text stringlengths 0 141 |
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-Original image size: [ 2704 , 2028 ] |
-Current image size: [ 960 , 720 ] |
-Camera 1 parameters after resize: [ 336.626 336.626 480.635 358.192 -0.0560438 -0.0599787 0.0694283 -0.0286672 ] |
-Sequence FPS: 60 |
-Gyro noise: 0.00181 |
-Accelerometer noise: 0.01754 |
-Gyro walk: 2.58e-05 |
-Accelerometer walk: 0.000629 |
-IMU frequency: 200 |
-Features per image: 1250 |
-ORB scale factor: 1.2 |
-ORB number of scales: 8 |
-Initial FAST threshold: 20 |
-Min FAST threshold: 7 |
Loading ORB Vocabulary. This could take a while... |
Vocabulary loaded! |
Initialization of Atlas from file: /map/map_atlas.osa |
Starting to read the save binary file |
End to load the save binary file |
Change to map with id: 0 |
Atlas loaded! |
There are 1 cameras in the atlas |
Camera 0 is fisheye |
Discard points further than 20 m from current camera |
Video opened using backend FFMPEG |
There are 673 frames in total |
Video: 119.88 fps | SLAM: 59.9401 fps (skip=2) | IMU/frame: 3.33667 |
line 1873 keyframes 46MapPoints1082 |
line 1877 |
mlFrameTimes.size()= 0 |
KeyFrame::nNextId=614 |
Relocalized!! |
INIT_RELOCALIZE success! |
vpKFs.back()->mpImuPreintegrated0x58279389cc60 |
pKFCur->mTimeStamp0 |
vpKFs.front()->mTimeStamp-61.2779 |
vpKFs.back()->mTimeStamp-0.016675 |
pKFcur->GetMapPointMatches().size()3910 |
1691 pKFcur->GetVelocity() 0 |
0 |
0 |
pKFcur->mnId614 |
ORB-SLAM3 processing at: 17.9987 FPS (frame 0/673) |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
ORB-SLAM3 processing at: 25.71748173595882 FPS (frame 100/673) |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
ORB-SLAM3 processing at: 31.891880910741548 FPS (frame 200/673) |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
ORB-SLAM3 processing at: 31.592221754903061 FPS (frame 300/673) |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
ORB-SLAM3 processing at: 32.008249422107063 FPS (frame 400/673) |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
ORB-SLAM3 processing at: 31.570023353609074 FPS (frame 500/673) |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
No IMU Preintegration for KeyFrame 614, skipping inertial edge. |
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