Relocalization() failed.
886
- Fail to track local map!
887
- Relocalization() failed.
888
- Fail to track local map!
889
- Relocalization() failed.
890
- Fail to track local map!
891
- Relocalization() failed.
892
- Fail to track local map!
893
- Relocalization() failed.
894
- Fail to track local map!
895
- Relocalization() failed.
896
- Fail to track local map!
897
- Relocalization() failed.
898
- Fail to track local map!
899
- Relocalization() failed.
900
- Fail to track local map!
901
- Relocalization() failed.
902
- Fail to track local map!
903
- Relocalization() failed.
904
- Fail to track local map!
905
- Relocalization() failed.
906
- Fail to track local map!
907
- Relocalization() failed.
908
- Fail to track local map!
909
- Relocalization() failed.
910
- Fail to track local map!
911
- Relocalization() failed.
912
- Fail to track local map!
913
- Relocalization() failed.
914
- Fail to track local map!
915
- Relocalization() failed.
916
- Fail to track local map!
917
- Relocalization() failed.
918
- Fail to track local map!
919
- Relocalization() failed.
920
- Fail to track local map!
921
- Relocalization() failed.
922
- Fail to track local map!
923
- Relocalization() failed.
924
- Fail to track local map!
925
- Relocalization() failed.
926
- Fail to track local map!
927
- Relocalization() failed.
928
- Fail to track local map!
929
- Relocalization() failed.
930
- Fail to track local map!
931
- Relocalization() failed.
932
- Fail to track local map!
933
- Relocalization() failed.
934
- Fail to track local map!
935
- Relocalization() failed.
936
- Fail to track local map!
937
- Relocalization() failed.
938
- Fail to track local map!
939
- Relocalization() failed.
940
- Fail to track local map!
941
- Relocalization() failed.
942
- Fail to track local map!
943
- Relocalization() failed.
944
- Fail to track local map!
945
- Relocalization() failed.
946
- Fail to track local map!
947
- Relocalization() failed.
948
- Fail to track local map!
949
- Relocalization() failed.
950
- Fail to track local map!
951
- Relocalization() failed.
952
- Fail to track local map!
953
- Relocalization() failed.
954
- Fail to track local map!
955
- Relocalization() failed.
956
- Fail to track local map!
957
- Relocalization() failed.
958
- Fail to track local map!
959
- Relocalization() failed.
960
- Fail to track local map!
961
- Relocalization() failed.
962
- Fail to track local map!
963
- Relocalization() failed.
964
- Fail to track local map!
965
- Relocalization() failed.
966
- Fail to track local map!
967
- Relocalization() failed.
968
- Fail to track local map!
969
- Relocalization() failed.
970
- Fail to track local map!
971
- Relocalization() failed.
972
- Fail to track local map!
973
- Relocalization() failed.
974
- Fail to track local map!
975
- Relocalization() failed.
976
- Fail to track local map!
977
- Relocalization() failed.
978
- Fail to track local map!
979
- Relocalization() failed.
980
- Fail to track local map!
981
- Relocalization() failed.
982
- Fail to track local map!
983
- Relocalization() failed.
984
- Fail to track local map!
985
- Relocalization() failed.
986
- Fail to track local map!
987
- Relocalization() failed.
988
- Fail to track local map!
989
- Relocalization() failed.
990
- Fail to track local map!
991
- Relocalization() failed.
992
- Fail to track local map!
993
- Relocalization() failed.
994
- Fail to track local map!
995
- Relocalization() failed.
996
- Fail to track local map!
997
- Relocalization() failed.
998
- Fail to track local map!
999
- Relocalization() failed.
1000
- Fail to track local map!
1001
- Relocalization() failed.
1002
- Fail to track local map!
1003
- Relocalization() failed.
1004
- Fail to track local map!
1005
- Relocalization() failed.
1006
- Fail to track local map!
1007
- Relocalization() failed.
1008
- Fail to track local map!
1009
- Relocalization() failed.
1010
- Fail to track local map!
1011
- Relocalization() failed.
1012
- Fail to track local map!
1013
- Relocalization() failed.
1014
- Fail to track local map!
1015
- Relocalization() failed.
1016
- Fail to track local map!
1017
- Relocalization() failed.
1018
- Fail to track local map!
1019
- Relocalization() failed.
1020
- Fail to track local map!
1021
- Relocalization() failed.
1022
- Fail to track local map!
1023
- Relocalization() failed.
1024
- Fail to track local map!
1025
- Relocalization() failed.
1026
- Fail to track local map!
1027
- Relocalization() failed.
1028
- Fail to track local map!
1029
- Relocalization() failed.
1030
- Fail to track local map!
1031
- Relocalization() failed.
1032
- Fail to track local map!
1033
- Relocalization() failed.
1034
- Fail to track local map!
1035
- Relocalization() failed.
1036
- Fail to track local map!
1037
- Relocalization() failed.
1038
- Fail to track local map!
1039
- Relocalization() failed.
1040
- Fail to track local map!
1041
- Relocalization() failed.
1042
- Fail to track local map!
1043
- Relocalization() failed.
1044
- Fail to track local map!
1045
- Relocalization() failed.
1046
- Fail to track local map!
1047
- Relocalization() failed.
1048
- Fail to track local map!
1049
- Relocalization() failed.
1050
- Fail to track local map!
1051
- Relocalization() failed.
1052
- Fail to track local map!
1053
- Relocalization() failed.
1054
- Fail to track local map!
1055
- Relocalization() failed.
1056
- Fail to track local map!
1057
- Relocalization() failed.
1058
- Fail to track local map!
1059
- Relocalization() failed.
1060
- Fail to track local map!
1061
- Relocalization() failed.
1062
- Fail to track local map!
1063
- Relocalization() failed.
1064
- Fail to track local map!
1065
- Relocalization() failed.
1066
- Fail to track local map!
1067
- Relocalization() failed.
1068
- Fail to track local map!
1069
- Relocalization() failed.
1070
- Fail to track local map!
1071
- Relocalization() failed.
1072
- Fail to track local map!
1073
- Relocalization() failed.
1074
- Fail to track local map!
1075
- Video FPS: 59.940059940059939
1076
- ORB-SLAM 3 running at: 21.93864476259721 FPS
1077
- Relocalization() failed.
1078
- Fail to track local map!
1079
- Relocalization() failed.
1080
- Fail to track local map!
1081
- Relocalization() failed.
1082
- Fail to track local map!
1083
- Relocalization() failed.
1084
- Fail to track local map!
1085
- Relocalization() failed.
1086
- Fail to track local map!
1087
- Relocalization() failed.
1088
- Fail to track local map!
1089
- Relocalization() failed.
1090
- Fail to track local map!
1091
- Relocalization() failed.
1092
- Fail to track local map!
1093
- Relocalization() failed.
1094
- Fail to track local map!
1095
- Relocalization() failed.
1096
- Fail to track local map!
1097
- Relocalization() failed.
1098
- Fail to track local map!
1099
- Relocalization() failed.
1100
- Fail to track local map!
1101
- Relocalization() failed.
1102
- Fail to track local map!
1103
- Relocalization() failed.
1104
- Fail to track local map!
1105
- Relocalization() failed.
1106
- Fail to track local map!
1107
- Relocalization() failed.
1108
- Fail to track local map!
1109
- Relocalization() failed.
1110
- Fail to track local map!
1111
- Relocalization() failed.
1112
- Fail to track local map!
1113
- Relocalization() failed.
1114
- Fail to track local map!
1115
- Relocalization() failed.
1116
- Fail to track local map!
1117
- Relocalization() failed.
1118
- Fail to track local map!
1119
- Relocalization() failed.
1120
- Fail to track local map!
1121
- Relocalization() failed.
1122
- Fail to track local map!
1123
- Relocalization() failed.
1124
- Fail to track local map!
1125
- Relocalization() failed.
1126
- Fail to track local map!
1127
- Relocalization() failed.
1128
- Fail to track local map!
1129
- Relocalization() failed.
1130
- Fail to track local map!
1131
- Relocalization() failed.
1132
- Fail to track local map!
1133
- Relocalization() failed.
1134
- Fail to track local map!
1135
- Relocalization() failed.
1136
- Fail to track local map!
1137
- Relocalization() failed.
1138
- Fail to track local map!
1139
- Relocalization() failed.
1140
- Fail to track local map!
1141
- Relocalization() failed.
1142
- Fail to track local map!
1143
- Relocalization() failed.
1144
- Fail to track local map!
1145
- Relocalization() failed.
1146
- Fail to track local map!
1147
- Relocalization() failed.
1148
- Fail to track local map!
1149
- Relocalization() failed.
1150
- Fail to track local map!
1151
- Relocalization() failed.
1152
- Fail to track local map!
1153
- Relocalization() failed.
1154
- Fail to track local map!
1155
- Relocalization() failed.
1156
- Fail to track local map!
1157
- Relocalization() failed.
1158
- Fail to track local map!
1159
- Relocalization() failed.
1160
- Fail to track local map!
1161
- Relocalization() failed.
1162
- Fail to track local map!
1163
- Relocalization() failed.
1164
- Fail to track local map!
1165
- Relocalization() failed.
1166
- Fail to track local map!
1167
- Relocalization() failed.
1168
- Fail to track local map!
1169
- Relocalization() failed.
1170
- Fail to track local map!
1171
- Relocalization() failed.
1172
- Fail to track local map!
1173
- Relocalization() failed.
1174
- Fail to track local map!
1175
- Relocalization() failed.
1176
- Fail to track local map!
1177
- Relocalization() failed.
1178
- Fail to track local map!
1179
- Relocalization() failed.
1180
- Fail to track local map!
1181
- Relocalized!!
1182
- INIT_RELOCALIZE success!
1183
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1184
- pKFCur->mTimeStamp9.2258833333333339
1185
- vpKFs.front()->mTimeStamp-60.777366675004174
1186
- vpKFs.back()->mTimeStamp-0.016675004168751117
1187
- pKFcur->GetMapPointMatches().size()1256
1188
- 1691 pKFcur->GetVelocity() 0.80335438251495361
1189
- 1.1234230995178223
1190
- -0.36106216907501221
1191
- pKFcur->mnId394
1192
- TRACK_REF_KF: Less than 15 matches!!
1193
- Fail to track local map!
1194
- Relocalization() failed.
1195
- Fail to track local map!
1196
- Relocalization() failed.
1197
- Fail to track local map!
1198
- Relocalization() failed.
1199
- Fail to track local map!
1200
- Relocalization() failed.
1201
- Fail to track local map!
1202
- Relocalization() failed.
1203
- Fail to track local map!
1204
- Relocalization() failed.
1205
- Fail to track local map!
1206
- Relocalization() failed.
1207
- Fail to track local map!
1208
- Relocalization() failed.
1209
- Fail to track local map!
1210
- Relocalization() failed.
1211
- Fail to track local map!
1212
- Relocalization() failed.
1213
- Fail to track local map!
1214
- Relocalization() failed.
1215
- Fail to track local map!
1216
- Relocalization() failed.
1217
- Fail to track local map!
1218
- Relocalization() failed.
1219
- Fail to track local map!
1220
- Relocalization() failed.
1221
- Fail to track local map!
1222
- Relocalization() failed.
1223
- Fail to track local map!
1224
- Relocalization() failed.
1225
- Fail to track local map!
1226
- Relocalization() failed.
1227
- Fail to track local map!
1228
- Relocalization() failed.
1229
- Fail to track local map!
1230
- Relocalization() failed.
1231
- Fail to track local map!
1232
- Relocalization() failed.
1233
- Fail to track local map!
1234
- Relocalization() failed.
1235
- Fail to track local map!
1236
- Relocalization() failed.
1237
- Fail to track local map!
1238
- Relocalization() failed.
1239
- Fail to track local map!
1240
- Relocalization() failed.
1241
- Fail to track local map!
1242
- Relocalization() failed.
1243
- Fail to track local map!
1244
- Relocalization() failed.
1245
- Fail to track local map!
1246
- Relocalization() failed.
1247
- Fail to track local map!
1248
- Relocalization() failed.
1249
- Fail to track local map!
1250
- Relocalization() failed.
1251
- Fail to track local map!
1252
- Relocalization() failed.
1253
- Fail to track local map!
1254
- Relocalization() failed.
1255
- Fail to track local map!
1256
- Relocalization() failed.
1257
- Fail to track local map!
1258
- Relocalization() failed.
1259
- Fail to track local map!
1260
- Relocalization() failed.
1261
- Fail to track local map!
1262
- Relocalization() failed.
1263
- Fail to track local map!
1264
- Relocalization() failed.
1265
- Fail to track local map!
1266
- Relocalization() failed.
1267
- Fail to track local map!
1268
- Relocalization() failed.
1269
- Fail to track local map!
1270
- Relocalization() failed.
1271
- Fail to track local map!
1272
- Relocalization() failed.
1273
- Fail to track local map!
1274
- Relocalization() failed.
1275
- Fail to track local map!
1276
- Relocalization() failed.
1277
- Fail to track local map!
1278
- Relocalization() failed.
1279
- Fail to track local map!
1280
- Relocalization() failed.
1281
- Fail to track local map!
1282
- Relocalization() failed.
1283
- Fail to track local map!
1284
- Relocalization() failed.
1285
- Fail to track local map!
1286
- Video FPS: 59.940059940059939
1287
- ORB-SLAM 3 running at: 15.709444646939184 FPS
1288
- Relocalization() failed.
1289
- Fail to track local map!
1290
- Relocalization() failed.
1291
- Fail to track local map!
1292
- Relocalization() failed.
1293
- Fail to track local map!
1294
- Relocalization() failed.
1295
- Fail to track local map!
1296
- Relocalization() failed.
1297
- Fail to track local map!
1298
- Relocalization() failed.
1299
- Fail to track local map!
1300
- Relocalization() failed.
1301
- Fail to track local map!
1302
- Relocalization() failed.
1303
- Fail to track local map!
1304
- Relocalized!!
1305
- INIT_RELOCALIZE success!
1306
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1307
- pKFCur->mTimeStamp10.16015
1308
- vpKFs.front()->mTimeStamp-70.019925012506263
1309
- vpKFs.back()->mTimeStamp-0.016675004168751784
1310
- pKFcur->GetMapPointMatches().size()1251
1311
- 1691 pKFcur->GetVelocity() 0.80335438251495361
1312
- 1.1234230995178223
1313
- -0.36106216907501221
1314
- pKFcur->mnId395
1315
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 4
1316
- Fail to track local map!
1317
- Relocalized!!
1318
- INIT_RELOCALIZE success!
1319
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1320
- pKFCur->mTimeStamp10.193516666666667
1321
- vpKFs.front()->mTimeStamp-80.196750016675011
1322
- vpKFs.back()->mTimeStamp-0.016675004168751784
1323
- pKFcur->GetMapPointMatches().size()1252
1324
- 1691 pKFcur->GetVelocity() -39.633190155029297
1325
- 29.441665649414062
1326
- -15.225448608398438
1327
- pKFcur->mnId396
1328
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 7
1329
- Fail to track local map!
1330
- Relocalized!!
1331
- INIT_RELOCALIZE success!
1332
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1333
- pKFCur->mTimeStamp10.226883333333333
1334
- vpKFs.front()->mTimeStamp-90.406941687510425
1335
- vpKFs.back()->mTimeStamp-0.016675004168751784
1336
- pKFcur->GetMapPointMatches().size()1251
1337
- 1691 pKFcur->GetVelocity() -80.961311340332031
1338
- 56.347232818603516
1339
- -29.985883712768555
1340
- pKFcur->mnId397
1341
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1342
- Fail to track local map!
1343
- Relocalized!!
1344
- INIT_RELOCALIZE success!
1345
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1346
- pKFCur->mTimeStamp10.260250000000001
1347
- vpKFs.front()->mTimeStamp-100.65050002501251
1348
- vpKFs.back()->mTimeStamp-0.016675004168751784
1349
- pKFcur->GetMapPointMatches().size()1252
1350
- 1691 pKFcur->GetVelocity() -124.38829040527344
1351
- 82.903404235839844
1352
- -45.661891937255859
1353
- pKFcur->mnId398
1354
- TRACK_REF_KF: Less than 15 matches!!
1355
- Fail to track local map!
1356
- Relocalized!!
1357
- INIT_RELOCALIZE success!
1358
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1359
- pKFCur->mTimeStamp10.293616666666667
1360
- vpKFs.front()->mTimeStamp-110.92742502918125
1361
- vpKFs.back()->mTimeStamp-0.016675004168751784
1362
- pKFcur->GetMapPointMatches().size()1252
1363
- 1691 pKFcur->GetVelocity() -124.38829040527344
1364
- 82.903404235839844
1365
- -45.661891937255859
1366
- pKFcur->mnId399
1367
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 6
1368
- Fail to track local map!
1369
- Relocalized!!
1370
- INIT_RELOCALIZE success!
1371
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1372
- pKFCur->mTimeStamp10.326983333333333
1373
- vpKFs.front()->mTimeStamp-121.23771670001668
1374
- vpKFs.back()->mTimeStamp-0.016675004168751784
1375
- pKFcur->GetMapPointMatches().size()1251
1376
- 1691 pKFcur->GetVelocity() -169.7388916015625
1377
- 111.24766540527344
1378
- -62.876003265380859
1379
- pKFcur->mnId400
1380
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 6
1381
- Fail to track local map!
1382
- Relocalized!!
1383
- INIT_RELOCALIZE success!
1384
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1385
- pKFCur->mTimeStamp10.36035
1386
- vpKFs.front()->mTimeStamp-131.58137503751877
1387
- vpKFs.back()->mTimeStamp-0.016675004168751784
1388
- pKFcur->GetMapPointMatches().size()1255
1389
- 1691 pKFcur->GetVelocity() -216.46414184570312
1390
- 137.84211730957031
1391
- -80.260452270507812
1392
- pKFcur->mnId401
1393
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 8
1394
- Fail to track local map!
1395
- Relocalized!!
1396
- INIT_RELOCALIZE success!
1397
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1398
- pKFCur->mTimeStamp10.393716666666666
1399
- vpKFs.front()->mTimeStamp-141.95840004168753
1400
- vpKFs.back()->mTimeStamp-0.016675004168751784
1401
- pKFcur->GetMapPointMatches().size()1256
1402
- 1691 pKFcur->GetVelocity() -263.85452270507812
1403
- 162.95240783691406
1404
- -97.553359985351562
1405
- pKFcur->mnId402
1406
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 7
1407
- Fail to track local map!
1408
- Relocalized!!
1409
- INIT_RELOCALIZE success!
1410
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1411
- pKFCur->mTimeStamp10.427083333333334
1412
- vpKFs.front()->mTimeStamp-152.36879171252295
1413
- vpKFs.back()->mTimeStamp-0.016675004168751784
1414
- pKFcur->GetMapPointMatches().size()1250
1415
- 1691 pKFcur->GetVelocity() -309.66864013671875
1416
- 182.5115966796875
1417
- -112.48039245605469
1418
- pKFcur->mnId403
1419
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 5
1420
- Fail to track local map!
1421
- Relocalized!!
1422
- INIT_RELOCALIZE success!
1423
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1424
- pKFCur->mTimeStamp10.46045
1425
- vpKFs.front()->mTimeStamp-162.81255005002504
1426
- vpKFs.back()->mTimeStamp-0.016675004168751784
1427
- pKFcur->GetMapPointMatches().size()1254
1428
- 1691 pKFcur->GetVelocity() -355.79238891601562
1429
- 200.76274108886719
1430
- -127.31147003173828
1431
- pKFcur->mnId404
1432
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 6
1433
- Fail to track local map!
1434
- Relocalized!!
1435
- INIT_RELOCALIZE success!
1436
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1437
- pKFCur->mTimeStamp10.493816666666667
1438
- vpKFs.front()->mTimeStamp-173.28967505419379
1439
- vpKFs.back()->mTimeStamp-0.016675004168751784
1440
- pKFcur->GetMapPointMatches().size()1254
1441
- 1691 pKFcur->GetVelocity() -402.0587158203125
1442
- 215.24790954589844
1443
- -141.55375671386719
1444
- pKFcur->mnId405
1445
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 5
1446
- Fail to track local map!
1447
- Relocalized!!
1448
- INIT_RELOCALIZE success!
1449
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1450
- pKFCur->mTimeStamp10.527183333333333
1451
- vpKFs.front()->mTimeStamp-183.80016672502921
1452
- vpKFs.back()->mTimeStamp-0.016675004168751784
1453
- pKFcur->GetMapPointMatches().size()1252
1454
- 1691 pKFcur->GetVelocity() -448.67843627929688
1455
- 229.78788757324219
1456
- -155.99935913085938
1457
- pKFcur->mnId406
1458
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 5
1459
- Fail to track local map!
1460
- Relocalized!!
1461
- INIT_RELOCALIZE success!
1462
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1463
- pKFCur->mTimeStamp10.560550000000001
1464
- vpKFs.front()->mTimeStamp-194.3440250625313
1465
- vpKFs.back()->mTimeStamp-0.016675004168751784
1466
- pKFcur->GetMapPointMatches().size()1252
1467
- 1691 pKFcur->GetVelocity() -495.38909912109375
1468
- 243.05191040039062
1469
- -170.30368041992188
1470
- pKFcur->mnId407
1471
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1472
- Fail to track local map!
1473
- Relocalized!!
1474
- INIT_RELOCALIZE success!
1475
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1476
- pKFCur->mTimeStamp10.593916666666667
1477
- vpKFs.front()->mTimeStamp-204.92125006670005
1478
- vpKFs.back()->mTimeStamp-0.016675004168751784
1479
- pKFcur->GetMapPointMatches().size()1252
1480
- 1691 pKFcur->GetVelocity() -542.62109375
1481
- 256.76812744140625
1482
- -184.97502136230469
1483
- pKFcur->mnId408
1484
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1485
- Fail to track local map!
1486
- Relocalized!!
1487
- INIT_RELOCALIZE success!
1488
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1489
- pKFCur->mTimeStamp10.627283333333333
1490
- vpKFs.front()->mTimeStamp-215.53184173753547
1491
- vpKFs.back()->mTimeStamp-0.016675004168751784
1492
- pKFcur->GetMapPointMatches().size()1255
1493
- 1691 pKFcur->GetVelocity() -590.123046875
1494
- 271.0574951171875
1495
- -199.89410400390625
1496
- pKFcur->mnId409
1497
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 2
1498
- Fail to track local map!
1499
- Relocalized!!
1500
- INIT_RELOCALIZE success!
1501
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1502
- pKFCur->mTimeStamp10.66065
1503
- vpKFs.front()->mTimeStamp-226.17580007503756
1504
- vpKFs.back()->mTimeStamp-0.016675004168751784
1505
- pKFcur->GetMapPointMatches().size()1252
1506
- 1691 pKFcur->GetVelocity() -637.97723388671875
1507
- 285.406005859375
1508
- -215.03330993652344
1509
- pKFcur->mnId410
1510
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 3
1511
- Fail to track local map!
1512
- Relocalized!!
1513
- INIT_RELOCALIZE success!
1514
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1515
- pKFCur->mTimeStamp10.694016666666666
1516
- vpKFs.front()->mTimeStamp-236.85312507920631
1517
- vpKFs.back()->mTimeStamp-0.016675004168751784
1518
- pKFcur->GetMapPointMatches().size()1252
1519
- 1691 pKFcur->GetVelocity() -685.9586181640625
1520
- 301.04547119140625
1521
- -230.49263000488281
1522
- pKFcur->mnId411
1523
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 7
1524
- Fail to track local map!
1525
- Relocalized!!
1526
- INIT_RELOCALIZE success!
1527
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1528
- pKFCur->mTimeStamp10.727383333333334
1529
- vpKFs.front()->mTimeStamp-247.56381675004172
1530
- vpKFs.back()->mTimeStamp-0.016675004168751784
1531
- pKFcur->GetMapPointMatches().size()1252
1532
- 1691 pKFcur->GetVelocity() -735.87213134765625
1533
- 316.43350219726562
1534
- -246.96275329589844
1535
- pKFcur->mnId412
1536
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 7
1537
- Fail to track local map!
1538
- Relocalized!!
1539
- INIT_RELOCALIZE success!
1540
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1541
- pKFCur->mTimeStamp10.76075
1542
- vpKFs.front()->mTimeStamp-258.30787508754383
1543
- vpKFs.back()->mTimeStamp-0.016675004168751784
1544
- pKFcur->GetMapPointMatches().size()1255
1545
- 1691 pKFcur->GetVelocity() -787.79669189453125
1546
- 332.90695190429688
1547
- -264.76736450195312
1548
- pKFcur->mnId413
1549
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
1550
- Fail to track local map!
1551
- Relocalized!!
1552
- INIT_RELOCALIZE success!
1553
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1554
- pKFCur->mTimeStamp10.794116666666667
1555
- vpKFs.front()->mTimeStamp-269.08530009171261
1556
- vpKFs.back()->mTimeStamp-0.016675004168751784
1557
- pKFcur->GetMapPointMatches().size()1251
1558
- 1691 pKFcur->GetVelocity() -841.11798095703125
1559
- 351.49972534179688
1560
- -283.847900390625
1561
- pKFcur->mnId414
1562
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1563
- Fail to track local map!
1564
- Relocalization() failed.
1565
- Fail to track local map!
1566
- Relocalization() failed.
1567
- Fail to track local map!
1568
- Relocalized!!
1569
- INIT_RELOCALIZE success!
1570
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1571
- pKFCur->mTimeStamp10.860850000000001
1572
- vpKFs.front()->mTimeStamp-279.89609176254805
1573
- vpKFs.back()->mTimeStamp-0.016675004168751784
1574
- pKFcur->GetMapPointMatches().size()1252
1575
- 1691 pKFcur->GetVelocity() -895.82440185546875
1576
- 371.87799072265625
1577
- -304.15231323242188
1578
- pKFcur->mnId415
1579
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1580
- Fail to track local map!
1581
- Relocalized!!
1582
- INIT_RELOCALIZE success!
1583
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1584
- pKFCur->mTimeStamp10.894216666666667
1585
- vpKFs.front()->mTimeStamp-290.77361676671683
1586
- vpKFs.back()->mTimeStamp-0.016675004168751784
1587
- pKFcur->GetMapPointMatches().size()1253
1588
- 1691 pKFcur->GetVelocity() -954.7396240234375
1589
- 396.35733032226562
1590
- -328.2431640625
1591
- pKFcur->mnId416
1592
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1593
- Fail to track local map!
1594
- Relocalization() failed.
1595
- Fail to track local map!
1596
- Relocalized!!
1597
- INIT_RELOCALIZE success!
1598
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1599
- pKFCur->mTimeStamp10.944266666666667
1600
- vpKFs.front()->mTimeStamp-301.68450843755227
1601
- vpKFs.back()->mTimeStamp-0.016675004168751784
1602
- pKFcur->GetMapPointMatches().size()1252
1603
- 1691 pKFcur->GetVelocity() -1015.8055419921875
1604
- 422.90750122070312
1605
- -354.44207763671875
1606
- pKFcur->mnId417
1607
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1608
- Fail to track local map!
1609
- Relocalized!!
1610
- INIT_RELOCALIZE success!
1611
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1612
- pKFCur->mTimeStamp10.977633333333333
1613
- vpKFs.front()->mTimeStamp-312.64545010838771
1614
- vpKFs.back()->mTimeStamp-0.016675004168751784
1615
- pKFcur->GetMapPointMatches().size()1252
1616
- 1691 pKFcur->GetVelocity() -1080.376220703125
1617
- 452.99765014648438
1618
- -384.41690063476562
1619
- pKFcur->mnId418
1620
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1621
- Fail to track local map!
1622
- Relocalized!!
1623
- INIT_RELOCALIZE success!
1624
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1625
- pKFCur->mTimeStamp11.011000000000001
1626
- vpKFs.front()->mTimeStamp-323.63975844588981
1627
- vpKFs.back()->mTimeStamp-0.016675004168751784
1628
- pKFcur->GetMapPointMatches().size()1251
1629
- 1691 pKFcur->GetVelocity() -1147.250732421875
1630
- 484.29339599609375
1631
- -416.66668701171875
1632
- pKFcur->mnId419
1633
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1634
- Fail to track local map!
1635
- Relocalized!!
1636
- INIT_RELOCALIZE success!
1637
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1638
- pKFCur->mTimeStamp11.044366666666667
1639
- vpKFs.front()->mTimeStamp-334.66743345005858
1640
- vpKFs.back()->mTimeStamp-0.016675004168751784
1641
- pKFcur->GetMapPointMatches().size()1251
1642
- 1691 pKFcur->GetVelocity() -1216.5654296875
1643
- 516.0816650390625
1644
- -451.17776489257812
1645
- pKFcur->mnId420
1646
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1647
- Fail to track local map!
1648
- Relocalization() failed.
1649
- Fail to track local map!
1650
- Relocalized!!
1651
- INIT_RELOCALIZE success!
1652
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1653
- pKFCur->mTimeStamp11.094416666666667
1654
- vpKFs.front()->mTimeStamp-345.72847512089402
1655
- vpKFs.back()->mTimeStamp-0.016675004168751784
1656
- pKFcur->GetMapPointMatches().size()1252
1657
- 1691 pKFcur->GetVelocity() -1287.7371826171875
1658
- 548.1849365234375
1659
- -487.44888305664062
1660
- pKFcur->mnId421
1661
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1662
- Fail to track local map!
1663
- Relocalization() failed.
1664
- Fail to track local map!
1665
- Relocalization() failed.
1666
- Fail to track local map!
1667
- Relocalization() failed.
1668
- Fail to track local map!
1669
- Relocalization() failed.
1670
- Fail to track local map!
1671
- Relocalization() failed.
1672
- Fail to track local map!
1673
- Relocalization() failed.
1674
- Fail to track local map!
1675
- Relocalization() failed.
1676
- Fail to track local map!
1677
- Relocalization() failed.
1678
- Fail to track local map!
1679
- Relocalization() failed.
1680
- Fail to track local map!
1681
- Relocalization() failed.
1682
- Fail to track local map!
1683
- Relocalized!!
1684
- INIT_RELOCALIZE success!
1685
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1686
- pKFCur->mTimeStamp11.294616666666666
1687
- vpKFs.front()->mTimeStamp-356.83956679172945
1688
- vpKFs.back()->mTimeStamp-0.016675004168751784
1689
- pKFcur->GetMapPointMatches().size()1250
1690
- 1691 pKFcur->GetVelocity() -1361.02783203125
1691
- 582.00830078125
1692
- -526.4417724609375
1693
- pKFcur->mnId422
1694
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1695
- Fail to track local map!
1696
- Relocalization() failed.
1697
- Fail to track local map!
1698
- Relocalized!!
1699
- INIT_RELOCALIZE success!
1700
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1701
- pKFCur->mTimeStamp11.344666666666667
1702
- vpKFs.front()->mTimeStamp-368.15085846256488
1703
- vpKFs.back()->mTimeStamp-0.016675004168751784
1704
- pKFcur->GetMapPointMatches().size()1251
1705
- 1691 pKFcur->GetVelocity() -1374.4276123046875
1706
- 593.99224853515625
1707
- -519.14154052734375
1708
- pKFcur->mnId423
1709
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1710
- Fail to track local map!
1711
- Relocalized!!
1712
- INIT_RELOCALIZE success!
1713
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1714
- pKFCur->mTimeStamp11.378033333333333
1715
- vpKFs.front()->mTimeStamp-379.51220013340031
1716
- vpKFs.back()->mTimeStamp-0.016675004168751784
1717
- pKFcur->GetMapPointMatches().size()1250
1718
- 1691 pKFcur->GetVelocity() -1389.222900390625
1719
- 606.658935546875
1720
- -511.69528198242188
1721
- pKFcur->mnId424
1722
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1723
- Fail to track local map!
1724
- Relocalized!!
1725
- INIT_RELOCALIZE success!
1726
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1727
- pKFCur->mTimeStamp11.4114
1728
- vpKFs.front()->mTimeStamp-390.90690847090241
1729
- vpKFs.back()->mTimeStamp-0.016675004168751784
1730
- pKFcur->GetMapPointMatches().size()1252
1731
- 1691 pKFcur->GetVelocity() -1404.2890625
1732
- 619.268798828125
1733
- -504.02484130859375
1734
- pKFcur->mnId425
1735
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1736
- Fail to track local map!
1737
- Relocalized!!
1738
- INIT_RELOCALIZE success!
1739
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1740
- pKFCur->mTimeStamp11.444766666666666
1741
- vpKFs.front()->mTimeStamp-402.33498347507117
1742
- vpKFs.back()->mTimeStamp-0.016675004168751784
1743
- pKFcur->GetMapPointMatches().size()1252
1744
- 1691 pKFcur->GetVelocity() -1419.046630859375
1745
- 632.61651611328125
1746
- -496.15631103515625
1747
- pKFcur->mnId426
1748
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1749
- Fail to track local map!
1750
- Relocalized!!
1751
- INIT_RELOCALIZE success!
1752
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1753
- pKFCur->mTimeStamp11.478133333333334
1754
- vpKFs.front()->mTimeStamp-413.7964251459066
1755
- vpKFs.back()->mTimeStamp-0.016675004168751784
1756
- pKFcur->GetMapPointMatches().size()1250
1757
- 1691 pKFcur->GetVelocity() -1434.5782470703125
1758
- 645.11505126953125
1759
- -488.01971435546875
1760
- pKFcur->mnId427
1761
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1762
- Fail to track local map!
1763
- Relocalized!!
1764
- INIT_RELOCALIZE success!
1765
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1766
- pKFCur->mTimeStamp11.5115
1767
- vpKFs.front()->mTimeStamp-425.29123348340869
1768
- vpKFs.back()->mTimeStamp-0.016675004168751784
1769
- pKFcur->GetMapPointMatches().size()1250
1770
- 1691 pKFcur->GetVelocity() -1451.05859375
1771
- 655.86566162109375
1772
- -479.64779663085938
1773
- pKFcur->mnId428
1774
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1775
- Fail to track local map!
1776
- Relocalized!!
1777
- INIT_RELOCALIZE success!
1778
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1779
- pKFCur->mTimeStamp11.544866666666667
1780
- vpKFs.front()->mTimeStamp-436.81940848757745
1781
- vpKFs.back()->mTimeStamp-0.016675004168751784
1782
- pKFcur->GetMapPointMatches().size()1236
1783
- 1691 pKFcur->GetVelocity() -1469.0654296875
1784
- 665.39874267578125
1785
- -471.15444946289062
1786
- pKFcur->mnId429
1787
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1788
- Fail to track local map!
1789
- Relocalized!!
1790
- INIT_RELOCALIZE success!
1791
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1792
- pKFCur->mTimeStamp11.578233333333333
1793
- vpKFs.front()->mTimeStamp-448.38095015841287
1794
- vpKFs.back()->mTimeStamp-0.016675004168751784
1795
- pKFcur->GetMapPointMatches().size()1235
1796
- 1691 pKFcur->GetVelocity() -1488.2662353515625
1797
- 674.58758544921875
1798
- -462.57815551757812
1799
- pKFcur->mnId430
1800
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1801
- Fail to track local map!
1802
- Relocalized!!
1803
- INIT_RELOCALIZE success!
1804
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1805
- pKFCur->mTimeStamp11.611600000000001
1806
- vpKFs.front()->mTimeStamp-459.97585849591496
1807
- vpKFs.back()->mTimeStamp-0.016675004168751784
1808
- pKFcur->GetMapPointMatches().size()1236
1809
- 1691 pKFcur->GetVelocity() -1509.436279296875
1810
- 684.6051025390625
1811
- -454.16580200195312
1812
- pKFcur->mnId431
1813
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1814
- Fail to track local map!
1815
- Relocalized!!
1816
- INIT_RELOCALIZE success!
1817
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1818
- pKFCur->mTimeStamp11.644966666666667
1819
- vpKFs.front()->mTimeStamp-471.60413350008372
1820
- vpKFs.back()->mTimeStamp-0.016675004168751784
1821
- pKFcur->GetMapPointMatches().size()1238
1822
- 1691 pKFcur->GetVelocity() -1532.221923828125
1823
- 694.7015380859375
1824
- -445.7852783203125
1825
- pKFcur->mnId432
1826
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1827
- Fail to track local map!
1828
- Relocalized!!
1829
- INIT_RELOCALIZE success!
1830
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1831
- pKFCur->mTimeStamp11.678333333333333
1832
- vpKFs.front()->mTimeStamp-483.26577517091914
1833
- vpKFs.back()->mTimeStamp-0.016675004168751784
1834
- pKFcur->GetMapPointMatches().size()1235
1835
- 1691 pKFcur->GetVelocity() -1556.6712646484375
1836
- 704.7503662109375
1837
- -437.47677612304688
1838
- pKFcur->mnId433
1839
- Video FPS: 59.940059940059939
1840
- ORB-SLAM 3 running at: 11.816933670676853 FPS
1841
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1842
- Fail to track local map!
1843
- Relocalized!!
1844
- INIT_RELOCALIZE success!
1845
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1846
- pKFCur->mTimeStamp11.7117
1847
- vpKFs.front()->mTimeStamp-494.96078350842123
1848
- vpKFs.back()->mTimeStamp-0.016675004168751784
1849
- pKFcur->GetMapPointMatches().size()1230
1850
- 1691 pKFcur->GetVelocity() -1580.7203369140625
1851
- 714.903076171875
1852
- -428.81460571289062
1853
- pKFcur->mnId434
1854
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1855
- Fail to track local map!
1856
- Relocalized!!
1857
- INIT_RELOCALIZE success!
1858
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1859
- pKFCur->mTimeStamp11.745066666666666
1860
- vpKFs.front()->mTimeStamp-506.68915851258998
1861
- vpKFs.back()->mTimeStamp-0.016675004168751784
1862
- pKFcur->GetMapPointMatches().size()1243
1863
- 1691 pKFcur->GetVelocity() -1606.796875
1864
- 724.58563232421875
1865
- -420.2794189453125
1866
- pKFcur->mnId435
1867
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1868
- Fail to track local map!
1869
- Relocalized!!
1870
- INIT_RELOCALIZE success!
1871
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1872
- pKFCur->mTimeStamp11.778433333333334
1873
- vpKFs.front()->mTimeStamp-518.45090018342535
1874
- vpKFs.back()->mTimeStamp-0.016675004168751784
1875
- pKFcur->GetMapPointMatches().size()1241
1876
- 1691 pKFcur->GetVelocity() -1633.1240234375
1877
- 734.0882568359375
1878
- -411.51632690429688
1879
- pKFcur->mnId436
1880
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1881
- Fail to track local map!
1882
- Relocalized!!
1883
- INIT_RELOCALIZE success!
1884
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1885
- pKFCur->mTimeStamp11.8118
1886
- vpKFs.front()->mTimeStamp-530.24600852092749
1887
- vpKFs.back()->mTimeStamp-0.016675004168751784
1888
- pKFcur->GetMapPointMatches().size()1229
1889
- 1691 pKFcur->GetVelocity() -1659.4290771484375
1890
- 743.8875732421875
1891
- -402.52044677734375
1892
- pKFcur->mnId437
1893
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1894
- Fail to track local map!
1895
- Relocalized!!
1896
- INIT_RELOCALIZE success!
1897
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1898
- pKFCur->mTimeStamp11.845166666666668
1899
- vpKFs.front()->mTimeStamp-542.07448352509618
1900
- vpKFs.back()->mTimeStamp-0.016675004168751784
1901
- pKFcur->GetMapPointMatches().size()1235
1902
- 1691 pKFcur->GetVelocity() -1685.540771484375
1903
- 753.81732177734375
1904
- -393.23211669921875
1905
- pKFcur->mnId438
1906
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1907
- Fail to track local map!
1908
- Relocalized!!
1909
- INIT_RELOCALIZE success!
1910
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1911
- pKFCur->mTimeStamp11.878533333333333
1912
- vpKFs.front()->mTimeStamp-553.93632519593166
1913
- vpKFs.back()->mTimeStamp-0.016675004168751784
1914
- pKFcur->GetMapPointMatches().size()1234
1915
- 1691 pKFcur->GetVelocity() -1711.5380859375
1916
- 764.117919921875
1917
- -383.69821166992188
1918
- pKFcur->mnId439
1919
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1920
- Fail to track local map!
1921
- Relocalized!!
1922
- INIT_RELOCALIZE success!
1923
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1924
- pKFCur->mTimeStamp11.911900000000001
1925
- vpKFs.front()->mTimeStamp-565.8315335334338
1926
- vpKFs.back()->mTimeStamp-0.016675004168751784
1927
- pKFcur->GetMapPointMatches().size()1234
1928
- 1691 pKFcur->GetVelocity() -1738.4881591796875
1929
- 774.0396728515625
1930
- -374.07785034179688
1931
- pKFcur->mnId440
1932
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1933
- Fail to track local map!
1934
- Relocalized!!
1935
- INIT_RELOCALIZE success!
1936
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1937
- pKFCur->mTimeStamp11.945266666666667
1938
- vpKFs.front()->mTimeStamp-577.7601085376026
1939
- vpKFs.back()->mTimeStamp-0.016675004168751784
1940
- pKFcur->GetMapPointMatches().size()1222
1941
- 1691 pKFcur->GetVelocity() -1766.431884765625
1942
- 783.6268310546875
1943
- -364.4049072265625
1944
- pKFcur->mnId441
1945
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1946
- Fail to track local map!
1947
- Relocalized!!
1948
- INIT_RELOCALIZE success!
1949
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1950
- pKFCur->mTimeStamp11.978633333333333
1951
- vpKFs.front()->mTimeStamp-589.72205020843808
1952
- vpKFs.back()->mTimeStamp-0.016675004168751784
1953
- pKFcur->GetMapPointMatches().size()1232
1954
- 1691 pKFcur->GetVelocity() -1793.2652587890625
1955
- 793.67327880859375
1956
- -354.27099609375
1957
- pKFcur->mnId442
1958
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1959
- Fail to track local map!
1960
- Relocalized!!
1961
- INIT_RELOCALIZE success!
1962
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1963
- pKFCur->mTimeStamp12.012
1964
- vpKFs.front()->mTimeStamp-601.71735854594021
1965
- vpKFs.back()->mTimeStamp-0.016675004168751784
1966
- pKFcur->GetMapPointMatches().size()1236
1967
- 1691 pKFcur->GetVelocity() -1820.56103515625
1968
- 804.2880859375
1969
- -344.03970336914062
1970
- pKFcur->mnId443
1971
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1972
- Fail to track local map!
1973
- Relocalized!!
1974
- INIT_RELOCALIZE success!
1975
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1976
- pKFCur->mTimeStamp12.045366666666666
1977
- vpKFs.front()->mTimeStamp-613.74603355010902
1978
- vpKFs.back()->mTimeStamp-0.016675004168751784
1979
- pKFcur->GetMapPointMatches().size()1227
1980
- 1691 pKFcur->GetVelocity() -1845.9998779296875
1981
- 816.5908203125
1982
- -333.33627319335938
1983
- pKFcur->mnId444
1984
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1985
- Fail to track local map!
1986
- Relocalized!!
1987
- INIT_RELOCALIZE success!
1988
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
1989
- pKFCur->mTimeStamp12.078733333333334
1990
- vpKFs.front()->mTimeStamp-625.80807522094449
1991
- vpKFs.back()->mTimeStamp-0.016675004168751784
1992
- pKFcur->GetMapPointMatches().size()1234
1993
- 1691 pKFcur->GetVelocity() -1870.0767822265625
1994
- 830.320556640625
1995
- -322.26272583007812
1996
- pKFcur->mnId445
1997
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
1998
- Fail to track local map!
1999
- Relocalized!!
2000
- INIT_RELOCALIZE success!
2001
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2002
- pKFCur->mTimeStamp12.1121
2003
- vpKFs.front()->mTimeStamp-637.90348355844662
2004
- vpKFs.back()->mTimeStamp-0.016675004168751784
2005
- pKFcur->GetMapPointMatches().size()1234
2006
- 1691 pKFcur->GetVelocity() -1892.6226806640625
2007
- 845.12042236328125
2008
- -310.77902221679688
2009
- pKFcur->mnId446
2010
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2011
- Fail to track local map!
2012
- Relocalized!!
2013
- INIT_RELOCALIZE success!
2014
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2015
- pKFCur->mTimeStamp12.145466666666668
2016
- vpKFs.front()->mTimeStamp-650.03225856261543
2017
- vpKFs.back()->mTimeStamp-0.016675004168751784
2018
- pKFcur->GetMapPointMatches().size()1234
2019
- 1691 pKFcur->GetVelocity() -1912.646728515625
2020
- 863.45513916015625
2021
- -299.046630859375
2022
- pKFcur->mnId447
2023
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2024
- Fail to track local map!
2025
- Relocalized!!
2026
- INIT_RELOCALIZE success!
2027
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2028
- pKFCur->mTimeStamp12.178833333333333
2029
- vpKFs.front()->mTimeStamp-662.19440023345089
2030
- vpKFs.back()->mTimeStamp-0.016675004168751784
2031
- pKFcur->GetMapPointMatches().size()1230
2032
- 1691 pKFcur->GetVelocity() -1929.72802734375
2033
- 881.003662109375
2034
- -286.53115844726562
2035
- pKFcur->mnId448
2036
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2037
- Fail to track local map!
2038
- Relocalized!!
2039
- INIT_RELOCALIZE success!
2040
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2041
- pKFCur->mTimeStamp12.212200000000001
2042
- vpKFs.front()->mTimeStamp-674.38990857095303
2043
- vpKFs.back()->mTimeStamp-0.016675004168751784
2044
- pKFcur->GetMapPointMatches().size()1236
2045
- 1691 pKFcur->GetVelocity() -1944.337158203125
2046
- 899.81329345703125
2047
- -273.60321044921875
2048
- pKFcur->mnId449
2049
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2050
- Fail to track local map!
2051
- Relocalized!!
2052
- INIT_RELOCALIZE success!
2053
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2054
- pKFCur->mTimeStamp12.245566666666667
2055
- vpKFs.front()->mTimeStamp-686.61878357512182
2056
- vpKFs.back()->mTimeStamp-0.016675004168751784
2057
- pKFcur->GetMapPointMatches().size()1231
2058
- 1691 pKFcur->GetVelocity() -1956.4075927734375
2059
- 918.133056640625
2060
- -260.09658813476562
2061
- pKFcur->mnId450
2062
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2063
- Fail to track local map!
2064
- Relocalized!!
2065
- INIT_RELOCALIZE success!
2066
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2067
- pKFCur->mTimeStamp12.278933333333333
2068
- vpKFs.front()->mTimeStamp-698.88102524595729
2069
- vpKFs.back()->mTimeStamp-0.016675004168751784
2070
- pKFcur->GetMapPointMatches().size()1245
2071
- 1691 pKFcur->GetVelocity() -1965.817138671875
2072
- 936.6817626953125
2073
- -246.15873718261719
2074
- pKFcur->mnId451
2075
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2076
- Fail to track local map!
2077
- Relocalized!!
2078
- INIT_RELOCALIZE success!
2079
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2080
- pKFCur->mTimeStamp12.3123
2081
- vpKFs.front()->mTimeStamp-711.17663358345942
2082
- vpKFs.back()->mTimeStamp-0.016675004168751784
2083
- pKFcur->GetMapPointMatches().size()1237
2084
- 1691 pKFcur->GetVelocity() -1974.342041015625
2085
- 954.3560791015625
2086
- -231.80859375
2087
- pKFcur->mnId452
2088
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2089
- Fail to track local map!
2090
- Relocalized!!
2091
- INIT_RELOCALIZE success!
2092
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2093
- pKFCur->mTimeStamp12.345666666666666
2094
- vpKFs.front()->mTimeStamp-723.50560858762822
2095
- vpKFs.back()->mTimeStamp-0.016675004168751784
2096
- pKFcur->GetMapPointMatches().size()1237
2097
- 1691 pKFcur->GetVelocity() -1981.0404052734375
2098
- 971.7119140625
2099
- -217.06294250488281
2100
- pKFcur->mnId453
2101
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2102
- Fail to track local map!
2103
- Relocalized!!
2104
- INIT_RELOCALIZE success!
2105
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2106
- pKFCur->mTimeStamp12.379033333333334
2107
- vpKFs.front()->mTimeStamp-735.86795025846368
2108
- vpKFs.back()->mTimeStamp-0.016675004168751784
2109
- pKFcur->GetMapPointMatches().size()1242
2110
- 1691 pKFcur->GetVelocity() -1986.5494384765625
2111
- 988.9166259765625
2112
- -201.98504638671875
2113
- pKFcur->mnId454
2114
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2115
- Fail to track local map!
2116
- Relocalized!!
2117
- INIT_RELOCALIZE success!
2118
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2119
- pKFCur->mTimeStamp12.4124
2120
- vpKFs.front()->mTimeStamp-748.26365859596581
2121
- vpKFs.back()->mTimeStamp-0.016675004168751784
2122
- pKFcur->GetMapPointMatches().size()1246
2123
- 1691 pKFcur->GetVelocity() -1990.7735595703125
2124
- 1005.4259033203125
2125
- -186.55691528320312
2126
- pKFcur->mnId455
2127
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2128
- Fail to track local map!
2129
- Relocalized!!
2130
- INIT_RELOCALIZE success!
2131
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2132
- pKFCur->mTimeStamp12.445766666666668
2133
- vpKFs.front()->mTimeStamp-760.6927336001346
2134
- vpKFs.back()->mTimeStamp-0.016675004168751784
2135
- pKFcur->GetMapPointMatches().size()1243
2136
- 1691 pKFcur->GetVelocity() -1993.8404541015625
2137
- 1021.5332641601562
2138
- -170.80377197265625
2139
- pKFcur->mnId456
2140
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2141
- Fail to track local map!
2142
- Relocalized!!
2143
- INIT_RELOCALIZE success!
2144
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2145
- pKFCur->mTimeStamp12.479133333333333
2146
- vpKFs.front()->mTimeStamp-773.15517527097006
2147
- vpKFs.back()->mTimeStamp-0.016675004168751784
2148
- pKFcur->GetMapPointMatches().size()1249
2149
- 1691 pKFcur->GetVelocity() -1996.0643310546875
2150
- 1037.3021240234375
2151
- -154.77369689941406
2152
- pKFcur->mnId457
2153
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2154
- Fail to track local map!
2155
- Relocalized!!
2156
- INIT_RELOCALIZE success!
2157
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2158
- pKFCur->mTimeStamp12.512500000000001
2159
- vpKFs.front()->mTimeStamp-785.65098360847219
2160
- vpKFs.back()->mTimeStamp-0.016675004168751784
2161
- pKFcur->GetMapPointMatches().size()1252
2162
- 1691 pKFcur->GetVelocity() -1997.968994140625
2163
- 1053.7841796875
2164
- -138.57600402832031
2165
- pKFcur->mnId458
2166
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2167
- Fail to track local map!
2168
- Relocalized!!
2169
- INIT_RELOCALIZE success!
2170
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2171
- pKFCur->mTimeStamp12.545866666666667
2172
- vpKFs.front()->mTimeStamp-798.18015861264098
2173
- vpKFs.back()->mTimeStamp-0.016675004168751784
2174
- pKFcur->GetMapPointMatches().size()1248
2175
- 1691 pKFcur->GetVelocity() -1999.27197265625
2176
- 1071.8740234375
2177
- -122.29695892333984
2178
- pKFcur->mnId459
2179
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2180
- Fail to track local map!
2181
- Relocalized!!
2182
- INIT_RELOCALIZE success!
2183
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2184
- pKFCur->mTimeStamp12.579233333333333
2185
- vpKFs.front()->mTimeStamp-810.74270028347644
2186
- vpKFs.back()->mTimeStamp-0.016675004168751784
2187
- pKFcur->GetMapPointMatches().size()1247
2188
- 1691 pKFcur->GetVelocity() -1998.9029541015625
2189
- 1090.7259521484375
2190
- -105.82862091064453
2191
- pKFcur->mnId460
2192
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2193
- Fail to track local map!
2194
- Relocalized!!
2195
- INIT_RELOCALIZE success!
2196
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2197
- pKFCur->mTimeStamp12.6126
2198
- vpKFs.front()->mTimeStamp-823.33860862097856
2199
- vpKFs.back()->mTimeStamp-0.016675004168751784
2200
- pKFcur->GetMapPointMatches().size()1251
2201
- 1691 pKFcur->GetVelocity() -1996.8740234375
2202
- 1109.656005859375
2203
- -89.090980529785156
2204
- pKFcur->mnId461
2205
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2206
- Fail to track local map!
2207
- Relocalized!!
2208
- INIT_RELOCALIZE success!
2209
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2210
- pKFCur->mTimeStamp12.645966666666666
2211
- vpKFs.front()->mTimeStamp-835.96788362514735
2212
- vpKFs.back()->mTimeStamp-0.016675004168751784
2213
- pKFcur->GetMapPointMatches().size()1252
2214
- 1691 pKFcur->GetVelocity() -1992.6298828125
2215
- 1128.33154296875
2216
- -72.089225769042969
2217
- pKFcur->mnId462
2218
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2219
- Fail to track local map!
2220
- Relocalized!!
2221
- INIT_RELOCALIZE success!
2222
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2223
- pKFCur->mTimeStamp12.679333333333334
2224
- vpKFs.front()->mTimeStamp-848.63052529598281
2225
- vpKFs.back()->mTimeStamp-0.016675004168751784
2226
- pKFcur->GetMapPointMatches().size()1250
2227
- 1691 pKFcur->GetVelocity() -1986.5096435546875
2228
- 1145.2559814453125
2229
- -54.673820495605469
2230
- pKFcur->mnId463
2231
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2232
- Fail to track local map!
2233
- Relocalized!!
2234
- INIT_RELOCALIZE success!
2235
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2236
- pKFCur->mTimeStamp12.7127
2237
- vpKFs.front()->mTimeStamp-861.32653363348493
2238
- vpKFs.back()->mTimeStamp-0.016675004168751784
2239
- pKFcur->GetMapPointMatches().size()1250
2240
- 1691 pKFcur->GetVelocity() -1978.8160400390625
2241
- 1162.02978515625
2242
- -37.068668365478516
2243
- pKFcur->mnId464
2244
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2245
- Fail to track local map!
2246
- Relocalized!!
2247
- INIT_RELOCALIZE success!
2248
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2249
- pKFCur->mTimeStamp12.746066666666668
2250
- vpKFs.front()->mTimeStamp-874.05590863765372
2251
- vpKFs.back()->mTimeStamp-0.016675004168751784
2252
- pKFcur->GetMapPointMatches().size()1251
2253
- 1691 pKFcur->GetVelocity() -1970.8251953125
2254
- 1176.753173828125
2255
- -19.031064987182617
2256
- pKFcur->mnId465
2257
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2258
- Fail to track local map!
2259
- Relocalized!!
2260
- INIT_RELOCALIZE success!
2261
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2262
- pKFCur->mTimeStamp12.779433333333333
2263
- vpKFs.front()->mTimeStamp-886.81865030848917
2264
- vpKFs.back()->mTimeStamp-0.016675004168751784
2265
- pKFcur->GetMapPointMatches().size()1251
2266
- 1691 pKFcur->GetVelocity() -1963.341796875
2267
- 1189.7344970703125
2268
- -0.58322834968566895
2269
- pKFcur->mnId466
2270
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2271
- Fail to track local map!
2272
- Relocalized!!
2273
- INIT_RELOCALIZE success!
2274
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2275
- pKFCur->mTimeStamp12.812800000000001
2276
- vpKFs.front()->mTimeStamp-899.61475864599129
2277
- vpKFs.back()->mTimeStamp-0.016675004168751784
2278
- pKFcur->GetMapPointMatches().size()1250
2279
- 1691 pKFcur->GetVelocity() -1955.6668701171875
2280
- 1202.471923828125
2281
- 18.097330093383789
2282
- pKFcur->mnId467
2283
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2284
- Fail to track local map!
2285
- Relocalized!!
2286
- INIT_RELOCALIZE success!
2287
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2288
- pKFCur->mTimeStamp12.846166666666667
2289
- vpKFs.front()->mTimeStamp-912.44423365016007
2290
- vpKFs.back()->mTimeStamp-0.016675004168751784
2291
- pKFcur->GetMapPointMatches().size()1251
2292
- 1691 pKFcur->GetVelocity() -1947.854248046875
2293
- 1214.6495361328125
2294
- 37.054115295410156
2295
- pKFcur->mnId468
2296
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2297
- Fail to track local map!
2298
- Relocalized!!
2299
- INIT_RELOCALIZE success!
2300
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2301
- pKFCur->mTimeStamp12.879533333333333
2302
- vpKFs.front()->mTimeStamp-925.30707532099552
2303
- vpKFs.back()->mTimeStamp-0.016675004168751784
2304
- pKFcur->GetMapPointMatches().size()1251
2305
- 1691 pKFcur->GetVelocity() -1939.1375732421875
2306
- 1226.07568359375
2307
- 56.25103759765625
2308
- pKFcur->mnId469
2309
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2310
- Fail to track local map!
2311
- Relocalized!!
2312
- INIT_RELOCALIZE success!
2313
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2314
- pKFCur->mTimeStamp12.9129
2315
- vpKFs.front()->mTimeStamp-938.20328365849764
2316
- vpKFs.back()->mTimeStamp-0.016675004168751784
2317
- pKFcur->GetMapPointMatches().size()1252
2318
- 1691 pKFcur->GetVelocity() -1929.6212158203125
2319
- 1236.8743896484375
2320
- 75.675155639648438
2321
- pKFcur->mnId470
2322
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2323
- Fail to track local map!
2324
- Relocalized!!
2325
- INIT_RELOCALIZE success!
2326
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2327
- pKFCur->mTimeStamp12.946266666666666
2328
- vpKFs.front()->mTimeStamp-951.13285866266642
2329
- vpKFs.back()->mTimeStamp-0.016675004168751784
2330
- pKFcur->GetMapPointMatches().size()1252
2331
- 1691 pKFcur->GetVelocity() -1919.22607421875
2332
- 1247.8375244140625
2333
- 95.264656066894531
2334
- pKFcur->mnId471
2335
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2336
- Fail to track local map!
2337
- Relocalized!!
2338
- INIT_RELOCALIZE success!
2339
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2340
- pKFCur->mTimeStamp12.979633333333334
2341
- vpKFs.front()->mTimeStamp-964.09580033350187
2342
- vpKFs.back()->mTimeStamp-0.016675004168751784
2343
- pKFcur->GetMapPointMatches().size()1252
2344
- 1691 pKFcur->GetVelocity() -1907.0653076171875
2345
- 1258.9886474609375
2346
- 114.94255065917969
2347
- pKFcur->mnId472
2348
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2349
- Fail to track local map!
2350
- Relocalized!!
2351
- INIT_RELOCALIZE success!
2352
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2353
- pKFCur->mTimeStamp13.013
2354
- vpKFs.front()->mTimeStamp-977.09210867100398
2355
- vpKFs.back()->mTimeStamp-0.016675004168751784
2356
- pKFcur->GetMapPointMatches().size()1252
2357
- 1691 pKFcur->GetVelocity() -1894.2283935546875
2358
- 1269.239013671875
2359
- 134.87025451660156
2360
- pKFcur->mnId473
2361
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2362
- Fail to track local map!
2363
- Relocalization() failed.
2364
- Fail to track local map!
2365
- Relocalized!!
2366
- INIT_RELOCALIZE success!
2367
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2368
- pKFCur->mTimeStamp13.06305
2369
- vpKFs.front()->mTimeStamp-990.12178367517276
2370
- vpKFs.back()->mTimeStamp-0.016675004168751784
2371
- pKFcur->GetMapPointMatches().size()1253
2372
- 1691 pKFcur->GetVelocity() -1880.415283203125
2373
- 1278.9873046875
2374
- 154.98881530761719
2375
- pKFcur->mnId474
2376
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2377
- Fail to track local map!
2378
- Relocalized!!
2379
- INIT_RELOCALIZE success!
2380
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2381
- pKFCur->mTimeStamp13.096416666666666
2382
- vpKFs.front()->mTimeStamp-1003.2015086793415
2383
- vpKFs.back()->mTimeStamp-0.016675004168751784
2384
- pKFcur->GetMapPointMatches().size()1253
2385
- 1691 pKFcur->GetVelocity() -1866.6370849609375
2386
- 1288.8603515625
2387
- 175.4830322265625
2388
- pKFcur->mnId475
2389
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2390
- Fail to track local map!
2391
- Relocalized!!
2392
- INIT_RELOCALIZE success!
2393
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2394
- pKFCur->mTimeStamp13.129783333333334
2395
- vpKFs.front()->mTimeStamp-1016.3146003501769
2396
- vpKFs.back()->mTimeStamp-0.016675004168751784
2397
- pKFcur->GetMapPointMatches().size()1254
2398
- 1691 pKFcur->GetVelocity() -1852.5848388671875
2399
- 1299.659423828125
2400
- 196.13774108886719
2401
- pKFcur->mnId476
2402
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2403
- Fail to track local map!
2404
- Relocalized!!
2405
- INIT_RELOCALIZE success!
2406
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2407
- pKFCur->mTimeStamp13.16315
2408
- vpKFs.front()->mTimeStamp-1029.461058687679
2409
- vpKFs.back()->mTimeStamp-0.016675004168751784
2410
- pKFcur->GetMapPointMatches().size()1251
2411
- 1691 pKFcur->GetVelocity() -1838.7884521484375
2412
- 1310.190673828125
2413
- 217.13648986816406
2414
- pKFcur->mnId477
2415
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2416
- Fail to track local map!
2417
- Relocalized!!
2418
- INIT_RELOCALIZE success!
2419
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2420
- pKFCur->mTimeStamp13.196516666666668
2421
- vpKFs.front()->mTimeStamp-1042.6408836918479
2422
- vpKFs.back()->mTimeStamp-0.016675004168751784
2423
- pKFcur->GetMapPointMatches().size()1253
2424
- 1691 pKFcur->GetVelocity() -1824.842041015625
2425
- 1321.2208251953125
2426
- 238.39543151855469
2427
- pKFcur->mnId478
2428
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2429
- Fail to track local map!
2430
- Relocalized!!
2431
- INIT_RELOCALIZE success!
2432
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2433
- pKFCur->mTimeStamp13.229883333333333
2434
- vpKFs.front()->mTimeStamp-1055.8540753626833
2435
- vpKFs.back()->mTimeStamp-0.016675004168751784
2436
- pKFcur->GetMapPointMatches().size()1254
2437
- 1691 pKFcur->GetVelocity() -1810.5181884765625
2438
- 1329.3304443359375
2439
- 260.10333251953125
2440
- pKFcur->mnId479
2441
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2442
- Fail to track local map!
2443
- Relocalized!!
2444
- INIT_RELOCALIZE success!
2445
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2446
- pKFCur->mTimeStamp13.263250000000001
2447
- vpKFs.front()->mTimeStamp-1069.1006337001854
2448
- vpKFs.back()->mTimeStamp-0.016675004168751784
2449
- pKFcur->GetMapPointMatches().size()1251
2450
- 1691 pKFcur->GetVelocity() -1794.59814453125
2451
- 1337.5614013671875
2452
- 281.91259765625
2453
- pKFcur->mnId480
2454
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2455
- Fail to track local map!
2456
- Relocalized!!
2457
- INIT_RELOCALIZE success!
2458
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2459
- pKFCur->mTimeStamp13.296616666666667
2460
- vpKFs.front()->mTimeStamp-1082.3805587043541
2461
- vpKFs.back()->mTimeStamp-0.016675004168751784
2462
- pKFcur->GetMapPointMatches().size()1253
2463
- 1691 pKFcur->GetVelocity() -1778.2291259765625
2464
- 1343.65185546875
2465
- 304.02920532226562
2466
- pKFcur->mnId481
2467
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2468
- Fail to track local map!
2469
- Relocalized!!
2470
- INIT_RELOCALIZE success!
2471
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2472
- pKFCur->mTimeStamp13.329983333333333
2473
- vpKFs.front()->mTimeStamp-1095.6938503751896
2474
- vpKFs.back()->mTimeStamp-0.016675004168751784
2475
- pKFcur->GetMapPointMatches().size()1252
2476
- 1691 pKFcur->GetVelocity() -1761.8338623046875
2477
- 1346.6129150390625
2478
- 326.46163940429688
2479
- pKFcur->mnId482
2480
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2481
- Fail to track local map!
2482
- Video FPS: 59.940059940059939
2483
- ORB-SLAM 3 running at: 11.63929927926549 FPS
2484
- Relocalized!!
2485
- INIT_RELOCALIZE success!
2486
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2487
- pKFCur->mTimeStamp13.363350000000001
2488
- vpKFs.front()->mTimeStamp-1109.0405087126917
2489
- vpKFs.back()->mTimeStamp-0.016675004168751784
2490
- pKFcur->GetMapPointMatches().size()1251
2491
- 1691 pKFcur->GetVelocity() -1747.0328369140625
2492
- 1346.08203125
2493
- 349.29080200195312
2494
- pKFcur->mnId483
2495
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2496
- Fail to track local map!
2497
- Relocalized!!
2498
- INIT_RELOCALIZE success!
2499
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2500
- pKFCur->mTimeStamp13.396716666666666
2501
- vpKFs.front()->mTimeStamp-1122.4205337168605
2502
- vpKFs.back()->mTimeStamp-0.016675004168751784
2503
- pKFcur->GetMapPointMatches().size()1253
2504
- 1691 pKFcur->GetVelocity() -1733.333251953125
2505
- 1342.9652099609375
2506
- 372.39724731445312
2507
- pKFcur->mnId484
2508
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2509
- Fail to track local map!
2510
- Relocalized!!
2511
- INIT_RELOCALIZE success!
2512
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2513
- pKFCur->mTimeStamp13.430083333333334
2514
- vpKFs.front()->mTimeStamp-1135.8339253876959
2515
- vpKFs.back()->mTimeStamp-0.016675004168751784
2516
- pKFcur->GetMapPointMatches().size()1254
2517
- 1691 pKFcur->GetVelocity() -1721.080810546875
2518
- 1336.6314697265625
2519
- 395.73187255859375
2520
- pKFcur->mnId485
2521
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2522
- Fail to track local map!
2523
- Relocalized!!
2524
- INIT_RELOCALIZE success!
2525
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2526
- pKFCur->mTimeStamp13.46345
2527
- vpKFs.front()->mTimeStamp-1149.2806837251981
2528
- vpKFs.back()->mTimeStamp-0.016675004168751784
2529
- pKFcur->GetMapPointMatches().size()1253
2530
- 1691 pKFcur->GetVelocity() -1709.45751953125
2531
- 1327.7447509765625
2532
- 419.18569946289062
2533
- pKFcur->mnId486
2534
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2535
- Fail to track local map!
2536
- Relocalized!!
2537
- INIT_RELOCALIZE success!
2538
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2539
- pKFCur->mTimeStamp13.496816666666668
2540
- vpKFs.front()->mTimeStamp-1162.7608087293668
2541
- vpKFs.back()->mTimeStamp-0.016675004168751784
2542
- pKFcur->GetMapPointMatches().size()1253
2543
- 1691 pKFcur->GetVelocity() -1698.486572265625
2544
- 1315.3897705078125
2545
- 442.67657470703125
2546
- pKFcur->mnId487
2547
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2548
- Fail to track local map!
2549
- Relocalized!!
2550
- INIT_RELOCALIZE success!
2551
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2552
- pKFCur->mTimeStamp13.530183333333333
2553
- vpKFs.front()->mTimeStamp-1176.2743004002023
2554
- vpKFs.back()->mTimeStamp-0.016675004168751784
2555
- pKFcur->GetMapPointMatches().size()1253
2556
- 1691 pKFcur->GetVelocity() -1686.2730712890625
2557
- 1299.6558837890625
2558
- 466.04006958007812
2559
- pKFcur->mnId488
2560
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2561
- Fail to track local map!
2562
- Relocalized!!
2563
- INIT_RELOCALIZE success!
2564
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2565
- pKFCur->mTimeStamp13.563550000000001
2566
- vpKFs.front()->mTimeStamp-1189.8211587377043
2567
- vpKFs.back()->mTimeStamp-0.016675004168751784
2568
- pKFcur->GetMapPointMatches().size()1251
2569
- 1691 pKFcur->GetVelocity() -1669.7645263671875
2570
- 1281.1815185546875
2571
- 488.9398193359375
2572
- pKFcur->mnId489
2573
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2574
- Fail to track local map!
2575
- Relocalized!!
2576
- INIT_RELOCALIZE success!
2577
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2578
- pKFCur->mTimeStamp13.596916666666667
2579
- vpKFs.front()->mTimeStamp-1203.4013837418731
2580
- vpKFs.back()->mTimeStamp-0.016675004168751784
2581
- pKFcur->GetMapPointMatches().size()1251
2582
- 1691 pKFcur->GetVelocity() -1647.3145751953125
2583
- 1258.8741455078125
2584
- 510.7852783203125
2585
- pKFcur->mnId490
2586
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2587
- Fail to track local map!
2588
- Relocalization() failed.
2589
- Fail to track local map!
2590
- Relocalized!!
2591
- INIT_RELOCALIZE success!
2592
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2593
- pKFCur->mTimeStamp13.646966666666668
2594
- vpKFs.front()->mTimeStamp-1217.0149754127085
2595
- vpKFs.back()->mTimeStamp-0.016675004168751784
2596
- pKFcur->GetMapPointMatches().size()1255
2597
- 1691 pKFcur->GetVelocity() -1620.3719482421875
2598
- 1234.89208984375
2599
- 531.8433837890625
2600
- pKFcur->mnId491
2601
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2602
- Fail to track local map!
2603
- Relocalized!!
2604
- INIT_RELOCALIZE success!
2605
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2606
- pKFCur->mTimeStamp13.680333333333333
2607
- vpKFs.front()->mTimeStamp-1230.6786170835439
2608
- vpKFs.back()->mTimeStamp-0.016675004168751784
2609
- pKFcur->GetMapPointMatches().size()1255
2610
- 1691 pKFcur->GetVelocity() -1590.1966552734375
2611
- 1206.4931640625
2612
- 551.81573486328125
2613
- pKFcur->mnId492
2614
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 3
2615
- Fail to track local map!
2616
- Relocalized!!
2617
- INIT_RELOCALIZE success!
2618
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2619
- pKFCur->mTimeStamp13.713700000000001
2620
- vpKFs.front()->mTimeStamp-1244.3756254210459
2621
- vpKFs.back()->mTimeStamp-0.016675004168751784
2622
- pKFcur->GetMapPointMatches().size()1253
2623
- 1691 pKFcur->GetVelocity() -1559.6451416015625
2624
- 1178.437744140625
2625
- 571.99200439453125
2626
- pKFcur->mnId493
2627
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2628
- Fail to track local map!
2629
- Relocalized!!
2630
- INIT_RELOCALIZE success!
2631
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2632
- pKFCur->mTimeStamp13.747066666666667
2633
- vpKFs.front()->mTimeStamp-1258.1060004252147
2634
- vpKFs.back()->mTimeStamp-0.016675004168751784
2635
- pKFcur->GetMapPointMatches().size()1257
2636
- 1691 pKFcur->GetVelocity() -1528.80322265625
2637
- 1149.3682861328125
2638
- 592.1224365234375
2639
- pKFcur->mnId494
2640
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2641
- Fail to track local map!
2642
- Relocalized!!
2643
- INIT_RELOCALIZE success!
2644
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2645
- pKFCur->mTimeStamp13.780433333333333
2646
- vpKFs.front()->mTimeStamp-1271.86974209605
2647
- vpKFs.back()->mTimeStamp-0.016675004168751784
2648
- pKFcur->GetMapPointMatches().size()1253
2649
- 1691 pKFcur->GetVelocity() -1497.7125244140625
2650
- 1117.756591796875
2651
- 611.92822265625
2652
- pKFcur->mnId495
2653
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
2654
- Fail to track local map!
2655
- Relocalization() failed.
2656
- Fail to track local map!
2657
- Relocalization() failed.
2658
- Fail to track local map!
2659
- Relocalization() failed.
2660
- Fail to track local map!
2661
- Relocalized!!
2662
- INIT_RELOCALIZE success!
2663
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2664
- pKFCur->mTimeStamp13.863850000000001
2665
- vpKFs.front()->mTimeStamp-1285.6668504335521
2666
- vpKFs.back()->mTimeStamp-0.016675004168751784
2667
- pKFcur->GetMapPointMatches().size()1255
2668
- 1691 pKFcur->GetVelocity() -1465.1363525390625
2669
- 1089.310302734375
2670
- 632.2255859375
2671
- pKFcur->mnId496
2672
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
2673
- Fail to track local map!
2674
- Relocalization() failed.
2675
- Fail to track local map!
2676
- Relocalized!!
2677
- INIT_RELOCALIZE success!
2678
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2679
- pKFCur->mTimeStamp13.9139
2680
- vpKFs.front()->mTimeStamp-1299.5473754377208
2681
- vpKFs.back()->mTimeStamp-0.016675004168751784
2682
- pKFcur->GetMapPointMatches().size()1250
2683
- 1691 pKFcur->GetVelocity() -1428.21142578125
2684
- 1060.855224609375
2685
- 652.0880126953125
2686
- pKFcur->mnId497
2687
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2688
- Fail to track local map!
2689
- Relocalized!!
2690
- INIT_RELOCALIZE success!
2691
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2692
- pKFCur->mTimeStamp13.947266666666668
2693
- vpKFs.front()->mTimeStamp-1313.4779504418896
2694
- vpKFs.back()->mTimeStamp-0.016675004168751784
2695
- pKFcur->GetMapPointMatches().size()1254
2696
- 1691 pKFcur->GetVelocity() -1390.7623291015625
2697
- 1034.298095703125
2698
- 672.52972412109375
2699
- pKFcur->mnId498
2700
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
2701
- Fail to track local map!
2702
- Relocalized!!
2703
- INIT_RELOCALIZE success!
2704
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2705
- pKFCur->mTimeStamp13.980633333333333
2706
- vpKFs.front()->mTimeStamp-1327.4418921127249
2707
- vpKFs.back()->mTimeStamp-0.016675004168751784
2708
- pKFcur->GetMapPointMatches().size()1253
2709
- 1691 pKFcur->GetVelocity() -1353.2587890625
2710
- 1008.3497924804688
2711
- 693.284423828125
2712
- pKFcur->mnId499
2713
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2714
- Fail to track local map!
2715
- Relocalization() failed.
2716
- Fail to track local map!
2717
- Relocalized!!
2718
- INIT_RELOCALIZE success!
2719
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2720
- pKFCur->mTimeStamp14.030683333333334
2721
- vpKFs.front()->mTimeStamp-1341.439200450227
2722
- vpKFs.back()->mTimeStamp-0.016675004168751784
2723
- pKFcur->GetMapPointMatches().size()1252
2724
- 1691 pKFcur->GetVelocity() -1315.1732177734375
2725
- 985.10687255859375
2726
- 714.5816650390625
2727
- pKFcur->mnId500
2728
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2729
- Fail to track local map!
2730
- Relocalized!!
2731
- INIT_RELOCALIZE success!
2732
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2733
- pKFCur->mTimeStamp14.06405
2734
- vpKFs.front()->mTimeStamp-1355.4865587877291
2735
- vpKFs.back()->mTimeStamp-0.016675004168751784
2736
- pKFcur->GetMapPointMatches().size()1251
2737
- 1691 pKFcur->GetVelocity() -1275.5980224609375
2738
- 965.92462158203125
2739
- 736.44879150390625
2740
- pKFcur->mnId501
2741
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2742
- Fail to track local map!
2743
- Relocalized!!
2744
- INIT_RELOCALIZE success!
2745
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2746
- pKFCur->mTimeStamp14.097416666666668
2747
- vpKFs.front()->mTimeStamp-1369.5672837918978
2748
- vpKFs.back()->mTimeStamp-0.016675004168751784
2749
- pKFcur->GetMapPointMatches().size()1253
2750
- 1691 pKFcur->GetVelocity() -1235.1729736328125
2751
- 948.425048828125
2752
- 758.5770263671875
2753
- pKFcur->mnId502
2754
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2755
- Fail to track local map!
2756
- Relocalization() failed.
2757
- Fail to track local map!
2758
- Relocalization() failed.
2759
- Fail to track local map!
2760
- Relocalization() failed.
2761
- Fail to track local map!
2762
- Relocalized!!
2763
- INIT_RELOCALIZE success!
2764
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2765
- pKFCur->mTimeStamp14.180833333333334
2766
- vpKFs.front()->mTimeStamp-1383.6813754627333
2767
- vpKFs.back()->mTimeStamp-0.016675004168751784
2768
- pKFcur->GetMapPointMatches().size()1251
2769
- 1691 pKFcur->GetVelocity() -1193.4853515625
2770
- 933.71160888671875
2771
- 780.9315185546875
2772
- pKFcur->mnId503
2773
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
2774
- Fail to track local map!
2775
- Relocalization() failed.
2776
- Fail to track local map!
2777
- Relocalization() failed.
2778
- Fail to track local map!
2779
- Relocalization() failed.
2780
- Fail to track local map!
2781
- Relocalization() failed.
2782
- Fail to track local map!
2783
- Relocalization() failed.
2784
- Fail to track local map!
2785
- Relocalization() failed.
2786
- Fail to track local map!
2787
- Relocalization() failed.
2788
- Fail to track local map!
2789
- Relocalization() failed.
2790
- Fail to track local map!
2791
- Relocalization() failed.
2792
- Fail to track local map!
2793
- Relocalization() failed.
2794
- Fail to track local map!
2795
- Relocalization() failed.
2796
- Fail to track local map!
2797
- Relocalization() failed.
2798
- Fail to track local map!
2799
- Relocalized!!
2800
- INIT_RELOCALIZE success!
2801
- vpKFs.back()->mpImuPreintegrated0x5638fd0fd820
2802
- pKFCur->mTimeStamp14.414400000000001
2803
- vpKFs.front()->mTimeStamp-1397.8788838002354
2804
- vpKFs.back()->mTimeStamp-0.016675004168751784
2805
- pKFcur->GetMapPointMatches().size()1253
2806
- 1691 pKFcur->GetVelocity() -1149.041259765625
2807
- 926.770263671875
2808
- 803.8572998046875
2809
- pKFcur->mnId504
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:51dab7d7abd9b1751a63eed871fdd6492961bc7e1e57618f3eacdd33722bdfb1
3
+ size 87080
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.18.47.352017/extract_gopro_imu_stdout.txt CHANGED
@@ -1,9 +1,3 @@
1
- Input video path: /data/raw_video.mp4
2
- Output file will be: /data/imu_data.json
3
- Opening /data/raw_video.mp4
4
- Read stream data from raw_video.mp4
5
- Extracted information for raw_video.mp4
6
- Flushing on end after 199123812 bytes
7
- Generated telemetry for raw_video.mp4
8
- Telemetry saved as JSON to imu_data.json
9
- Done
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cffa62ef18449710bd877dc3069c8fbad4113584f7d40b0ddce283db315adebe
3
+ size 305
 
 
 
 
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.18.47.352017/imu_data.json CHANGED
The diff for this file is too large to render. See raw diff
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.18.47.352017/slam_stderr.txt CHANGED
@@ -1,5 +1,3 @@
1
- Camera.newHeight optional parameter does not exist...
2
- Camera.newWidth optional parameter does not exist...
3
- IMU.InsertKFsWhenLost optional parameter does not exist...
4
- System.LoadAtlasFromFile optional parameter does not exist...
5
- System.SaveAtlasToFile optional parameter does not exist...
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1ea8ed4c8b2c9b5fd1da03c7cfbc327c48265a06f98afdb0fa57d62e6be5570a
3
+ size 288
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.18.47.352017/slam_stdout.txt CHANGED
@@ -1,946 +1,3 @@
1
- Mask img size mismatch! Converting [2704 x 2028] to [640 x 480]
2
-
3
- ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
- ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
- This program comes with ABSOLUTELY NO WARRANTY;
6
- This is free software, and you are welcome to redistribute it
7
- under certain conditions. See LICENSE.txt.
8
-
9
- Input sensor was set to: Monocular-Inertial
10
- Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_480.yaml
11
- -Loaded camera 1
12
- -Loaded image info
13
- -Loaded IMU calibration
14
- -Loaded ORB settings
15
- -Loaded viewer settings
16
- -Loaded Atlas settings
17
- -Loaded misc parameters
18
- ----------------------------------
19
- SLAM settings:
20
- -Camera 1 parameters (Kannala-Brandt): [ 188.605 188.605 320.574 239.405 -0.0174584 -0.0280825 0.0128327 -0.0045198 ]
21
- -Original image size: [ 640 , 480 ]
22
- -Current image size: [ 640 , 480 ]
23
- -Sequence FPS: 60
24
- -Gyro noise: 0.0015
25
- -Accelerometer noise: 0.017
26
- -Gyro walk: 5e-05
27
- -Accelerometer walk: 0.0055
28
- -IMU frequency: 200
29
- -Features per image: 1250
30
- -ORB scale factor: 1.2
31
- -ORB number of scales: 6
32
- -Initial FAST threshold: 20
33
- -Min FAST threshold: 7
34
-
35
-
36
- Loading ORB Vocabulary. This could take a while...
37
- Vocabulary loaded!
38
-
39
- Initialization of Atlas from file: /map/map_atlas.osa
40
- Starting to read the save binary file
41
- End to load the save binary file
42
- Change to map with id: 0
43
- Atlas loaded!
44
- There are 1 cameras in the atlas
45
- Camera 0 is fisheye
46
- Discard points further than 20 m from current camera
47
- Video opened using backend FFMPEG
48
- There are 1586 frames in total
49
- video FPS 59.9401
50
- line 1873 keyframes 72MapPoints2546
51
- line 1877
52
- mlFrameTimes.size()= 0
53
- KeyFrame::nNextId=393
54
- Relocalization() failed.
55
- Fail to track local map!
56
- Video FPS: 59.9401
57
- ORB-SLAM 3 running at: 9.02439 FPS
58
- Relocalization() failed.
59
- Fail to track local map!
60
- Relocalization() failed.
61
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Relocalization() failed.
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- Fail to track local map!
256
- Relocalization() failed.
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- Fail to track local map!
258
- Video FPS: 59.940059940059939
259
- ORB-SLAM 3 running at: 25.488043138411058 FPS
260
- Relocalization() failed.
261
- Fail to track local map!
262
- Relocalization() failed.
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- Fail to track local map!
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354
- Relocalization() failed.
355
- Fail to track local map!
356
- Relocalization() failed.
357
- Fail to track local map!
358
- Relocalization() failed.
359
- Fail to track local map!
360
- Relocalization() failed.
361
- Fail to track local map!
362
- Relocalization() failed.
363
- Fail to track local map!
364
- Relocalization() failed.
365
- Fail to track local map!
366
- Relocalization() failed.
367
- Fail to track local map!
368
- Relocalization() failed.
369
- Fail to track local map!
370
- Relocalization() failed.
371
- Fail to track local map!
372
- Relocalization() failed.
373
- Fail to track local map!
374
- Relocalization() failed.
375
- Fail to track local map!
376
- Relocalization() failed.
377
- Fail to track local map!
378
- Relocalization() failed.
379
- Fail to track local map!
380
- Relocalization() failed.
381
- Fail to track local map!
382
- Relocalization() failed.
383
- Fail to track local map!
384
- Relocalization() failed.
385
- Fail to track local map!
386
- Relocalization() failed.
387
- Fail to track local map!
388
- Relocalization() failed.
389
- Fail to track local map!
390
- Relocalization() failed.
391
- Fail to track local map!
392
- Relocalization() failed.
393
- Fail to track local map!
394
- Relocalization() failed.
395
- Fail to track local map!
396
- Relocalization() failed.
397
- Fail to track local map!
398
- Relocalization() failed.
399
- Fail to track local map!
400
- Relocalization() failed.
401
- Fail to track local map!
402
- Relocalization() failed.
403
- Fail to track local map!
404
- Relocalization() failed.
405
- Fail to track local map!
406
- Relocalization() failed.
407
- Fail to track local map!
408
- Relocalization() failed.
409
- Fail to track local map!
410
- Relocalization() failed.
411
- Fail to track local map!
412
- Relocalization() failed.
413
- Fail to track local map!
414
- Relocalization() failed.
415
- Fail to track local map!
416
- Relocalization() failed.
417
- Fail to track local map!
418
- Relocalization() failed.
419
- Fail to track local map!
420
- Relocalization() failed.
421
- Fail to track local map!
422
- Relocalization() failed.
423
- Fail to track local map!
424
- Relocalization() failed.
425
- Fail to track local map!
426
- Relocalization() failed.
427
- Fail to track local map!
428
- Relocalization() failed.
429
- Fail to track local map!
430
- Relocalization() failed.
431
- Fail to track local map!
432
- Relocalization() failed.
433
- Fail to track local map!
434
- Relocalization() failed.
435
- Fail to track local map!
436
- Relocalization() failed.
437
- Fail to track local map!
438
- Relocalization() failed.
439
- Fail to track local map!
440
- Relocalization() failed.
441
- Fail to track local map!
442
- Relocalization() failed.
443
- Fail to track local map!
444
- Relocalization() failed.
445
- Fail to track local map!
446
- Relocalization() failed.
447
- Fail to track local map!
448
- Relocalization() failed.
449
- Fail to track local map!
450
- Relocalization() failed.
451
- Fail to track local map!
452
- Relocalization() failed.
453
- Fail to track local map!
454
- Relocalization() failed.
455
- Fail to track local map!
456
- Relocalization() failed.
457
- Fail to track local map!
458
- Relocalization() failed.
459
- Fail to track local map!
460
- Video FPS: 59.940059940059939
461
- ORB-SLAM 3 running at: 20.414974367366483 FPS
462
- Relocalization() failed.
463
- Fail to track local map!
464
- Relocalization() failed.
465
- Fail to track local map!
466
- Relocalization() failed.
467
- Fail to track local map!
468
- Relocalization() failed.
469
- Fail to track local map!
470
- Relocalization() failed.
471
- Fail to track local map!
472
- Relocalization() failed.
473
- Fail to track local map!
474
- Relocalization() failed.
475
- Fail to track local map!
476
- Relocalization() failed.
477
- Fail to track local map!
478
- Relocalization() failed.
479
- Fail to track local map!
480
- Relocalization() failed.
481
- Fail to track local map!
482
- Relocalization() failed.
483
- Fail to track local map!
484
- Relocalization() failed.
485
- Fail to track local map!
486
- Relocalization() failed.
487
- Fail to track local map!
488
- Relocalization() failed.
489
- Fail to track local map!
490
- Relocalization() failed.
491
- Fail to track local map!
492
- Relocalization() failed.
493
- Fail to track local map!
494
- Relocalization() failed.
495
- Fail to track local map!
496
- Relocalization() failed.
497
- Fail to track local map!
498
- Relocalization() failed.
499
- Fail to track local map!
500
- Relocalization() failed.
501
- Fail to track local map!
502
- Relocalization() failed.
503
- Fail to track local map!
504
- Relocalization() failed.
505
- Fail to track local map!
506
- Relocalization() failed.
507
- Fail to track local map!
508
- Relocalization() failed.
509
- Fail to track local map!
510
- Relocalization() failed.
511
- Fail to track local map!
512
- Relocalization() failed.
513
- Fail to track local map!
514
- Relocalization() failed.
515
- Fail to track local map!
516
- Relocalization() failed.
517
- Fail to track local map!
518
- Relocalization() failed.
519
- Fail to track local map!
520
- Relocalization() failed.
521
- Fail to track local map!
522
- Relocalization() failed.
523
- Fail to track local map!
524
- Relocalization() failed.
525
- Fail to track local map!
526
- Relocalization() failed.
527
- Fail to track local map!
528
- Relocalization() failed.
529
- Fail to track local map!
530
- Relocalization() failed.
531
- Fail to track local map!
532
- Relocalization() failed.
533
- Fail to track local map!
534
- Relocalization() failed.
535
- Fail to track local map!
536
- Relocalization() failed.
537
- Fail to track local map!
538
- Relocalization() failed.
539
- Fail to track local map!
540
- Relocalization() failed.
541
- Fail to track local map!
542
- Relocalization() failed.
543
- Fail to track local map!
544
- Relocalization() failed.
545
- Fail to track local map!
546
- Relocalization() failed.
547
- Fail to track local map!
548
- Relocalization() failed.
549
- Fail to track local map!
550
- Relocalization() failed.
551
- Fail to track local map!
552
- Relocalization() failed.
553
- Fail to track local map!
554
- Relocalization() failed.
555
- Fail to track local map!
556
- Relocalization() failed.
557
- Fail to track local map!
558
- Relocalization() failed.
559
- Fail to track local map!
560
- Relocalization() failed.
561
- Fail to track local map!
562
- Relocalization() failed.
563
- Fail to track local map!
564
- Relocalization() failed.
565
- Fail to track local map!
566
- Relocalization() failed.
567
- Fail to track local map!
568
- Relocalization() failed.
569
- Fail to track local map!
570
- Relocalization() failed.
571
- Fail to track local map!
572
- Relocalization() failed.
573
- Fail to track local map!
574
- Relocalization() failed.
575
- Fail to track local map!
576
- Relocalization() failed.
577
- Fail to track local map!
578
- Relocalization() failed.
579
- Fail to track local map!
580
- Relocalization() failed.
581
- Fail to track local map!
582
- Relocalization() failed.
583
- Fail to track local map!
584
- Relocalization() failed.
585
- Fail to track local map!
586
- Relocalization() failed.
587
- Fail to track local map!
588
- Relocalization() failed.
589
- Fail to track local map!
590
- Relocalization() failed.
591
- Fail to track local map!
592
- Relocalization() failed.
593
- Fail to track local map!
594
- Relocalization() failed.
595
- Fail to track local map!
596
- Relocalization() failed.
597
- Fail to track local map!
598
- Relocalization() failed.
599
- Fail to track local map!
600
- Relocalization() failed.
601
- Fail to track local map!
602
- Relocalization() failed.
603
- Fail to track local map!
604
- Relocalization() failed.
605
- Fail to track local map!
606
- Relocalization() failed.
607
- Fail to track local map!
608
- Relocalization() failed.
609
- Fail to track local map!
610
- Relocalization() failed.
611
- Fail to track local map!
612
- Relocalization() failed.
613
- Fail to track local map!
614
- Relocalization() failed.
615
- Fail to track local map!
616
- Relocalization() failed.
617
- Fail to track local map!
618
- Relocalization() failed.
619
- Fail to track local map!
620
- Relocalization() failed.
621
- Fail to track local map!
622
- Relocalization() failed.
623
- Fail to track local map!
624
- Relocalization() failed.
625
- Fail to track local map!
626
- Relocalization() failed.
627
- Fail to track local map!
628
- Relocalization() failed.
629
- Fail to track local map!
630
- Relocalization() failed.
631
- Fail to track local map!
632
- Relocalization() failed.
633
- Fail to track local map!
634
- Relocalization() failed.
635
- Fail to track local map!
636
- Relocalization() failed.
637
- Fail to track local map!
638
- Relocalization() failed.
639
- Fail to track local map!
640
- Relocalization() failed.
641
- Fail to track local map!
642
- Relocalization() failed.
643
- Fail to track local map!
644
- Relocalization() failed.
645
- Fail to track local map!
646
- Relocalization() failed.
647
- Fail to track local map!
648
- Relocalization() failed.
649
- Fail to track local map!
650
- Relocalization() failed.
651
- Fail to track local map!
652
- Relocalization() failed.
653
- Fail to track local map!
654
- Relocalization() failed.
655
- Fail to track local map!
656
- Relocalization() failed.
657
- Fail to track local map!
658
- Relocalization() failed.
659
- Fail to track local map!
660
- Relocalization() failed.
661
- Fail to track local map!
662
- Video FPS: 59.940059940059939
663
- ORB-SLAM 3 running at: 21.416100221523859 FPS
664
- Relocalization() failed.
665
- Fail to track local map!
666
- Relocalization() failed.
667
- Fail to track local map!
668
- Relocalization() failed.
669
- Fail to track local map!
670
- Relocalization() failed.
671
- Fail to track local map!
672
- Relocalization() failed.
673
- Fail to track local map!
674
- Relocalization() failed.
675
- Fail to track local map!
676
- Relocalization() failed.
677
- Fail to track local map!
678
- Relocalization() failed.
679
- Fail to track local map!
680
- Relocalization() failed.
681
- Fail to track local map!
682
- Relocalization() failed.
683
- Fail to track local map!
684
- Relocalization() failed.
685
- Fail to track local map!
686
- Relocalization() failed.
687
- Fail to track local map!
688
- Relocalization() failed.
689
- Fail to track local map!
690
- Relocalization() failed.
691
- Fail to track local map!
692
- Relocalization() failed.
693
- Fail to track local map!
694
- Relocalization() failed.
695
- Fail to track local map!
696
- Relocalization() failed.
697
- Fail to track local map!
698
- Relocalization() failed.
699
- Fail to track local map!
700
- Relocalization() failed.
701
- Fail to track local map!
702
- Relocalization() failed.
703
- Fail to track local map!
704
- Relocalized!!
705
- INIT_RELOCALIZE success!
706
- vpKFs.back()->mpImuPreintegrated0x557412117f60
707
- pKFCur->mTimeStamp5.3553500000000005
708
- vpKFs.front()->mTimeStamp-59.192458337502089
709
- vpKFs.back()->mTimeStamp-0.01667500416875356
710
- pKFcur->GetMapPointMatches().size()1254
711
- 1691 pKFcur->GetVelocity() 0
712
- 0
713
- 0
714
- pKFcur->mnId393
715
- TRACK_REF_KF: Less than 15 matches!!
716
- Fail to track local map!
717
- Relocalization() failed.
718
- Fail to track local map!
719
- Relocalization() failed.
720
- Fail to track local map!
721
- Relocalization() failed.
722
- Fail to track local map!
723
- Relocalization() failed.
724
- Fail to track local map!
725
- Relocalization() failed.
726
- Fail to track local map!
727
- Relocalization() failed.
728
- Fail to track local map!
729
- Relocalization() failed.
730
- Fail to track local map!
731
- Relocalization() failed.
732
- Fail to track local map!
733
- Relocalization() failed.
734
- Fail to track local map!
735
- Relocalization() failed.
736
- Fail to track local map!
737
- Relocalized!!
738
- INIT_RELOCALIZE success!
739
- vpKFs.back()->mpImuPreintegrated0x557412993850
740
- pKFCur->mTimeStamp5.5555500000000002
741
- vpKFs.front()->mTimeStamp-64.564483341670837
742
- vpKFs.back()->mTimeStamp-0.016675004168750895
743
- pKFcur->GetMapPointMatches().size()1250
744
- 1691 pKFcur->GetVelocity() 0
745
- 0
746
- 0
747
- pKFcur->mnId394
748
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
749
- Fail to track local map!
750
- Relocalized!!
751
- INIT_RELOCALIZE success!
752
- vpKFs.back()->mpImuPreintegrated0x557412993850
753
- pKFCur->mTimeStamp5.7891166666666667
754
- vpKFs.front()->mTimeStamp-70.136708345839594
755
- vpKFs.back()->mTimeStamp-0.016675004168750895
756
- pKFcur->GetMapPointMatches().size()1252
757
- 1691 pKFcur->GetVelocity() -0.89053201675415039
758
- 4.3536720275878906
759
- -3.266671895980835
760
- pKFcur->mnId395
761
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
762
- Fail to track local map!
763
- Relocalization() failed.
764
- Fail to track local map!
765
- Relocalization() failed.
766
- Fail to track local map!
767
- Relocalized!!
768
- INIT_RELOCALIZE success!
769
- vpKFs.back()->mpImuPreintegrated0x557412993850
770
- pKFCur->mTimeStamp5.9392666666666667
771
- vpKFs.front()->mTimeStamp-75.942500016675012
772
- vpKFs.back()->mTimeStamp-0.016675004168750895
773
- pKFcur->GetMapPointMatches().size()1255
774
- 1691 pKFcur->GetVelocity() -1.9683500528335571
775
- 6.7440385818481445
776
- -0.5155714750289917
777
- pKFcur->mnId396
778
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
779
- Fail to track local map!
780
- Relocalized!!
781
- INIT_RELOCALIZE success!
782
- vpKFs.back()->mpImuPreintegrated0x557412993850
783
- pKFCur->mTimeStamp6.0560499999999999
784
- vpKFs.front()->mTimeStamp-81.898441687510427
785
- vpKFs.back()->mTimeStamp-0.016675004168750895
786
- pKFcur->GetMapPointMatches().size()1253
787
- 1691 pKFcur->GetVelocity() 1.5889781713485718
788
- 6.5673031806945801
789
- -0.74059891700744629
790
- pKFcur->mnId397
791
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
792
- Fail to track local map!
793
- Relocalized!!
794
- INIT_RELOCALIZE success!
795
- vpKFs.back()->mpImuPreintegrated0x557412993850
796
- pKFCur->mTimeStamp6.189516666666667
797
- vpKFs.front()->mTimeStamp-87.971166691679173
798
- vpKFs.back()->mTimeStamp-0.016675004168750895
799
- pKFcur->GetMapPointMatches().size()1251
800
- 1691 pKFcur->GetVelocity() 1.5808765888214111
801
- 7.0243291854858398
802
- -1.6104574203491211
803
- pKFcur->mnId398
804
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
805
- Fail to track local map!
806
- Relocalized!!
807
- INIT_RELOCALIZE success!
808
- vpKFs.back()->mpImuPreintegrated0x557412993850
809
- pKFCur->mTimeStamp6.2896166666666664
810
- vpKFs.front()->mTimeStamp-94.177358362514596
811
- vpKFs.back()->mTimeStamp-0.016675004168750895
812
- pKFcur->GetMapPointMatches().size()1250
813
- 1691 pKFcur->GetVelocity() 1.4904284477233887
814
- 9.1741371154785156
815
- -1.2273575067520142
816
- pKFcur->mnId399
817
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 27
818
- Fail to track local map!
819
- Relocalized!!
820
- INIT_RELOCALIZE success!
821
- vpKFs.back()->mpImuPreintegrated0x557412993850
822
- pKFCur->mTimeStamp6.3229833333333332
823
- vpKFs.front()->mTimeStamp-100.48365003335002
824
- vpKFs.back()->mTimeStamp-0.016675004168750895
825
- pKFcur->GetMapPointMatches().size()1250
826
- 1691 pKFcur->GetVelocity() -2.2325048446655273
827
- -14.115854263305664
828
- 2.9442036151885986
829
- pKFcur->mnId400
830
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 24
831
- Fail to track local map!
832
- Relocalized!!
833
- INIT_RELOCALIZE success!
834
- vpKFs.back()->mpImuPreintegrated0x557412993850
835
- pKFCur->mTimeStamp6.3563499999999999
836
- vpKFs.front()->mTimeStamp-106.8233083708521
837
- vpKFs.back()->mTimeStamp-0.016675004168750895
838
- pKFcur->GetMapPointMatches().size()1253
839
- 1691 pKFcur->GetVelocity() 2.093456506729126
840
- 16.277116775512695
841
- -3.325101375579834
842
- pKFcur->mnId401
843
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 4
844
- Fail to track local map!
845
- Relocalized!!
846
- INIT_RELOCALIZE success!
847
- vpKFs.back()->mpImuPreintegrated0x557412993850
848
- pKFCur->mTimeStamp6.3897166666666667
849
- vpKFs.front()->mTimeStamp-113.19633337502086
850
- vpKFs.back()->mTimeStamp-0.016675004168750895
851
- pKFcur->GetMapPointMatches().size()1253
852
- 1691 pKFcur->GetVelocity() -3.7039096355438232
853
- -23.579608917236328
854
- 5.4916834831237793
855
- pKFcur->mnId402
856
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
857
- Fail to track local map!
858
- Relocalized!!
859
- INIT_RELOCALIZE success!
860
- vpKFs.back()->mpImuPreintegrated0x557412993850
861
- pKFCur->mTimeStamp6.4230833333333335
862
- vpKFs.front()->mTimeStamp-119.60272504585627
863
- vpKFs.back()->mTimeStamp-0.016675004168750895
864
- pKFcur->GetMapPointMatches().size()1256
865
- 1691 pKFcur->GetVelocity() 4.4183859825134277
866
- -12.042349815368652
867
- 3.8315994739532471
868
- pKFcur->mnId403
869
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 24
870
- Fail to track local map!
871
- Relocalized!!
872
- INIT_RELOCALIZE success!
873
- vpKFs.back()->mpImuPreintegrated0x557412993850
874
- pKFCur->mTimeStamp6.4564500000000002
875
- vpKFs.front()->mTimeStamp-126.04248338335836
876
- vpKFs.back()->mTimeStamp-0.016675004168750895
877
- pKFcur->GetMapPointMatches().size()1254
878
- 1691 pKFcur->GetVelocity() -6.3503413200378418
879
- 13.659231185913086
880
- -3.3005316257476807
881
- pKFcur->mnId404
882
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 7
883
- Fail to track local map!
884
- Relocalized!!
885
- INIT_RELOCALIZE success!
886
- vpKFs.back()->mpImuPreintegrated0x557412993850
887
- pKFCur->mTimeStamp6.489816666666667
888
- vpKFs.front()->mTimeStamp-132.51560838752712
889
- vpKFs.back()->mTimeStamp-0.016675004168750895
890
- pKFcur->GetMapPointMatches().size()1252
891
- 1691 pKFcur->GetVelocity() 7.6956925392150879
892
- -20.597963333129883
893
- 5.3736839294433594
894
- pKFcur->mnId405
895
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
896
- Fail to track local map!
897
- Relocalized!!
898
- INIT_RELOCALIZE success!
899
- vpKFs.back()->mpImuPreintegrated0x557412993850
900
- pKFCur->mTimeStamp6.5231833333333338
901
- vpKFs.front()->mTimeStamp-139.02210005836255
902
- vpKFs.back()->mTimeStamp-0.016675004168750895
903
- pKFcur->GetMapPointMatches().size()1252
904
- 1691 pKFcur->GetVelocity() 9.1337890625
905
- -5.9827594757080078
906
- 3.2238860130310059
907
- pKFcur->mnId406
908
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 24
909
- Fail to track local map!
910
- Relocalized!!
911
- INIT_RELOCALIZE success!
912
- vpKFs.back()->mpImuPreintegrated0x557412993850
913
- pKFCur->mTimeStamp6.5565500000000005
914
- vpKFs.front()->mTimeStamp-145.56195839586465
915
- vpKFs.back()->mTimeStamp-0.016675004168750895
916
- pKFcur->GetMapPointMatches().size()1253
917
- 1691 pKFcur->GetVelocity() -12.22895336151123
918
- 5.9275650978088379
919
- -1.6086274385452271
920
- pKFcur->mnId407
921
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 16
922
- Fail to track local map!
923
- Relocalized!!
924
- INIT_RELOCALIZE success!
925
- vpKFs.back()->mpImuPreintegrated0x557412993850
926
- pKFCur->mTimeStamp6.5899166666666664
927
- vpKFs.front()->mTimeStamp-152.13518340003341
928
- vpKFs.back()->mTimeStamp-0.016675004168750895
929
- pKFcur->GetMapPointMatches().size()1253
930
- 1691 pKFcur->GetVelocity() 12.416229248046875
931
- -10.532356262207031
932
- 3.1705737113952637
933
- pKFcur->mnId408
934
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 7
935
- Fail to track local map!
936
- Relocalized!!
937
- INIT_RELOCALIZE success!
938
- vpKFs.back()->mpImuPreintegrated0x557412993850
939
- pKFCur->mTimeStamp6.6232833333333332
940
- vpKFs.front()->mTimeStamp-158.74177507086884
941
- vpKFs.back()->mTimeStamp-0.016675004168750895
942
- pKFcur->GetMapPointMatches().size()1253
943
- 1691 pKFcur->GetVelocity() -17.181369781494141
944
- 11.105380058288574
945
- -2.3922617435455322
946
- pKFcur->mnId409
 
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+ oid sha256:8a0b6d3e5723c5c5a7c621a007f275235a111cff63bc0fc8b26158cb9f8b5dc4
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+ size 26529
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/camera_trajectory.csv CHANGED
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bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.21.39.073567/extract_gopro_imu_stdout.txt CHANGED
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bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.22.04.782583/extract_gopro_imu_stdout.txt CHANGED
@@ -1,9 +1,3 @@
1
- Input video path: /data/raw_video.mp4
2
- Output file will be: /data/imu_data.json
3
- Opening /data/raw_video.mp4
4
- Read stream data from raw_video.mp4
5
- Extracted information for raw_video.mp4
6
- Flushing on end after 100144208 bytes
7
- Generated telemetry for raw_video.mp4
8
- Telemetry saved as JSON to imu_data.json
9
- Done
 
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bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.22.04.782583/imu_data.json CHANGED
The diff for this file is too large to render. See raw diff
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.22.04.782583/slam_stderr.txt CHANGED
@@ -1,5 +1,3 @@
1
- Camera.newHeight optional parameter does not exist...
2
- Camera.newWidth optional parameter does not exist...
3
- IMU.InsertKFsWhenLost optional parameter does not exist...
4
- System.LoadAtlasFromFile optional parameter does not exist...
5
- System.SaveAtlasToFile optional parameter does not exist...
 
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bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.22.04.782583/slam_stdout.txt CHANGED
@@ -1,1653 +1,3 @@
1
- Mask img size mismatch! Converting [2704 x 2028] to [640 x 480]
2
-
3
- ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
- ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
- This program comes with ABSOLUTELY NO WARRANTY;
6
- This is free software, and you are welcome to redistribute it
7
- under certain conditions. See LICENSE.txt.
8
-
9
- Input sensor was set to: Monocular-Inertial
10
- Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_480.yaml
11
- -Loaded camera 1
12
- -Loaded image info
13
- -Loaded IMU calibration
14
- -Loaded ORB settings
15
- -Loaded viewer settings
16
- -Loaded Atlas settings
17
- -Loaded misc parameters
18
- ----------------------------------
19
- SLAM settings:
20
- -Camera 1 parameters (Kannala-Brandt): [ 188.605 188.605 320.574 239.405 -0.0174584 -0.0280825 0.0128327 -0.0045198 ]
21
- -Original image size: [ 640 , 480 ]
22
- -Current image size: [ 640 , 480 ]
23
- -Sequence FPS: 60
24
- -Gyro noise: 0.0015
25
- -Accelerometer noise: 0.017
26
- -Gyro walk: 5e-05
27
- -Accelerometer walk: 0.0055
28
- -IMU frequency: 200
29
- -Features per image: 1250
30
- -ORB scale factor: 1.2
31
- -ORB number of scales: 6
32
- -Initial FAST threshold: 20
33
- -Min FAST threshold: 7
34
-
35
-
36
- Loading ORB Vocabulary. This could take a while...
37
- Vocabulary loaded!
38
-
39
- Initialization of Atlas from file: /map/map_atlas.osa
40
- Starting to read the save binary file
41
- End to load the save binary file
42
- Change to map with id: 0
43
- Atlas loaded!
44
- There are 1 cameras in the atlas
45
- Camera 0 is fisheye
46
- Discard points further than 20 m from current camera
47
- Video opened using backend FFMPEG
48
- There are 797 frames in total
49
- video FPS 59.9401
50
- line 1873 keyframes 72MapPoints2546
51
- line 1877
52
- mlFrameTimes.size()= 0
53
- KeyFrame::nNextId=393
54
- Relocalization() failed.
55
- Fail to track local map!
56
- Video FPS: 59.9401
57
- ORB-SLAM 3 running at: 3.07649 FPS
58
- Relocalization() failed.
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- Relocalization() failed.
241
- Fail to track local map!
242
- Relocalization() failed.
243
- Fail to track local map!
244
- Relocalization() failed.
245
- Fail to track local map!
246
- Relocalization() failed.
247
- Fail to track local map!
248
- Relocalization() failed.
249
- Fail to track local map!
250
- Relocalization() failed.
251
- Fail to track local map!
252
- Relocalization() failed.
253
- Fail to track local map!
254
- Relocalization() failed.
255
- Fail to track local map!
256
- Relocalization() failed.
257
- Fail to track local map!
258
- Video FPS: 59.940059940059939
259
- ORB-SLAM 3 running at: 20.353230726319897 FPS
260
- Relocalization() failed.
261
- Fail to track local map!
262
- Relocalization() failed.
263
- Fail to track local map!
264
- Relocalization() failed.
265
- Fail to track local map!
266
- Relocalization() failed.
267
- Fail to track local map!
268
- Relocalization() failed.
269
- Fail to track local map!
270
- Relocalization() failed.
271
- Fail to track local map!
272
- Relocalization() failed.
273
- Fail to track local map!
274
- Relocalization() failed.
275
- Fail to track local map!
276
- Relocalization() failed.
277
- Fail to track local map!
278
- Relocalization() failed.
279
- Fail to track local map!
280
- Relocalization() failed.
281
- Fail to track local map!
282
- Relocalization() failed.
283
- Fail to track local map!
284
- Relocalization() failed.
285
- Fail to track local map!
286
- Relocalization() failed.
287
- Fail to track local map!
288
- Relocalization() failed.
289
- Fail to track local map!
290
- Relocalization() failed.
291
- Fail to track local map!
292
- Relocalization() failed.
293
- Fail to track local map!
294
- Relocalization() failed.
295
- Fail to track local map!
296
- Relocalization() failed.
297
- Fail to track local map!
298
- Relocalization() failed.
299
- Fail to track local map!
300
- Relocalization() failed.
301
- Fail to track local map!
302
- Relocalization() failed.
303
- Fail to track local map!
304
- Relocalization() failed.
305
- Fail to track local map!
306
- Relocalization() failed.
307
- Fail to track local map!
308
- Relocalization() failed.
309
- Fail to track local map!
310
- Relocalization() failed.
311
- Fail to track local map!
312
- Relocalization() failed.
313
- Fail to track local map!
314
- Relocalization() failed.
315
- Fail to track local map!
316
- Relocalization() failed.
317
- Fail to track local map!
318
- Relocalization() failed.
319
- Fail to track local map!
320
- Relocalization() failed.
321
- Fail to track local map!
322
- Relocalization() failed.
323
- Fail to track local map!
324
- Relocalization() failed.
325
- Fail to track local map!
326
- Relocalization() failed.
327
- Fail to track local map!
328
- Relocalization() failed.
329
- Fail to track local map!
330
- Relocalization() failed.
331
- Fail to track local map!
332
- Relocalization() failed.
333
- Fail to track local map!
334
- Relocalization() failed.
335
- Fail to track local map!
336
- Relocalization() failed.
337
- Fail to track local map!
338
- Relocalization() failed.
339
- Fail to track local map!
340
- Relocalization() failed.
341
- Fail to track local map!
342
- Relocalization() failed.
343
- Fail to track local map!
344
- Relocalization() failed.
345
- Fail to track local map!
346
- Relocalization() failed.
347
- Fail to track local map!
348
- Relocalization() failed.
349
- Fail to track local map!
350
- Relocalization() failed.
351
- Fail to track local map!
352
- Relocalization() failed.
353
- Fail to track local map!
354
- Relocalization() failed.
355
- Fail to track local map!
356
- Relocalization() failed.
357
- Fail to track local map!
358
- Relocalization() failed.
359
- Fail to track local map!
360
- Relocalization() failed.
361
- Fail to track local map!
362
- Relocalization() failed.
363
- Fail to track local map!
364
- Relocalization() failed.
365
- Fail to track local map!
366
- Relocalization() failed.
367
- Fail to track local map!
368
- Relocalization() failed.
369
- Fail to track local map!
370
- Relocalization() failed.
371
- Fail to track local map!
372
- Relocalization() failed.
373
- Fail to track local map!
374
- Relocalization() failed.
375
- Fail to track local map!
376
- Relocalization() failed.
377
- Fail to track local map!
378
- Relocalization() failed.
379
- Fail to track local map!
380
- Relocalization() failed.
381
- Fail to track local map!
382
- Relocalization() failed.
383
- Fail to track local map!
384
- Relocalization() failed.
385
- Fail to track local map!
386
- Relocalization() failed.
387
- Fail to track local map!
388
- Relocalization() failed.
389
- Fail to track local map!
390
- Relocalization() failed.
391
- Fail to track local map!
392
- Relocalization() failed.
393
- Fail to track local map!
394
- Relocalization() failed.
395
- Fail to track local map!
396
- Relocalization() failed.
397
- Fail to track local map!
398
- Relocalization() failed.
399
- Fail to track local map!
400
- Relocalization() failed.
401
- Fail to track local map!
402
- Relocalization() failed.
403
- Fail to track local map!
404
- Relocalization() failed.
405
- Fail to track local map!
406
- Relocalization() failed.
407
- Fail to track local map!
408
- Relocalization() failed.
409
- Fail to track local map!
410
- Relocalization() failed.
411
- Fail to track local map!
412
- Relocalization() failed.
413
- Fail to track local map!
414
- Relocalization() failed.
415
- Fail to track local map!
416
- Relocalization() failed.
417
- Fail to track local map!
418
- Relocalization() failed.
419
- Fail to track local map!
420
- Relocalization() failed.
421
- Fail to track local map!
422
- Relocalization() failed.
423
- Fail to track local map!
424
- Relocalization() failed.
425
- Fail to track local map!
426
- Relocalization() failed.
427
- Fail to track local map!
428
- Relocalization() failed.
429
- Fail to track local map!
430
- Relocalization() failed.
431
- Fail to track local map!
432
- Relocalization() failed.
433
- Fail to track local map!
434
- Relocalization() failed.
435
- Fail to track local map!
436
- Relocalization() failed.
437
- Fail to track local map!
438
- Relocalization() failed.
439
- Fail to track local map!
440
- Relocalization() failed.
441
- Fail to track local map!
442
- Relocalization() failed.
443
- Fail to track local map!
444
- Relocalization() failed.
445
- Fail to track local map!
446
- Relocalization() failed.
447
- Fail to track local map!
448
- Relocalization() failed.
449
- Fail to track local map!
450
- Relocalization() failed.
451
- Fail to track local map!
452
- Relocalization() failed.
453
- Fail to track local map!
454
- Relocalization() failed.
455
- Fail to track local map!
456
- Relocalization() failed.
457
- Fail to track local map!
458
- Relocalization() failed.
459
- Fail to track local map!
460
- Video FPS: 59.940059940059939
461
- ORB-SLAM 3 running at: 21.553639346013441 FPS
462
- Relocalization() failed.
463
- Fail to track local map!
464
- Relocalization() failed.
465
- Fail to track local map!
466
- Relocalization() failed.
467
- Fail to track local map!
468
- Relocalization() failed.
469
- Fail to track local map!
470
- Relocalization() failed.
471
- Fail to track local map!
472
- Relocalization() failed.
473
- Fail to track local map!
474
- Relocalization() failed.
475
- Fail to track local map!
476
- Relocalization() failed.
477
- Fail to track local map!
478
- Relocalization() failed.
479
- Fail to track local map!
480
- Relocalization() failed.
481
- Fail to track local map!
482
- Relocalization() failed.
483
- Fail to track local map!
484
- Relocalization() failed.
485
- Fail to track local map!
486
- Relocalization() failed.
487
- Fail to track local map!
488
- Relocalization() failed.
489
- Fail to track local map!
490
- Relocalization() failed.
491
- Fail to track local map!
492
- Relocalization() failed.
493
- Fail to track local map!
494
- Relocalization() failed.
495
- Fail to track local map!
496
- Relocalization() failed.
497
- Fail to track local map!
498
- Relocalization() failed.
499
- Fail to track local map!
500
- Relocalization() failed.
501
- Fail to track local map!
502
- Relocalization() failed.
503
- Fail to track local map!
504
- Relocalization() failed.
505
- Fail to track local map!
506
- Relocalization() failed.
507
- Fail to track local map!
508
- Relocalization() failed.
509
- Fail to track local map!
510
- Relocalization() failed.
511
- Fail to track local map!
512
- Relocalization() failed.
513
- Fail to track local map!
514
- Relocalization() failed.
515
- Fail to track local map!
516
- Relocalization() failed.
517
- Fail to track local map!
518
- Relocalization() failed.
519
- Fail to track local map!
520
- Relocalization() failed.
521
- Fail to track local map!
522
- Relocalization() failed.
523
- Fail to track local map!
524
- Relocalization() failed.
525
- Fail to track local map!
526
- Relocalization() failed.
527
- Fail to track local map!
528
- Relocalization() failed.
529
- Fail to track local map!
530
- Relocalized!!
531
- INIT_RELOCALIZE success!
532
- vpKFs.back()->mpImuPreintegrated0x564bf9434d40
533
- pKFCur->mTimeStamp3.9205833333333335
534
- vpKFs.front()->mTimeStamp-59.192458337502089
535
- vpKFs.back()->mTimeStamp-0.01667500416875356
536
- pKFcur->GetMapPointMatches().size()1253
537
- 1691 pKFcur->GetVelocity() 0
538
- 0
539
- 0
540
- pKFcur->mnId393
541
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
542
- Fail to track local map!
543
- Relocalization() failed.
544
- Fail to track local map!
545
- Relocalization() failed.
546
- Fail to track local map!
547
- Relocalization() failed.
548
- Fail to track local map!
549
- Relocalization() failed.
550
- Fail to track local map!
551
- Relocalization() failed.
552
- Fail to track local map!
553
- Relocalization() failed.
554
- Fail to track local map!
555
- Relocalization() failed.
556
- Fail to track local map!
557
- Relocalization() failed.
558
- Fail to track local map!
559
- Relocalization() failed.
560
- Fail to track local map!
561
- Relocalization() failed.
562
- Fail to track local map!
563
- Relocalization() failed.
564
- Fail to track local map!
565
- Relocalization() failed.
566
- Fail to track local map!
567
- Relocalization() failed.
568
- Fail to track local map!
569
- Relocalization() failed.
570
- Fail to track local map!
571
- Relocalization() failed.
572
- Fail to track local map!
573
- Relocalization() failed.
574
- Fail to track local map!
575
- Relocalization() failed.
576
- Fail to track local map!
577
- Relocalization() failed.
578
- Fail to track local map!
579
- Relocalization() failed.
580
- Fail to track local map!
581
- Relocalization() failed.
582
- Fail to track local map!
583
- Relocalization() failed.
584
- Fail to track local map!
585
- Relocalization() failed.
586
- Fail to track local map!
587
- Relocalization() failed.
588
- Fail to track local map!
589
- Relocalization() failed.
590
- Fail to track local map!
591
- Relocalization() failed.
592
- Fail to track local map!
593
- Relocalization() failed.
594
- Fail to track local map!
595
- Relocalization() failed.
596
- Fail to track local map!
597
- Relocalization() failed.
598
- Fail to track local map!
599
- Relocalization() failed.
600
- Fail to track local map!
601
- Relocalization() failed.
602
- Fail to track local map!
603
- Relocalization() failed.
604
- Fail to track local map!
605
- Relocalization() failed.
606
- Fail to track local map!
607
- Relocalization() failed.
608
- Fail to track local map!
609
- Relocalization() failed.
610
- Fail to track local map!
611
- Relocalization() failed.
612
- Fail to track local map!
613
- Relocalization() failed.
614
- Fail to track local map!
615
- Relocalization() failed.
616
- Fail to track local map!
617
- Relocalization() failed.
618
- Fail to track local map!
619
- Relocalization() failed.
620
- Fail to track local map!
621
- Relocalization() failed.
622
- Fail to track local map!
623
- Relocalization() failed.
624
- Fail to track local map!
625
- Relocalization() failed.
626
- Fail to track local map!
627
- Relocalization() failed.
628
- Fail to track local map!
629
- Relocalization() failed.
630
- Fail to track local map!
631
- Relocalization() failed.
632
- Fail to track local map!
633
- Relocalization() failed.
634
- Fail to track local map!
635
- Relocalization() failed.
636
- Fail to track local map!
637
- Relocalization() failed.
638
- Fail to track local map!
639
- Relocalization() failed.
640
- Fail to track local map!
641
- Relocalization() failed.
642
- Fail to track local map!
643
- Video FPS: 59.940059940059939
644
- ORB-SLAM 3 running at: 21.972454496090428 FPS
645
- Relocalization() failed.
646
- Fail to track local map!
647
- Relocalization() failed.
648
- Fail to track local map!
649
- Relocalization() failed.
650
- Fail to track local map!
651
- Relocalization() failed.
652
- Fail to track local map!
653
- Relocalization() failed.
654
- Fail to track local map!
655
- Relocalization() failed.
656
- Fail to track local map!
657
- Relocalization() failed.
658
- Fail to track local map!
659
- Relocalization() failed.
660
- Fail to track local map!
661
- Relocalization() failed.
662
- Fail to track local map!
663
- Relocalization() failed.
664
- Fail to track local map!
665
- Relocalization() failed.
666
- Fail to track local map!
667
- Relocalization() failed.
668
- Fail to track local map!
669
- Relocalization() failed.
670
- Fail to track local map!
671
- Relocalization() failed.
672
- Fail to track local map!
673
- Relocalization() failed.
674
- Fail to track local map!
675
- Relocalization() failed.
676
- Fail to track local map!
677
- Relocalization() failed.
678
- Fail to track local map!
679
- Relocalization() failed.
680
- Fail to track local map!
681
- Relocalization() failed.
682
- Fail to track local map!
683
- Relocalization() failed.
684
- Fail to track local map!
685
- Relocalization() failed.
686
- Fail to track local map!
687
- Relocalization() failed.
688
- Fail to track local map!
689
- Relocalization() failed.
690
- Fail to track local map!
691
- Relocalization() failed.
692
- Fail to track local map!
693
- Relocalization() failed.
694
- Fail to track local map!
695
- Relocalization() failed.
696
- Fail to track local map!
697
- Relocalization() failed.
698
- Fail to track local map!
699
- Relocalization() failed.
700
- Fail to track local map!
701
- Relocalization() failed.
702
- Fail to track local map!
703
- Relocalization() failed.
704
- Fail to track local map!
705
- Relocalization() failed.
706
- Fail to track local map!
707
- Relocalization() failed.
708
- Fail to track local map!
709
- Relocalization() failed.
710
- Fail to track local map!
711
- Relocalization() failed.
712
- Fail to track local map!
713
- Relocalization() failed.
714
- Fail to track local map!
715
- Relocalization() failed.
716
- Fail to track local map!
717
- Relocalization() failed.
718
- Fail to track local map!
719
- Relocalization() failed.
720
- Fail to track local map!
721
- Relocalization() failed.
722
- Fail to track local map!
723
- Relocalization() failed.
724
- Fail to track local map!
725
- Relocalization() failed.
726
- Fail to track local map!
727
- Relocalization() failed.
728
- Fail to track local map!
729
- Relocalization() failed.
730
- Fail to track local map!
731
- Relocalization() failed.
732
- Fail to track local map!
733
- Relocalization() failed.
734
- Fail to track local map!
735
- Relocalization() failed.
736
- Fail to track local map!
737
- Relocalization() failed.
738
- Fail to track local map!
739
- Relocalization() failed.
740
- Fail to track local map!
741
- Relocalization() failed.
742
- Fail to track local map!
743
- Relocalization() failed.
744
- Fail to track local map!
745
- Relocalization() failed.
746
- Fail to track local map!
747
- Relocalization() failed.
748
- Fail to track local map!
749
- Relocalization() failed.
750
- Fail to track local map!
751
- Relocalization() failed.
752
- Fail to track local map!
753
- Relocalization() failed.
754
- Fail to track local map!
755
- Relocalization() failed.
756
- Fail to track local map!
757
- Relocalization() failed.
758
- Fail to track local map!
759
- Relocalization() failed.
760
- Fail to track local map!
761
- Relocalization() failed.
762
- Fail to track local map!
763
- Relocalization() failed.
764
- Fail to track local map!
765
- Relocalization() failed.
766
- Fail to track local map!
767
- Relocalization() failed.
768
- Fail to track local map!
769
- Relocalization() failed.
770
- Fail to track local map!
771
- Relocalization() failed.
772
- Fail to track local map!
773
- Relocalization() failed.
774
- Fail to track local map!
775
- Relocalization() failed.
776
- Fail to track local map!
777
- Relocalization() failed.
778
- Fail to track local map!
779
- Relocalization() failed.
780
- Fail to track local map!
781
- Relocalization() failed.
782
- Fail to track local map!
783
- Relocalization() failed.
784
- Fail to track local map!
785
- Relocalization() failed.
786
- Fail to track local map!
787
- Relocalization() failed.
788
- Fail to track local map!
789
- Relocalization() failed.
790
- Fail to track local map!
791
- Relocalization() failed.
792
- Fail to track local map!
793
- Relocalization() failed.
794
- Fail to track local map!
795
- Relocalization() failed.
796
- Fail to track local map!
797
- Relocalization() failed.
798
- Fail to track local map!
799
- Relocalization() failed.
800
- Fail to track local map!
801
- Relocalization() failed.
802
- Fail to track local map!
803
- Relocalization() failed.
804
- Fail to track local map!
805
- Relocalization() failed.
806
- Fail to track local map!
807
- Relocalization() failed.
808
- Fail to track local map!
809
- Relocalization() failed.
810
- Fail to track local map!
811
- Relocalization() failed.
812
- Fail to track local map!
813
- Relocalization() failed.
814
- Fail to track local map!
815
- Relocalization() failed.
816
- Fail to track local map!
817
- Relocalization() failed.
818
- Fail to track local map!
819
- Relocalization() failed.
820
- Fail to track local map!
821
- Relocalization() failed.
822
- Fail to track local map!
823
- Relocalization() failed.
824
- Fail to track local map!
825
- Relocalization() failed.
826
- Fail to track local map!
827
- Relocalization() failed.
828
- Fail to track local map!
829
- Relocalization() failed.
830
- Fail to track local map!
831
- Relocalization() failed.
832
- Fail to track local map!
833
- Relocalization() failed.
834
- Fail to track local map!
835
- Relocalization() failed.
836
- Fail to track local map!
837
- Relocalization() failed.
838
- Fail to track local map!
839
- Relocalization() failed.
840
- Fail to track local map!
841
- Relocalization() failed.
842
- Fail to track local map!
843
- Relocalization() failed.
844
- Fail to track local map!
845
- Video FPS: 59.940059940059939
846
- ORB-SLAM 3 running at: 23.047917981310306 FPS
847
- Relocalization() failed.
848
- Fail to track local map!
849
- Relocalization() failed.
850
- Fail to track local map!
851
- Relocalization() failed.
852
- Fail to track local map!
853
- Relocalization() failed.
854
- Fail to track local map!
855
- Relocalization() failed.
856
- Fail to track local map!
857
- Relocalization() failed.
858
- Fail to track local map!
859
- Relocalization() failed.
860
- Fail to track local map!
861
- Relocalization() failed.
862
- Fail to track local map!
863
- Relocalization() failed.
864
- Fail to track local map!
865
- Relocalization() failed.
866
- Fail to track local map!
867
- Relocalization() failed.
868
- Fail to track local map!
869
- Relocalization() failed.
870
- Fail to track local map!
871
- Relocalization() failed.
872
- Fail to track local map!
873
- Relocalization() failed.
874
- Fail to track local map!
875
- Relocalization() failed.
876
- Fail to track local map!
877
- Relocalization() failed.
878
- Fail to track local map!
879
- Relocalization() failed.
880
- Fail to track local map!
881
- Relocalization() failed.
882
- Fail to track local map!
883
- Relocalization() failed.
884
- Fail to track local map!
885
- Relocalization() failed.
886
- Fail to track local map!
887
- Relocalization() failed.
888
- Fail to track local map!
889
- Relocalization() failed.
890
- Fail to track local map!
891
- Relocalization() failed.
892
- Fail to track local map!
893
- Relocalization() failed.
894
- Fail to track local map!
895
- Relocalization() failed.
896
- Fail to track local map!
897
- Relocalization() failed.
898
- Fail to track local map!
899
- Relocalization() failed.
900
- Fail to track local map!
901
- Relocalization() failed.
902
- Fail to track local map!
903
- Relocalization() failed.
904
- Fail to track local map!
905
- Relocalization() failed.
906
- Fail to track local map!
907
- Relocalization() failed.
908
- Fail to track local map!
909
- Relocalization() failed.
910
- Fail to track local map!
911
- Relocalization() failed.
912
- Fail to track local map!
913
- Relocalization() failed.
914
- Fail to track local map!
915
- Relocalization() failed.
916
- Fail to track local map!
917
- Relocalization() failed.
918
- Fail to track local map!
919
- Relocalization() failed.
920
- Fail to track local map!
921
- Relocalization() failed.
922
- Fail to track local map!
923
- Relocalization() failed.
924
- Fail to track local map!
925
- Relocalization() failed.
926
- Fail to track local map!
927
- Relocalization() failed.
928
- Fail to track local map!
929
- Relocalization() failed.
930
- Fail to track local map!
931
- Relocalization() failed.
932
- Fail to track local map!
933
- Relocalization() failed.
934
- Fail to track local map!
935
- Relocalization() failed.
936
- Fail to track local map!
937
- Relocalization() failed.
938
- Fail to track local map!
939
- Relocalization() failed.
940
- Fail to track local map!
941
- Relocalization() failed.
942
- Fail to track local map!
943
- Relocalization() failed.
944
- Fail to track local map!
945
- Relocalization() failed.
946
- Fail to track local map!
947
- Relocalization() failed.
948
- Fail to track local map!
949
- Relocalization() failed.
950
- Fail to track local map!
951
- Relocalization() failed.
952
- Fail to track local map!
953
- Relocalization() failed.
954
- Fail to track local map!
955
- Relocalization() failed.
956
- Fail to track local map!
957
- Relocalization() failed.
958
- Fail to track local map!
959
- Relocalization() failed.
960
- Fail to track local map!
961
- Relocalization() failed.
962
- Fail to track local map!
963
- Relocalization() failed.
964
- Fail to track local map!
965
- Relocalization() failed.
966
- Fail to track local map!
967
- Relocalization() failed.
968
- Fail to track local map!
969
- Relocalization() failed.
970
- Fail to track local map!
971
- Relocalization() failed.
972
- Fail to track local map!
973
- Relocalization() failed.
974
- Fail to track local map!
975
- Relocalization() failed.
976
- Fail to track local map!
977
- Relocalization() failed.
978
- Fail to track local map!
979
- Relocalization() failed.
980
- Fail to track local map!
981
- Relocalization() failed.
982
- Fail to track local map!
983
- Relocalization() failed.
984
- Fail to track local map!
985
- Relocalization() failed.
986
- Fail to track local map!
987
- Relocalization() failed.
988
- Fail to track local map!
989
- Relocalization() failed.
990
- Fail to track local map!
991
- Relocalization() failed.
992
- Fail to track local map!
993
- Relocalization() failed.
994
- Fail to track local map!
995
- Relocalization() failed.
996
- Fail to track local map!
997
- Relocalization() failed.
998
- Fail to track local map!
999
- Relocalization() failed.
1000
- Fail to track local map!
1001
- Relocalization() failed.
1002
- Fail to track local map!
1003
- Relocalization() failed.
1004
- Fail to track local map!
1005
- Relocalization() failed.
1006
- Fail to track local map!
1007
- Relocalization() failed.
1008
- Fail to track local map!
1009
- Relocalization() failed.
1010
- Fail to track local map!
1011
- Relocalization() failed.
1012
- Fail to track local map!
1013
- Relocalization() failed.
1014
- Fail to track local map!
1015
- Relocalization() failed.
1016
- Fail to track local map!
1017
- Relocalization() failed.
1018
- Fail to track local map!
1019
- Relocalization() failed.
1020
- Fail to track local map!
1021
- Relocalization() failed.
1022
- Fail to track local map!
1023
- Relocalization() failed.
1024
- Fail to track local map!
1025
- Relocalization() failed.
1026
- Fail to track local map!
1027
- Relocalization() failed.
1028
- Fail to track local map!
1029
- Relocalization() failed.
1030
- Fail to track local map!
1031
- Relocalization() failed.
1032
- Fail to track local map!
1033
- Relocalization() failed.
1034
- Fail to track local map!
1035
- Relocalization() failed.
1036
- Fail to track local map!
1037
- Relocalization() failed.
1038
- Fail to track local map!
1039
- Relocalization() failed.
1040
- Fail to track local map!
1041
- Relocalization() failed.
1042
- Fail to track local map!
1043
- Relocalization() failed.
1044
- Fail to track local map!
1045
- Relocalization() failed.
1046
- Fail to track local map!
1047
- Video FPS: 59.940059940059939
1048
- ORB-SLAM 3 running at: 22.879565877625943 FPS
1049
- Relocalization() failed.
1050
- Fail to track local map!
1051
- Relocalization() failed.
1052
- Fail to track local map!
1053
- Relocalization() failed.
1054
- Fail to track local map!
1055
- Relocalization() failed.
1056
- Fail to track local map!
1057
- Relocalization() failed.
1058
- Fail to track local map!
1059
- Relocalization() failed.
1060
- Fail to track local map!
1061
- Relocalization() failed.
1062
- Fail to track local map!
1063
- Relocalization() failed.
1064
- Fail to track local map!
1065
- Relocalization() failed.
1066
- Fail to track local map!
1067
- Relocalization() failed.
1068
- Fail to track local map!
1069
- Relocalization() failed.
1070
- Fail to track local map!
1071
- Relocalization() failed.
1072
- Fail to track local map!
1073
- Relocalization() failed.
1074
- Fail to track local map!
1075
- Relocalization() failed.
1076
- Fail to track local map!
1077
- Relocalization() failed.
1078
- Fail to track local map!
1079
- Relocalization() failed.
1080
- Fail to track local map!
1081
- Relocalization() failed.
1082
- Fail to track local map!
1083
- Relocalization() failed.
1084
- Fail to track local map!
1085
- Relocalization() failed.
1086
- Fail to track local map!
1087
- Relocalization() failed.
1088
- Fail to track local map!
1089
- Relocalization() failed.
1090
- Fail to track local map!
1091
- Relocalization() failed.
1092
- Fail to track local map!
1093
- Relocalization() failed.
1094
- Fail to track local map!
1095
- Relocalization() failed.
1096
- Fail to track local map!
1097
- Relocalization() failed.
1098
- Fail to track local map!
1099
- Relocalization() failed.
1100
- Fail to track local map!
1101
- Relocalization() failed.
1102
- Fail to track local map!
1103
- Relocalization() failed.
1104
- Fail to track local map!
1105
- Relocalization() failed.
1106
- Fail to track local map!
1107
- Relocalization() failed.
1108
- Fail to track local map!
1109
- Relocalization() failed.
1110
- Fail to track local map!
1111
- Relocalization() failed.
1112
- Fail to track local map!
1113
- Relocalization() failed.
1114
- Fail to track local map!
1115
- Relocalization() failed.
1116
- Fail to track local map!
1117
- Relocalization() failed.
1118
- Fail to track local map!
1119
- Relocalization() failed.
1120
- Fail to track local map!
1121
- Relocalization() failed.
1122
- Fail to track local map!
1123
- Relocalization() failed.
1124
- Fail to track local map!
1125
- Relocalization() failed.
1126
- Fail to track local map!
1127
- Relocalization() failed.
1128
- Fail to track local map!
1129
- Relocalization() failed.
1130
- Fail to track local map!
1131
- Relocalization() failed.
1132
- Fail to track local map!
1133
- Relocalization() failed.
1134
- Fail to track local map!
1135
- Relocalization() failed.
1136
- Fail to track local map!
1137
- Relocalization() failed.
1138
- Fail to track local map!
1139
- Relocalization() failed.
1140
- Fail to track local map!
1141
- Relocalization() failed.
1142
- Fail to track local map!
1143
- Relocalization() failed.
1144
- Fail to track local map!
1145
- Relocalization() failed.
1146
- Fail to track local map!
1147
- Relocalization() failed.
1148
- Fail to track local map!
1149
- Relocalization() failed.
1150
- Fail to track local map!
1151
- Relocalization() failed.
1152
- Fail to track local map!
1153
- Relocalization() failed.
1154
- Fail to track local map!
1155
- Relocalization() failed.
1156
- Fail to track local map!
1157
- Relocalization() failed.
1158
- Fail to track local map!
1159
- Relocalization() failed.
1160
- Fail to track local map!
1161
- Relocalization() failed.
1162
- Fail to track local map!
1163
- Relocalization() failed.
1164
- Fail to track local map!
1165
- Relocalization() failed.
1166
- Fail to track local map!
1167
- Relocalization() failed.
1168
- Fail to track local map!
1169
- Relocalization() failed.
1170
- Fail to track local map!
1171
- Relocalization() failed.
1172
- Fail to track local map!
1173
- Relocalization() failed.
1174
- Fail to track local map!
1175
- Relocalization() failed.
1176
- Fail to track local map!
1177
- Relocalization() failed.
1178
- Fail to track local map!
1179
- Relocalization() failed.
1180
- Fail to track local map!
1181
- Relocalization() failed.
1182
- Fail to track local map!
1183
- Relocalization() failed.
1184
- Fail to track local map!
1185
- Relocalization() failed.
1186
- Fail to track local map!
1187
- Relocalization() failed.
1188
- Fail to track local map!
1189
- Relocalization() failed.
1190
- Fail to track local map!
1191
- Relocalization() failed.
1192
- Fail to track local map!
1193
- Relocalization() failed.
1194
- Fail to track local map!
1195
- Relocalization() failed.
1196
- Fail to track local map!
1197
- Relocalization() failed.
1198
- Fail to track local map!
1199
- Relocalization() failed.
1200
- Fail to track local map!
1201
- Relocalization() failed.
1202
- Fail to track local map!
1203
- Relocalization() failed.
1204
- Fail to track local map!
1205
- Relocalization() failed.
1206
- Fail to track local map!
1207
- Relocalization() failed.
1208
- Fail to track local map!
1209
- Relocalization() failed.
1210
- Fail to track local map!
1211
- Relocalization() failed.
1212
- Fail to track local map!
1213
- Relocalization() failed.
1214
- Fail to track local map!
1215
- Relocalization() failed.
1216
- Fail to track local map!
1217
- Relocalization() failed.
1218
- Fail to track local map!
1219
- Relocalization() failed.
1220
- Fail to track local map!
1221
- Relocalization() failed.
1222
- Fail to track local map!
1223
- Relocalization() failed.
1224
- Fail to track local map!
1225
- Relocalization() failed.
1226
- Fail to track local map!
1227
- Relocalization() failed.
1228
- Fail to track local map!
1229
- Relocalization() failed.
1230
- Fail to track local map!
1231
- Relocalization() failed.
1232
- Fail to track local map!
1233
- Relocalization() failed.
1234
- Fail to track local map!
1235
- Relocalization() failed.
1236
- Fail to track local map!
1237
- Relocalization() failed.
1238
- Fail to track local map!
1239
- Relocalization() failed.
1240
- Fail to track local map!
1241
- Relocalization() failed.
1242
- Fail to track local map!
1243
- Relocalization() failed.
1244
- Fail to track local map!
1245
- Relocalization() failed.
1246
- Fail to track local map!
1247
- Relocalization() failed.
1248
- Fail to track local map!
1249
- Video FPS: 59.940059940059939
1250
- ORB-SLAM 3 running at: 23.610821878543099 FPS
1251
- Relocalization() failed.
1252
- Fail to track local map!
1253
- Relocalization() failed.
1254
- Fail to track local map!
1255
- Relocalization() failed.
1256
- Fail to track local map!
1257
- Relocalization() failed.
1258
- Fail to track local map!
1259
- Relocalization() failed.
1260
- Fail to track local map!
1261
- Relocalization() failed.
1262
- Fail to track local map!
1263
- Relocalization() failed.
1264
- Fail to track local map!
1265
- Relocalization() failed.
1266
- Fail to track local map!
1267
- Relocalization() failed.
1268
- Fail to track local map!
1269
- Relocalization() failed.
1270
- Fail to track local map!
1271
- Relocalization() failed.
1272
- Fail to track local map!
1273
- Relocalization() failed.
1274
- Fail to track local map!
1275
- Relocalization() failed.
1276
- Fail to track local map!
1277
- Relocalization() failed.
1278
- Fail to track local map!
1279
- Relocalization() failed.
1280
- Fail to track local map!
1281
- Relocalization() failed.
1282
- Fail to track local map!
1283
- Relocalization() failed.
1284
- Fail to track local map!
1285
- Relocalization() failed.
1286
- Fail to track local map!
1287
- Relocalization() failed.
1288
- Fail to track local map!
1289
- Relocalization() failed.
1290
- Fail to track local map!
1291
- Relocalization() failed.
1292
- Fail to track local map!
1293
- Relocalization() failed.
1294
- Fail to track local map!
1295
- Relocalization() failed.
1296
- Fail to track local map!
1297
- Relocalization() failed.
1298
- Fail to track local map!
1299
- Relocalization() failed.
1300
- Fail to track local map!
1301
- Relocalization() failed.
1302
- Fail to track local map!
1303
- Relocalization() failed.
1304
- Fail to track local map!
1305
- Relocalization() failed.
1306
- Fail to track local map!
1307
- Relocalization() failed.
1308
- Fail to track local map!
1309
- Relocalization() failed.
1310
- Fail to track local map!
1311
- Relocalization() failed.
1312
- Fail to track local map!
1313
- Relocalization() failed.
1314
- Fail to track local map!
1315
- Relocalization() failed.
1316
- Fail to track local map!
1317
- Relocalization() failed.
1318
- Fail to track local map!
1319
- Relocalization() failed.
1320
- Fail to track local map!
1321
- Relocalization() failed.
1322
- Fail to track local map!
1323
- Relocalization() failed.
1324
- Fail to track local map!
1325
- Relocalization() failed.
1326
- Fail to track local map!
1327
- Relocalization() failed.
1328
- Fail to track local map!
1329
- Relocalization() failed.
1330
- Fail to track local map!
1331
- Relocalization() failed.
1332
- Fail to track local map!
1333
- Relocalization() failed.
1334
- Fail to track local map!
1335
- Relocalization() failed.
1336
- Fail to track local map!
1337
- Relocalization() failed.
1338
- Fail to track local map!
1339
- Relocalization() failed.
1340
- Fail to track local map!
1341
- Relocalization() failed.
1342
- Fail to track local map!
1343
- Relocalization() failed.
1344
- Fail to track local map!
1345
- Relocalization() failed.
1346
- Fail to track local map!
1347
- Relocalization() failed.
1348
- Fail to track local map!
1349
- Relocalization() failed.
1350
- Fail to track local map!
1351
- Relocalization() failed.
1352
- Fail to track local map!
1353
- Relocalization() failed.
1354
- Fail to track local map!
1355
- Relocalization() failed.
1356
- Fail to track local map!
1357
- Relocalization() failed.
1358
- Fail to track local map!
1359
- Relocalization() failed.
1360
- Fail to track local map!
1361
- Relocalization() failed.
1362
- Fail to track local map!
1363
- Relocalization() failed.
1364
- Fail to track local map!
1365
- Relocalization() failed.
1366
- Fail to track local map!
1367
- Relocalization() failed.
1368
- Fail to track local map!
1369
- Relocalization() failed.
1370
- Fail to track local map!
1371
- Relocalization() failed.
1372
- Fail to track local map!
1373
- Relocalization() failed.
1374
- Fail to track local map!
1375
- Relocalization() failed.
1376
- Fail to track local map!
1377
- Relocalization() failed.
1378
- Fail to track local map!
1379
- Relocalization() failed.
1380
- Fail to track local map!
1381
- Relocalization() failed.
1382
- Fail to track local map!
1383
- Relocalization() failed.
1384
- Fail to track local map!
1385
- Relocalization() failed.
1386
- Fail to track local map!
1387
- Relocalization() failed.
1388
- Fail to track local map!
1389
- Relocalization() failed.
1390
- Fail to track local map!
1391
- Relocalization() failed.
1392
- Fail to track local map!
1393
- Relocalization() failed.
1394
- Fail to track local map!
1395
- Relocalization() failed.
1396
- Fail to track local map!
1397
- Relocalization() failed.
1398
- Fail to track local map!
1399
- Relocalization() failed.
1400
- Fail to track local map!
1401
- Relocalization() failed.
1402
- Fail to track local map!
1403
- Relocalization() failed.
1404
- Fail to track local map!
1405
- Relocalization() failed.
1406
- Fail to track local map!
1407
- Relocalization() failed.
1408
- Fail to track local map!
1409
- Relocalization() failed.
1410
- Fail to track local map!
1411
- Relocalization() failed.
1412
- Fail to track local map!
1413
- Relocalization() failed.
1414
- Fail to track local map!
1415
- Relocalization() failed.
1416
- Fail to track local map!
1417
- Relocalization() failed.
1418
- Fail to track local map!
1419
- Relocalization() failed.
1420
- Fail to track local map!
1421
- Relocalization() failed.
1422
- Fail to track local map!
1423
- Relocalization() failed.
1424
- Fail to track local map!
1425
- Relocalization() failed.
1426
- Fail to track local map!
1427
- Relocalization() failed.
1428
- Fail to track local map!
1429
- Relocalization() failed.
1430
- Fail to track local map!
1431
- Relocalization() failed.
1432
- Fail to track local map!
1433
- Relocalization() failed.
1434
- Fail to track local map!
1435
- Relocalization() failed.
1436
- Fail to track local map!
1437
- Relocalization() failed.
1438
- Fail to track local map!
1439
- Relocalization() failed.
1440
- Fail to track local map!
1441
- Relocalization() failed.
1442
- Fail to track local map!
1443
- Relocalization() failed.
1444
- Fail to track local map!
1445
- Relocalization() failed.
1446
- Fail to track local map!
1447
- Relocalization() failed.
1448
- Fail to track local map!
1449
- Relocalization() failed.
1450
- Fail to track local map!
1451
- Video FPS: 59.940059940059939
1452
- ORB-SLAM 3 running at: 28.576271024669921 FPS
1453
- Relocalization() failed.
1454
- Fail to track local map!
1455
- Relocalization() failed.
1456
- Fail to track local map!
1457
- Relocalization() failed.
1458
- Fail to track local map!
1459
- Relocalization() failed.
1460
- Fail to track local map!
1461
- Relocalization() failed.
1462
- Fail to track local map!
1463
- Relocalization() failed.
1464
- Fail to track local map!
1465
- Relocalization() failed.
1466
- Fail to track local map!
1467
- Relocalization() failed.
1468
- Fail to track local map!
1469
- Relocalization() failed.
1470
- Fail to track local map!
1471
- Relocalization() failed.
1472
- Fail to track local map!
1473
- Relocalization() failed.
1474
- Fail to track local map!
1475
- Relocalization() failed.
1476
- Fail to track local map!
1477
- Relocalization() failed.
1478
- Fail to track local map!
1479
- Relocalization() failed.
1480
- Fail to track local map!
1481
- Relocalization() failed.
1482
- Fail to track local map!
1483
- Relocalization() failed.
1484
- Fail to track local map!
1485
- Relocalization() failed.
1486
- Fail to track local map!
1487
- Relocalization() failed.
1488
- Fail to track local map!
1489
- Relocalization() failed.
1490
- Fail to track local map!
1491
- Relocalization() failed.
1492
- Fail to track local map!
1493
- Relocalization() failed.
1494
- Fail to track local map!
1495
- Relocalization() failed.
1496
- Fail to track local map!
1497
- Relocalization() failed.
1498
- Fail to track local map!
1499
- Relocalization() failed.
1500
- Fail to track local map!
1501
- Relocalization() failed.
1502
- Fail to track local map!
1503
- Relocalization() failed.
1504
- Fail to track local map!
1505
- Relocalization() failed.
1506
- Fail to track local map!
1507
- Relocalization() failed.
1508
- Fail to track local map!
1509
- Relocalization() failed.
1510
- Fail to track local map!
1511
- Relocalization() failed.
1512
- Fail to track local map!
1513
- Relocalization() failed.
1514
- Fail to track local map!
1515
- Relocalization() failed.
1516
- Fail to track local map!
1517
- Relocalization() failed.
1518
- Fail to track local map!
1519
- Relocalization() failed.
1520
- Fail to track local map!
1521
- Relocalization() failed.
1522
- Fail to track local map!
1523
- Relocalization() failed.
1524
- Fail to track local map!
1525
- Relocalization() failed.
1526
- Fail to track local map!
1527
- Relocalization() failed.
1528
- Fail to track local map!
1529
- Relocalization() failed.
1530
- Fail to track local map!
1531
- Relocalization() failed.
1532
- Fail to track local map!
1533
- Relocalization() failed.
1534
- Fail to track local map!
1535
- Relocalization() failed.
1536
- Fail to track local map!
1537
- Relocalization() failed.
1538
- Fail to track local map!
1539
- Relocalization() failed.
1540
- Fail to track local map!
1541
- Relocalization() failed.
1542
- Fail to track local map!
1543
- Relocalization() failed.
1544
- Fail to track local map!
1545
- Relocalization() failed.
1546
- Fail to track local map!
1547
- Relocalization() failed.
1548
- Fail to track local map!
1549
- Relocalization() failed.
1550
- Fail to track local map!
1551
- Relocalization() failed.
1552
- Fail to track local map!
1553
- Relocalization() failed.
1554
- Fail to track local map!
1555
- Relocalization() failed.
1556
- Fail to track local map!
1557
- Relocalization() failed.
1558
- Fail to track local map!
1559
- Relocalization() failed.
1560
- Fail to track local map!
1561
- Relocalization() failed.
1562
- Fail to track local map!
1563
- Relocalization() failed.
1564
- Fail to track local map!
1565
- Relocalization() failed.
1566
- Fail to track local map!
1567
- Relocalization() failed.
1568
- Fail to track local map!
1569
- Relocalization() failed.
1570
- Fail to track local map!
1571
- Relocalization() failed.
1572
- Fail to track local map!
1573
- Relocalization() failed.
1574
- Fail to track local map!
1575
- Relocalization() failed.
1576
- Fail to track local map!
1577
- Relocalization() failed.
1578
- Fail to track local map!
1579
- Relocalization() failed.
1580
- Fail to track local map!
1581
- Relocalization() failed.
1582
- Fail to track local map!
1583
- Relocalization() failed.
1584
- Fail to track local map!
1585
- Relocalization() failed.
1586
- Fail to track local map!
1587
- Relocalization() failed.
1588
- Fail to track local map!
1589
- Relocalization() failed.
1590
- Fail to track local map!
1591
- Relocalization() failed.
1592
- Fail to track local map!
1593
- Relocalization() failed.
1594
- Fail to track local map!
1595
- Relocalization() failed.
1596
- Fail to track local map!
1597
- Relocalization() failed.
1598
- Fail to track local map!
1599
- Relocalization() failed.
1600
- Fail to track local map!
1601
- Relocalization() failed.
1602
- Fail to track local map!
1603
- Relocalization() failed.
1604
- Fail to track local map!
1605
- Relocalization() failed.
1606
- Fail to track local map!
1607
- Relocalization() failed.
1608
- Fail to track local map!
1609
- Relocalization() failed.
1610
- Fail to track local map!
1611
- Relocalization() failed.
1612
- Fail to track local map!
1613
- Relocalization() failed.
1614
- Fail to track local map!
1615
- Relocalization() failed.
1616
- Fail to track local map!
1617
- Relocalization() failed.
1618
- Fail to track local map!
1619
- Relocalization() failed.
1620
- Fail to track local map!
1621
- Relocalization() failed.
1622
- Fail to track local map!
1623
- Relocalization() failed.
1624
- Fail to track local map!
1625
- Relocalization() failed.
1626
- Fail to track local map!
1627
- Relocalization() failed.
1628
- Fail to track local map!
1629
- Relocalization() failed.
1630
- Fail to track local map!
1631
- Relocalization() failed.
1632
- Fail to track local map!
1633
- Relocalization() failed.
1634
- Fail to track local map!
1635
- Relocalization() failed.
1636
- Fail to track local map!
1637
- Relocalization() failed.
1638
- Fail to track local map!
1639
- Relocalization() failed.
1640
- Fail to track local map!
1641
- Relocalization() failed.
1642
- Fail to track local map!
1643
- Relocalization() failed.
1644
- Fail to track local map!
1645
- Shutdown
1646
- mpLocalMapper is not finished
1647
- mpLoopCloser is not finished
1648
-
1649
- Saving camera trajectory to /data/camera_trajectory.csv ...
1650
- There are 1 maps in the atlas
1651
- Map 0 has 73 KFs
1652
-
1653
- CSV camera trajectory saved!
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:564057fb2c16489c4907115f8ba84afcea70234c6c53c12ee1092292fb4f507c
3
+ size 42077
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/extract_gopro_imu_stdout.txt CHANGED
@@ -1,9 +1,3 @@
1
- Input video path: /data/raw_video.mp4
2
- Output file will be: /data/imu_data.json
3
- Opening /data/raw_video.mp4
4
- Read stream data from raw_video.mp4
5
- Extracted information for raw_video.mp4
6
- Flushing on end after 138183613 bytes
7
- Generated telemetry for raw_video.mp4
8
- Telemetry saved as JSON to imu_data.json
9
- Done
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:243385d365639629a78ea6d008a44a9849416bc8fff6deecc3cfff092fc255e7
3
+ size 305
 
 
 
 
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/imu_data.json CHANGED
The diff for this file is too large to render. See raw diff
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/slam_stderr.txt CHANGED
@@ -1,6 +1,3 @@
1
- Camera.newHeight optional parameter does not exist...
2
- Camera.newWidth optional parameter does not exist...
3
- IMU.InsertKFsWhenLost optional parameter does not exist...
4
- System.LoadAtlasFromFile optional parameter does not exist...
5
- System.SaveAtlasToFile optional parameter does not exist...
6
- virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:12e90eeaebe0994afd87c80ca09021f2e49551f7f93ab6088d77b03d1c262973
3
+ size 413
 
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.22.35.012783/slam_stdout.txt CHANGED
@@ -1,723 +1,3 @@
1
- Mask img size mismatch! Converting [2704 x 2028] to [640 x 480]
2
-
3
- ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
4
- ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
5
- This program comes with ABSOLUTELY NO WARRANTY;
6
- This is free software, and you are welcome to redistribute it
7
- under certain conditions. See LICENSE.txt.
8
-
9
- Input sensor was set to: Monocular-Inertial
10
- Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro10_maxlens_fisheye_setting_v1_480.yaml
11
- -Loaded camera 1
12
- -Loaded image info
13
- -Loaded IMU calibration
14
- -Loaded ORB settings
15
- -Loaded viewer settings
16
- -Loaded Atlas settings
17
- -Loaded misc parameters
18
- ----------------------------------
19
- SLAM settings:
20
- -Camera 1 parameters (Kannala-Brandt): [ 188.605 188.605 320.574 239.405 -0.0174584 -0.0280825 0.0128327 -0.0045198 ]
21
- -Original image size: [ 640 , 480 ]
22
- -Current image size: [ 640 , 480 ]
23
- -Sequence FPS: 60
24
- -Gyro noise: 0.0015
25
- -Accelerometer noise: 0.017
26
- -Gyro walk: 5e-05
27
- -Accelerometer walk: 0.0055
28
- -IMU frequency: 200
29
- -Features per image: 1250
30
- -ORB scale factor: 1.2
31
- -ORB number of scales: 6
32
- -Initial FAST threshold: 20
33
- -Min FAST threshold: 7
34
-
35
-
36
- Loading ORB Vocabulary. This could take a while...
37
- Vocabulary loaded!
38
-
39
- Initialization of Atlas from file: /map/map_atlas.osa
40
- Starting to read the save binary file
41
- End to load the save binary file
42
- Change to map with id: 0
43
- Atlas loaded!
44
- There are 1 cameras in the atlas
45
- Camera 0 is fisheye
46
- Discard points further than 20 m from current camera
47
- Video opened using backend FFMPEG
48
- There are 1103 frames in total
49
- video FPS 59.9401
50
- line 1873 keyframes 72MapPoints2546
51
- line 1877
52
- mlFrameTimes.size()= 0
53
- KeyFrame::nNextId=393
54
- Relocalization() failed.
55
- Fail to track local map!
56
- Video FPS: 59.9401
57
- ORB-SLAM 3 running at: 11.895 FPS
58
- Relocalization() failed.
59
- Fail to track local map!
60
- Relocalization() failed.
61
- Fail to track local map!
62
- Relocalization() failed.
63
- Fail to track local map!
64
- Relocalization() failed.
65
- Fail to track local map!
66
- Relocalization() failed.
67
- Fail to track local map!
68
- Relocalization() failed.
69
- Fail to track local map!
70
- Relocalization() failed.
71
- Fail to track local map!
72
- Relocalization() failed.
73
- Fail to track local map!
74
- Relocalization() failed.
75
- Fail to track local map!
76
- Relocalization() failed.
77
- Fail to track local map!
78
- Relocalization() failed.
79
- Fail to track local map!
80
- Relocalization() failed.
81
- Fail to track local map!
82
- Relocalization() failed.
83
- Fail to track local map!
84
- Relocalization() failed.
85
- Fail to track local map!
86
- Relocalization() failed.
87
- Fail to track local map!
88
- Relocalization() failed.
89
- Fail to track local map!
90
- Relocalization() failed.
91
- Fail to track local map!
92
- Relocalization() failed.
93
- Fail to track local map!
94
- Relocalization() failed.
95
- Fail to track local map!
96
- Relocalization() failed.
97
- Fail to track local map!
98
- Relocalization() failed.
99
- Fail to track local map!
100
- Relocalization() failed.
101
- Fail to track local map!
102
- Relocalization() failed.
103
- Fail to track local map!
104
- Relocalization() failed.
105
- Fail to track local map!
106
- Relocalization() failed.
107
- Fail to track local map!
108
- Relocalization() failed.
109
- Fail to track local map!
110
- Relocalization() failed.
111
- Fail to track local map!
112
- Relocalization() failed.
113
- Fail to track local map!
114
- Relocalization() failed.
115
- Fail to track local map!
116
- Relocalization() failed.
117
- Fail to track local map!
118
- Relocalization() failed.
119
- Fail to track local map!
120
- Relocalization() failed.
121
- Fail to track local map!
122
- Relocalization() failed.
123
- Fail to track local map!
124
- Relocalization() failed.
125
- Fail to track local map!
126
- Relocalization() failed.
127
- Fail to track local map!
128
- Relocalization() failed.
129
- Fail to track local map!
130
- Relocalization() failed.
131
- Fail to track local map!
132
- Relocalization() failed.
133
- Fail to track local map!
134
- Relocalization() failed.
135
- Fail to track local map!
136
- Relocalization() failed.
137
- Fail to track local map!
138
- Relocalization() failed.
139
- Fail to track local map!
140
- Relocalization() failed.
141
- Fail to track local map!
142
- Relocalization() failed.
143
- Fail to track local map!
144
- Relocalization() failed.
145
- Fail to track local map!
146
- Relocalization() failed.
147
- Fail to track local map!
148
- Relocalization() failed.
149
- Fail to track local map!
150
- Relocalization() failed.
151
- Fail to track local map!
152
- Relocalization() failed.
153
- Fail to track local map!
154
- Relocalization() failed.
155
- Fail to track local map!
156
- Relocalized!!
157
- INIT_RELOCALIZE success!
158
- vpKFs.back()->mpImuPreintegrated0x56072bca1f40
159
- pKFCur->mTimeStamp0.83416666666666672
160
- vpKFs.front()->mTimeStamp-59.192458337502089
161
- vpKFs.back()->mTimeStamp-0.01667500416875356
162
- pKFcur->GetMapPointMatches().size()1255
163
- 1691 pKFcur->GetVelocity() 0
164
- 0
165
- 0
166
- pKFcur->mnId393
167
- TRACK_REF_KF: Less than 15 matches!!
168
- Fail to track local map!
169
- Relocalized!!
170
- INIT_RELOCALIZE success!
171
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
172
- pKFCur->mTimeStamp0.86753333333333338
173
- vpKFs.front()->mTimeStamp-60.043300008337503
174
- vpKFs.back()->mTimeStamp-0.016675004168751006
175
- pKFcur->GetMapPointMatches().size()1253
176
- 1691 pKFcur->GetVelocity() 0
177
- 0
178
- 0
179
- pKFcur->mnId394
180
- TRACK_REF_KF: Less than 15 matches!!
181
- Fail to track local map!
182
- Relocalized!!
183
- INIT_RELOCALIZE success!
184
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
185
- pKFCur->mTimeStamp0.90090000000000003
186
- vpKFs.front()->mTimeStamp-60.927508345839591
187
- vpKFs.back()->mTimeStamp-0.016675004168751006
188
- pKFcur->GetMapPointMatches().size()1253
189
- 1691 pKFcur->GetVelocity() 0
190
- 0
191
- 0
192
- pKFcur->mnId395
193
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 1
194
- Fail to track local map!
195
- Relocalization() failed.
196
- Fail to track local map!
197
- Relocalization() failed.
198
- Fail to track local map!
199
- Relocalization() failed.
200
- Fail to track local map!
201
- Relocalization() failed.
202
- Fail to track local map!
203
- Relocalization() failed.
204
- Fail to track local map!
205
- Relocalized!!
206
- INIT_RELOCALIZE success!
207
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
208
- pKFCur->mTimeStamp1.0176833333333333
209
- vpKFs.front()->mTimeStamp-61.845083350008345
210
- vpKFs.back()->mTimeStamp-0.016675004168751006
211
- pKFcur->GetMapPointMatches().size()1251
212
- 1691 pKFcur->GetVelocity() -0.070993430912494659
213
- 0.24396172165870667
214
- -0.02626429870724678
215
- pKFcur->mnId396
216
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 27
217
- Fail to track local map!
218
- Relocalized!!
219
- INIT_RELOCALIZE success!
220
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
221
- pKFCur->mTimeStamp1.1845166666666667
222
- vpKFs.front()->mTimeStamp-62.879441687510429
223
- vpKFs.back()->mTimeStamp-0.016675004168751117
224
- pKFcur->GetMapPointMatches().size()1253
225
- 1691 pKFcur->GetVelocity() -0.01390822883695364
226
- 0.61345505714416504
227
- -0.94260019063949585
228
- pKFcur->mnId397
229
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 16
230
- Fail to track local map!
231
- Relocalized!!
232
- INIT_RELOCALIZE success!
233
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
234
- pKFCur->mTimeStamp1.3179833333333333
235
- vpKFs.front()->mTimeStamp-64.08063335834585
236
- vpKFs.back()->mTimeStamp-0.016675004168751117
237
- pKFcur->GetMapPointMatches().size()1252
238
- 1691 pKFcur->GetVelocity() 0.049844082444906235
239
- 0.52565038204193115
240
- -1.0587483644485474
241
- pKFcur->mnId398
242
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 27
243
- Fail to track local map!
244
- Relocalized!!
245
- INIT_RELOCALIZE success!
246
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
247
- pKFCur->mTimeStamp1.4514500000000001
248
- vpKFs.front()->mTimeStamp-65.415291695847941
249
- vpKFs.back()->mTimeStamp-0.016675004168751117
250
- pKFcur->GetMapPointMatches().size()1254
251
- 1691 pKFcur->GetVelocity() 0.024243585765361786
252
- 0.34004724025726318
253
- -0.90045934915542603
254
- pKFcur->mnId399
255
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 8
256
- Fail to track local map!
257
- Relocalized!!
258
- INIT_RELOCALIZE success!
259
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
260
- pKFCur->mTimeStamp1.6683333333333334
261
- vpKFs.front()->mTimeStamp-66.883416700016696
262
- vpKFs.back()->mTimeStamp-0.016675004168751117
263
- pKFcur->GetMapPointMatches().size()1253
264
- 1691 pKFcur->GetVelocity() -0.030322754755616188
265
- 0.34701099991798401
266
- -1.3041330575942993
267
- pKFcur->mnId400
268
- Video FPS: 59.940059940059939
269
- ORB-SLAM 3 running at: 14.233865397594204 FPS
270
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 14
271
- Fail to track local map!
272
- Relocalized!!
273
- INIT_RELOCALIZE success!
274
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
275
- pKFCur->mTimeStamp1.8184833333333335
276
- vpKFs.front()->mTimeStamp-68.568425037518779
277
- vpKFs.back()->mTimeStamp-0.016675004168751117
278
- pKFcur->GetMapPointMatches().size()1254
279
- 1691 pKFcur->GetVelocity() -0.16745820641517639
280
- 0.29439464211463928
281
- -1.1939772367477417
282
- pKFcur->mnId401
283
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 11
284
- Fail to track local map!
285
- Relocalized!!
286
- INIT_RELOCALIZE success!
287
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
288
- pKFCur->mTimeStamp2.0020000000000002
289
- vpKFs.front()->mTimeStamp-70.403583375020858
290
- vpKFs.back()->mTimeStamp-0.016675004168751117
291
- pKFcur->GetMapPointMatches().size()1253
292
- 1691 pKFcur->GetVelocity() -0.09951937198638916
293
- 0.26123827695846558
294
- -0.79558253288269043
295
- pKFcur->mnId402
296
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 9
297
- Fail to track local map!
298
- Relocalized!!
299
- INIT_RELOCALIZE success!
300
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
301
- pKFCur->mTimeStamp2.2522500000000001
302
- vpKFs.front()->mTimeStamp-72.422258379189614
303
- vpKFs.back()->mTimeStamp-0.016675004168750895
304
- pKFcur->GetMapPointMatches().size()1255
305
- 1691 pKFcur->GetVelocity() -1.0354750156402588
306
- 0.54136717319488525
307
- -1.4115722179412842
308
- pKFcur->mnId403
309
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
310
- Fail to track local map!
311
- Relocalized!!
312
- INIT_RELOCALIZE success!
313
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
314
- pKFCur->mTimeStamp2.4691333333333332
315
- vpKFs.front()->mTimeStamp-74.691183383358364
316
- vpKFs.back()->mTimeStamp-0.016675004168750895
317
- pKFcur->GetMapPointMatches().size()1256
318
- 1691 pKFcur->GetVelocity() -6.5153632164001465
319
- -0.087441802024841309
320
- -2.1437098979949951
321
- pKFcur->mnId404
322
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 13
323
- Fail to track local map!
324
- Relocalized!!
325
- INIT_RELOCALIZE success!
326
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
327
- pKFCur->mTimeStamp2.5024999999999999
328
- vpKFs.front()->mTimeStamp-77.176991720860443
329
- vpKFs.back()->mTimeStamp-0.016675004168750895
330
- pKFcur->GetMapPointMatches().size()1250
331
- 1691 pKFcur->GetVelocity() 4.6982378959655762
332
- 0.29600191116333008
333
- 2.5502991676330566
334
- pKFcur->mnId405
335
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 25
336
- Fail to track local map!
337
- Relocalized!!
338
- INIT_RELOCALIZE success!
339
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
340
- pKFCur->mTimeStamp2.5358666666666667
341
- vpKFs.front()->mTimeStamp-79.696166725029187
342
- vpKFs.back()->mTimeStamp-0.016675004168750895
343
- pKFcur->GetMapPointMatches().size()1255
344
- 1691 pKFcur->GetVelocity() -5.0571885108947754
345
- -0.10984981060028076
346
- -2.1808438301086426
347
- pKFcur->mnId406
348
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
349
- Fail to track local map!
350
- Relocalized!!
351
- INIT_RELOCALIZE success!
352
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
353
- pKFCur->mTimeStamp2.6192833333333332
354
- vpKFs.front()->mTimeStamp-82.248708395864611
355
- vpKFs.back()->mTimeStamp-0.016675004168750895
356
- pKFcur->GetMapPointMatches().size()1254
357
- 1691 pKFcur->GetVelocity() -8.3729438781738281
358
- -0.23637585341930389
359
- -2.7418651580810547
360
- pKFcur->mnId407
361
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 29
362
- Fail to track local map!
363
- Relocalized!!
364
- INIT_RELOCALIZE success!
365
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
366
- pKFCur->mTimeStamp2.65265
367
- vpKFs.front()->mTimeStamp-84.8846667333667
368
- vpKFs.back()->mTimeStamp-0.016675004168750895
369
- pKFcur->GetMapPointMatches().size()1250
370
- 1691 pKFcur->GetVelocity() 6.7749638557434082
371
- 0.17818108201026917
372
- 3.9826295375823975
373
- pKFcur->mnId408
374
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 18
375
- Fail to track local map!
376
- Relocalized!!
377
- INIT_RELOCALIZE success!
378
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
379
- pKFCur->mTimeStamp2.6860166666666667
380
- vpKFs.front()->mTimeStamp-87.553991737535455
381
- vpKFs.back()->mTimeStamp-0.016675004168750895
382
- pKFcur->GetMapPointMatches().size()1252
383
- 1691 pKFcur->GetVelocity() -6.5976252555847168
384
- -0.047502890229225159
385
- -3.2000746726989746
386
- pKFcur->mnId409
387
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
388
- Fail to track local map!
389
- Relocalized!!
390
- INIT_RELOCALIZE success!
391
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
392
- pKFCur->mTimeStamp2.7527500000000003
393
- vpKFs.front()->mTimeStamp-90.256683408370876
394
- vpKFs.back()->mTimeStamp-0.016675004168750895
395
- pKFcur->GetMapPointMatches().size()1253
396
- 1691 pKFcur->GetVelocity() -16.032686233520508
397
- -0.72109091281890869
398
- -6.4175214767456055
399
- pKFcur->mnId410
400
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
401
- Fail to track local map!
402
- Relocalized!!
403
- INIT_RELOCALIZE success!
404
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
405
- pKFCur->mTimeStamp2.7861166666666666
406
- vpKFs.front()->mTimeStamp-93.026108412539628
407
- vpKFs.back()->mTimeStamp-0.016675004168750895
408
- pKFcur->GetMapPointMatches().size()1254
409
- 1691 pKFcur->GetVelocity() -27.874727249145508
410
- -2.3091080188751221
411
- -10.707086563110352
412
- pKFcur->mnId411
413
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
414
- Fail to track local map!
415
- Relocalized!!
416
- INIT_RELOCALIZE success!
417
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
418
- pKFCur->mTimeStamp2.8194833333333333
419
- vpKFs.front()->mTimeStamp-95.828900083375046
420
- vpKFs.back()->mTimeStamp-0.016675004168750895
421
- pKFcur->GetMapPointMatches().size()1256
422
- 1691 pKFcur->GetVelocity() -39.790931701660156
423
- -3.9541094303131104
424
- -14.971183776855469
425
- pKFcur->mnId412
426
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
427
- Fail to track local map!
428
- Relocalized!!
429
- INIT_RELOCALIZE success!
430
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
431
- pKFCur->mTimeStamp2.8528500000000001
432
- vpKFs.front()->mTimeStamp-98.665058420877131
433
- vpKFs.back()->mTimeStamp-0.016675004168750895
434
- pKFcur->GetMapPointMatches().size()1250
435
- 1691 pKFcur->GetVelocity() -51.700107574462891
436
- -5.7450723648071289
437
- -19.195100784301758
438
- pKFcur->mnId413
439
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
440
- Fail to track local map!
441
- Relocalized!!
442
- INIT_RELOCALIZE success!
443
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
444
- pKFCur->mTimeStamp2.8862166666666669
445
- vpKFs.front()->mTimeStamp-101.53458342504588
446
- vpKFs.back()->mTimeStamp-0.016675004168750895
447
- pKFcur->GetMapPointMatches().size()1252
448
- 1691 pKFcur->GetVelocity() -64.676078796386719
449
- -7.5509142875671387
450
- -23.947776794433594
451
- pKFcur->mnId414
452
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
453
- Fail to track local map!
454
- Relocalized!!
455
- INIT_RELOCALIZE success!
456
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
457
- pKFCur->mTimeStamp2.9195833333333332
458
- vpKFs.front()->mTimeStamp-104.4374750958813
459
- vpKFs.back()->mTimeStamp-0.016675004168750895
460
- pKFcur->GetMapPointMatches().size()1253
461
- 1691 pKFcur->GetVelocity() -77.344284057617188
462
- -9.7491273880004883
463
- -28.509441375732422
464
- pKFcur->mnId415
465
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
466
- Fail to track local map!
467
- Relocalized!!
468
- INIT_RELOCALIZE success!
469
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
470
- pKFCur->mTimeStamp2.95295
471
- vpKFs.front()->mTimeStamp-107.37373343338338
472
- vpKFs.back()->mTimeStamp-0.016675004168750895
473
- pKFcur->GetMapPointMatches().size()1254
474
- 1691 pKFcur->GetVelocity() -91.96771240234375
475
- -11.548822402954102
476
- -34.062469482421875
477
- pKFcur->mnId416
478
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
479
- Fail to track local map!
480
- Relocalized!!
481
- INIT_RELOCALIZE success!
482
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
483
- pKFCur->mTimeStamp2.9863166666666667
484
- vpKFs.front()->mTimeStamp-110.34335843755213
485
- vpKFs.back()->mTimeStamp-0.016675004168750895
486
- pKFcur->GetMapPointMatches().size()1254
487
- 1691 pKFcur->GetVelocity() -106.02226257324219
488
- -14.270195007324219
489
- -39.262893676757812
490
- pKFcur->mnId417
491
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
492
- Fail to track local map!
493
- Relocalization() failed.
494
- Fail to track local map!
495
- Relocalization() failed.
496
- Fail to track local map!
497
- Relocalization() failed.
498
- Fail to track local map!
499
- Relocalized!!
500
- INIT_RELOCALIZE success!
501
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
502
- pKFCur->mTimeStamp3.0697333333333332
503
- vpKFs.front()->mTimeStamp-113.34635010838754
504
- vpKFs.back()->mTimeStamp-0.016675004168750895
505
- pKFcur->GetMapPointMatches().size()1252
506
- 1691 pKFcur->GetVelocity() -120.76187896728516
507
- -17.312261581420898
508
- -44.806636810302734
509
- pKFcur->mnId418
510
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
511
- Fail to track local map!
512
- Relocalized!!
513
- INIT_RELOCALIZE success!
514
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
515
- pKFCur->mTimeStamp3.1031
516
- vpKFs.front()->mTimeStamp-116.43275844588962
517
- vpKFs.back()->mTimeStamp-0.016675004168750895
518
- pKFcur->GetMapPointMatches().size()1254
519
- 1691 pKFcur->GetVelocity() -124.91747283935547
520
- -19.068344116210938
521
- -47.432746887207031
522
- pKFcur->mnId419
523
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
524
- Fail to track local map!
525
- Relocalized!!
526
- INIT_RELOCALIZE success!
527
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
528
- pKFCur->mTimeStamp3.1364666666666667
529
- vpKFs.front()->mTimeStamp-119.55253345005836
530
- vpKFs.back()->mTimeStamp-0.016675004168750895
531
- pKFcur->GetMapPointMatches().size()1253
532
- 1691 pKFcur->GetVelocity() -129.12979125976562
533
- -20.360048294067383
534
- -49.930263519287109
535
- pKFcur->mnId420
536
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
537
- Fail to track local map!
538
- Relocalization() failed.
539
- Fail to track local map!
540
- Relocalization() failed.
541
- Fail to track local map!
542
- Relocalized!!
543
- INIT_RELOCALIZE success!
544
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
545
- pKFCur->mTimeStamp3.2032000000000003
546
- vpKFs.front()->mTimeStamp-122.70567512089379
547
- vpKFs.back()->mTimeStamp-0.016675004168750895
548
- pKFcur->GetMapPointMatches().size()1254
549
- 1691 pKFcur->GetVelocity() -133.34715270996094
550
- -21.402376174926758
551
- -52.336399078369141
552
- pKFcur->mnId421
553
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
554
- Fail to track local map!
555
- Relocalization() failed.
556
- Fail to track local map!
557
- Relocalization() failed.
558
- Fail to track local map!
559
- Relocalized!!
560
- INIT_RELOCALIZE success!
561
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
562
- pKFCur->mTimeStamp3.2699333333333334
563
- vpKFs.front()->mTimeStamp-125.92555012506254
564
- vpKFs.back()->mTimeStamp-0.016675004168750895
565
- pKFcur->GetMapPointMatches().size()1251
566
- 1691 pKFcur->GetVelocity() -138.07015991210938
567
- -21.948707580566406
568
- -54.501804351806641
569
- pKFcur->mnId422
570
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
571
- Fail to track local map!
572
- Relocalization() failed.
573
- Fail to track local map!
574
- Relocalization() failed.
575
- Fail to track local map!
576
- Relocalization() failed.
577
- Fail to track local map!
578
- Video FPS: 59.940059940059939
579
- ORB-SLAM 3 running at: 10.64181250073495 FPS
580
- Relocalized!!
581
- INIT_RELOCALIZE success!
582
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
583
- pKFCur->mTimeStamp3.3533500000000003
584
- vpKFs.front()->mTimeStamp-129.21215846256462
585
- vpKFs.back()->mTimeStamp-0.016675004168750895
586
- pKFcur->GetMapPointMatches().size()1252
587
- 1691 pKFcur->GetVelocity() -143.36859130859375
588
- -23.092985153198242
589
- -56.544246673583984
590
- pKFcur->mnId423
591
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
592
- Fail to track local map!
593
- Relocalization() failed.
594
- Fail to track local map!
595
- Relocalization() failed.
596
- Fail to track local map!
597
- Relocalization() failed.
598
- Fail to track local map!
599
- Relocalized!!
600
- INIT_RELOCALIZE success!
601
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
602
- pKFCur->mTimeStamp3.4367666666666667
603
- vpKFs.front()->mTimeStamp-132.58218346673337
604
- vpKFs.back()->mTimeStamp-0.016675004168750895
605
- pKFcur->GetMapPointMatches().size()1251
606
- 1691 pKFcur->GetVelocity() -149.56883239746094
607
- -24.928644180297852
608
- -58.516826629638672
609
- pKFcur->mnId424
610
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
611
- Fail to track local map!
612
- Relocalized!!
613
- INIT_RELOCALIZE success!
614
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
615
- pKFCur->mTimeStamp3.4701333333333335
616
- vpKFs.front()->mTimeStamp-136.03562513756879
617
- vpKFs.back()->mTimeStamp-0.016675004168750895
618
- pKFcur->GetMapPointMatches().size()1253
619
- 1691 pKFcur->GetVelocity() -157.18263244628906
620
- -27.114768981933594
621
- -60.478500366210938
622
- pKFcur->mnId425
623
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
624
- Fail to track local map!
625
- Relocalized!!
626
- INIT_RELOCALIZE success!
627
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
628
- pKFCur->mTimeStamp3.5035000000000003
629
- vpKFs.front()->mTimeStamp-139.52243347507087
630
- vpKFs.back()->mTimeStamp-0.016675004168750895
631
- pKFcur->GetMapPointMatches().size()1252
632
- 1691 pKFcur->GetVelocity() -165.352783203125
633
- -29.261333465576172
634
- -62.437255859375
635
- pKFcur->mnId426
636
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
637
- Fail to track local map!
638
- Relocalization() failed.
639
- Fail to track local map!
640
- Relocalization() failed.
641
- Fail to track local map!
642
- Relocalized!!
643
- INIT_RELOCALIZE success!
644
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
645
- pKFCur->mTimeStamp3.5702333333333334
646
- vpKFs.front()->mTimeStamp-143.04260847923962
647
- vpKFs.back()->mTimeStamp-0.016675004168750895
648
- pKFcur->GetMapPointMatches().size()1252
649
- 1691 pKFcur->GetVelocity() -174.16075134277344
650
- -31.251262664794922
651
- -64.383041381835938
652
- pKFcur->mnId427
653
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
654
- Fail to track local map!
655
- Relocalized!!
656
- INIT_RELOCALIZE success!
657
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
658
- pKFCur->mTimeStamp3.6036000000000001
659
- vpKFs.front()->mTimeStamp-146.6295168167417
660
- vpKFs.back()->mTimeStamp-0.016675004168750895
661
- pKFcur->GetMapPointMatches().size()1251
662
- 1691 pKFcur->GetVelocity() -183.21809387207031
663
- -32.180370330810547
664
- -66.055961608886719
665
- pKFcur->mnId428
666
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
667
- Fail to track local map!
668
- Relocalized!!
669
- INIT_RELOCALIZE success!
670
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
671
- pKFCur->mTimeStamp3.6369666666666669
672
- vpKFs.front()->mTimeStamp-150.24979182091045
673
- vpKFs.back()->mTimeStamp-0.016675004168750895
674
- pKFcur->GetMapPointMatches().size()1251
675
- 1691 pKFcur->GetVelocity() -192.0689697265625
676
- -32.509284973144531
677
- -67.514030456542969
678
- pKFcur->mnId429
679
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
680
- Fail to track local map!
681
- Relocalization() failed.
682
- Fail to track local map!
683
- Relocalization() failed.
684
- Fail to track local map!
685
- Relocalized!!
686
- INIT_RELOCALIZE success!
687
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
688
- pKFCur->mTimeStamp3.7037
689
- vpKFs.front()->mTimeStamp-153.90343349174586
690
- vpKFs.back()->mTimeStamp-0.016675004168750895
691
- pKFcur->GetMapPointMatches().size()1250
692
- 1691 pKFcur->GetVelocity() -200.7845458984375
693
- -32.307601928710938
694
- -68.765670776367188
695
- pKFcur->mnId430
696
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
697
- Fail to track local map!
698
- Relocalization() failed.
699
- Fail to track local map!
700
- Relocalized!!
701
- INIT_RELOCALIZE success!
702
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
703
- pKFCur->mTimeStamp3.7537500000000001
704
- vpKFs.front()->mTimeStamp-157.6238084959146
705
- vpKFs.back()->mTimeStamp-0.016675004168750895
706
- pKFcur->GetMapPointMatches().size()1251
707
- 1691 pKFcur->GetVelocity() -209.12519836425781
708
- -31.395795822143555
709
- -69.5433349609375
710
- pKFcur->mnId431
711
- TrackLocalMap() mCurrentFrame.mnId<mnLastRelocFrameId+mMaxFrames && mnMatchesInliers<50 = 0
712
- Fail to track local map!
713
- Relocalized!!
714
- INIT_RELOCALIZE success!
715
- vpKFs.back()->mpImuPreintegrated0x56072c51d830
716
- pKFCur->mTimeStamp3.7871166666666669
717
- vpKFs.front()->mTimeStamp-161.39423350008335
718
- vpKFs.back()->mTimeStamp-0.016675004168750895
719
- pKFcur->GetMapPointMatches().size()1254
720
- 1691 pKFcur->GetVelocity() -217.29817199707031
721
- -31.030288696289062
722
- -69.98968505859375
723
- pKFcur->mnId432
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5601e8a30f98df968cd3642bb6e176074d8c67a21560637428f0d3d9f7d0ac67
3
+ size 24247
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/extract_gopro_imu_stdout.txt CHANGED
@@ -1,9 +1,3 @@
1
- Input video path: /data/raw_video.mp4
2
- Output file will be: /data/imu_data.json
3
- Opening /data/raw_video.mp4
4
- Read stream data from raw_video.mp4
5
- Extracted information for raw_video.mp4
6
- Flushing on end after 156864773 bytes
7
- Generated telemetry for raw_video.mp4
8
- Telemetry saved as JSON to imu_data.json
9
- Done
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b9c6aa761f1b8f2ddfef4050410f1a8d9bf9b0d773da600a410f4b07f1d5e869
3
+ size 305
 
 
 
 
 
 
bimanual_cloth_folding/open_source_slam_reruns/20231228_zhenjia_480/demos/demo_C3444250470334_2023.12.28_16.23.03.758167/imu_data.json CHANGED
The diff for this file is too large to render. See raw diff