[0m[ INFO] [1628075395.490073223]: Found parameter: vio/cam_model, value: ATAN[0m
[0m[ INFO] [1628075395.491914877]: Found parameter: vio/cam_width, value: 640[0m
[0m[ INFO] [1628075395.492559750]: Found parameter: vio/cam_height, value: 480[0m
[0m[ INFO] [1628075395.493129217]: Found parameter: vio/cam_fx, value: 0.463632[0m
[0m[ INFO] [1628075395.493754824]: Found parameter: vio/cam_fy, value: 0.823661[0m
[0m[ INFO] [1628075395.494398019]: Found parameter: vio/cam_cx, value: 0.497465[0m
[0m[ INFO] [1628075395.495017773]: Found parameter: vio/cam_cy, value: 0.498443[0m
[0m[ INFO] [1628075395.495651384]: Found parameter: vio/cam_d0, value: 1.01687[0m
[0m[ INFO] [1628075395.495707727]: SVO initialized[0m
[0m[ INFO] [1628075395.500444958]: Found parameter: svo/grid_size, value: 30[0m
[0m[ INFO] [1628075395.501216849]: Found parameter: svo/init_min_disparity, value: 30[0m
[0m[ INFO] [1628075395.501936284]: Found parameter: svo/init_min_tracked, value: 100[0m
[0m[ INFO] [1628075395.505564908]: Found parameter: svo/poseoptim_thresh, value: 4[0m
[0m[ INFO] [1628075395.507050260]: Found parameter: svo/structureoptim_max_pts, value: 50[0m
[0m[ INFO] [1628075395.510045032]: Found parameter: svo/loba_num_iter, value: 0[0m
[0m[ INFO] [1628075395.510581472]: Found parameter: svo/kfselect_mindist, value: 0.01[0m
[0m[ INFO] [1628075395.513104533]: Found parameter: svo/max_n_kfs, value: 20[0m
[0m[ INFO] [1628075395.514686388]: Found parameter: svo/quality_min_fts, value: 10[0m
[0m[ INFO] [1628075395.515177967]: Found parameter: svo/quality_max_drop_fts, value: 60[0m
[0m[ INFO] [1628075395.518380464]: Found parameter: svo/ACC_noise, value: 0.5[0m
[0m[ INFO] [1628075395.518854403]: Found parameter: svo/GYO_noise, value: 0.001[0m
[0m[ INFO] [1628075395.519324729]: Found parameter: svo/svo_ekf, value: 1.5[0m
[0m[ INFO] [1628075395.521324057]: Found parameter: svo/Cmd_Cov, value: 1[0m
Find platform number:Intel(R) CPU Runtime for OpenCL(TM) Applications 
Find platform number:Intel(R) OpenCL HD Graphics 
CL_DEVICE_NAME: Intel(R) UHD Graphics 620 [0x5917] 
CL_DEVICE_OPENCL_C_VERSION: OpenCL C 3.0  
CL_DEVICE_BUILT_IN_KERNELS: block_motion_estimate_intel;block_advanced_motion_estimate_check_intel;block_advanced_motion_estimate_bidirectional_check_intel; 
CL_DEVICE_COMPILER_AVAILABLE: 1
CL_DEVICE_LOCAL_MEM_SIZE: 65536
CL_DEVICE_GLOBAL_MEM_SIZE: 9867214848
[0m[ INFO] [1628075398.422818368]: Found parameter: vio/start, value: /vio/start[0m
[0m[ INFO] [1628075398.423641087]: Found parameter: vio/stop, value: /vio/stop[0m
[0m[ INFO] [1628075398.424380068]: Found parameter: vio/odom, value: /vio/odom[0m
[0m[ INFO] [1628075398.450008106]: Found parameter: vio/cam_topic, value: /CoreNode/grey_img[0m
[0m[ INFO] [1628075480.949972038]: Found parameter: vio/imu_topic, value: /SensorNode/imu[0m
[0m[ INFO] [1628075480.954881201]: Found parameter: vio/cmd_topic, value: /cmd_vel[0m
[0m[ INFO] [1628075489.855047307]: RESET[0m
[0m[ INFO] [1628075489.874347934]: Init: Selected first frame.[0m
[0m[ INFO] [1628075489.956562779]: Init: px average disparity is: 3.81504 While: 30 minimum required.  KLT tracked : 706[0m
[0m[ INFO] [1628075490.038412423]: Init: px average disparity is: 6.65645 While: 30 minimum required.  KLT tracked : 706[0m
[0m[ INFO] [1628075490.116984693]: Init: px average disparity is: 9.39604 While: 30 minimum required.  KLT tracked : 706[0m
[0m[ INFO] [1628075490.197952530]: Init: px average disparity is: 12.2728 While: 30 minimum required.  KLT tracked : 706[0m
[0m[ INFO] [1628075490.276639621]: Init: px average disparity is: 15.3934 While: 30 minimum required.  KLT tracked : 706[0m
[0m[ INFO] [1628075490.365126845]: Init: px average disparity is: 16.2682 While: 30 minimum required.  KLT tracked : 706[0m
[0m[ INFO] [1628075490.444197650]: Init: px average disparity is: 17.1976 While: 30 minimum required.  KLT tracked : 701[0m
[0m[ INFO] [1628075490.515079021]: Init: px average disparity is: 20.2008 While: 30 minimum required.  KLT tracked : 700[0m
[0m[ INFO] [162807... logging to /root/.ros/log/7e270c52-f514-11eb-9602-8c16454ee8e8/roslaunch-gfuse-1076.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/root/Project/ROS/src/vio_svo/GPU_version/vio/launch/Px30.launch
[1mstarted roslaunch server http://gfuse:35601/[0m

SUMMARY
========

CLEAR PARAMETERS
 * /vio/

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.7
 * /svo/ACC_noise: 0.5
 * /svo/Cmd_Cov: 1.0
 * /svo/GYO_noise: 0.001
 * /svo/grid_size: 30
 * /svo/init_min_disparity: 30
 * /svo/init_min_tracked: 100
 * /svo/kfselect_mindist: 0.01
 * /svo/loba_num_iter: 0
 * /svo/max_n_kfs: 20
 * /svo/poseoptim_thresh: 4.0
 * /svo/quality_max_drop_fts: 60
 * /svo/quality_min_fts: 10
 * /svo/structureoptim_max_pts: 50
 * /svo/svo_ekf: 1.5
 * /vio/cam_cx: 0.497465
 * /vio/cam_cy: 0.498443
 * /vio/cam_d0: 1.01687
 * /vio/cam_fx: 0.463632
 * /vio/cam_fy: 0.823661
 * /vio/cam_height: 480
 * /vio/cam_model: ATAN
 * /vio/cam_topic: /CoreNode/grey_img
 * /vio/cam_width: 640
 * /vio/cmd_topic: /cmd_vel
 * /vio/imu_topic: /SensorNode/imu
 * /vio/odom: /vio/odom
 * /vio/start: /vio/start
 * /vio/stop: /vio/stop

NODES
  /
    vio (vio/vio)

auto-starting new master
[1mprocess[master]: started with pid [1086][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/root/Project/ROS/src/vio_svo/GPU_version/vio/launch/Px30.launch http://localhost:11311
[1msetting /run_id to 7e270c52-f514-11eb-9602-8c16454ee8e8[0m
[1mprocess[rosout-1]: started with pid [1097][0m
started core service [/rosout]
[1mprocess[vio-2]: started with pid [1105][0m
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
[1mdone[0m
