calibration
This commit is contained in:
gfuse
@@ -0,0 +1,276 @@
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[09:40:58.480] New key frame
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[09:40:58.480] BA loop run
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[09:41:00.861] New key frame
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[09:41:00.861] BA loop run
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[09:41:01.109] New key frame
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[09:41:01.109] BA loop run
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[09:41:03.381] New key frame
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[09:41:03.381] BA loop run
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[09:41:03.643] New key frame
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[09:41:03.643] BA loop run
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[09:41:05.992] New key frame
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[09:41:05.992] BA loop run
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[09:41:06.314] New key frame
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[09:41:06.314] BA loop run
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[09:41:06.317] init error: 33.593490
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[09:41:06.319] end error: 0.507104
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[09:41:06.693] New key frame
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[09:41:06.693] BA loop run
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[09:41:06.699] init error: 623.796692
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[09:41:06.713] end error: 25.966885
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[09:41:07.465] New key frame
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[09:41:07.465] BA loop run
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[09:41:07.473] init error: 200.281248
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[09:41:07.483] end error: 20.162876
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[09:41:08.373] New key frame
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[09:41:08.373] BA loop run
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[09:41:08.385] init error: 188.665690
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[09:41:08.401] end error: 11.829465
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[09:41:09.273] New key frame
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[09:41:09.273] BA loop run
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[09:41:09.283] init error: 250.915563
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[09:41:09.297] end error: 17.902582
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[09:41:09.929] New key frame
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[09:41:09.929] BA loop run
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[09:41:09.941] init error: 366.126323
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[09:41:09.961] end error: 50.177894
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[09:41:10.778] New key frame
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[09:41:10.778] BA loop run
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[09:41:10.791] init error: 441.157738
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[09:41:10.819] end error: 82.281770
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[09:41:11.918] New key frame
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[09:41:11.918] BA loop run
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[09:41:11.934] init error: 522.351362
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[09:41:11.967] end error: 106.476498
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[09:41:13.129] New key frame
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[09:41:13.129] BA loop run
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[09:41:13.148] init error: 502.660293
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[09:41:13.184] end error: 133.579220
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[09:41:14.243] New key frame
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[09:41:14.243] BA loop run
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[09:41:14.267] init error: 759.602149
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[09:41:14.314] end error: 143.566244
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[09:41:15.446] New key frame
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[09:41:15.446] BA loop run
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[09:41:15.473] init error: 807.280252
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[09:41:15.519] end error: 149.477329
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[09:41:18.367] New key frame
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[09:41:18.367] BA loop run
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[09:41:18.388] init error: 552.413383
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[09:41:18.430] end error: 135.149830
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[09:41:19.476] New key frame
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[09:41:19.476] BA loop run
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[09:41:19.498] init error: 551.733477
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[09:41:19.543] end error: 162.408624
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[09:41:20.993] New key frame
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[09:41:20.994] BA loop run
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[09:41:21.021] init error: 577.582127
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[09:41:21.072] end error: 347.637686
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[09:41:22.124] New key frame
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[09:41:22.124] BA loop run
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[09:41:22.154] init error: 869.217739
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[09:41:22.210] end error: 257.272977
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[09:41:23.753] New key frame
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[09:41:23.753] BA loop run
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[09:41:23.789] init error: 750.787054
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[09:41:23.857] end error: 278.771803
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[09:41:26.151] New key frame
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[09:41:26.151] BA loop run
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[09:41:26.174] init error: 542.304782
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[09:41:26.225] end error: 342.676558
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[09:41:27.557] New key frame
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[09:41:27.557] BA loop run
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[09:41:27.589] init error: 1106927.312549
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[09:41:27.648] end error: 2472.238543
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[09:41:28.886] New key frame
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[09:41:28.886] BA loop run
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[09:41:28.922] init error: 34347.971388
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[09:41:28.978] end error: 702.902792
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[09:41:31.077] New key frame
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[09:41:31.077] BA loop run
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[09:41:31.106] init error: 162312.913853
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[09:41:31.163] end error: 1352.654551
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[09:41:35.100] New key frame
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[09:41:35.100] BA loop run
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[09:41:35.141] init error: 2602712.759146
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[09:41:35.218] end error: 2988.467651
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[09:41:40.197] New key frame
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[09:41:40.197] BA loop run
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[09:41:40.242] init error: 78346.175119
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[09:41:40.338] end error: 3325.693257
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[09:41:46.517] New key frame
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[09:41:46.517] BA loop run
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[09:41:46.565] init error: 497489.318251
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[09:41:46.648] end error: 2435.150457
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[09:41:51.887] New key frame
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[09:41:51.887] BA loop run
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[09:41:51.924] init error: 826678.283964
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[09:41:52.014] end error: 5042.615786
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[09:42:01.253] New key frame
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[09:42:01.253] BA loop run
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[09:42:01.278] init error: 1134531.628111
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[09:42:01.329] end error: 1492.806564
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[09:42:03.799] New key frame
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[09:42:03.799] BA loop run
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[09:42:03.823] init error: 29620.317170
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[09:42:03.873] end error: 1113.873776
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[09:42:07.284] New key frame
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[09:42:07.284] BA loop run
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[09:42:07.309] init error: 1239494.297594
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[09:42:07.356] end error: 960.417044
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[09:42:10.434] New key frame
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[09:42:10.434] BA loop run
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[09:42:10.464] init error: 4244493.292235
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[09:42:10.509] end error: 2438.454006
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[09:42:12.097] New key frame
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[09:42:12.097] BA loop run
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[09:42:12.117] init error: 2019166.708812
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[09:42:12.147] end error: 1708.994479
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[09:42:13.681] New key frame
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[09:42:13.681] BA loop run
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[09:42:13.700] init error: 222025.551054
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[09:42:13.729] end error: 1232.584233
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[09:42:15.073] New key frame
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[09:42:15.073] BA loop run
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[09:42:15.091] init error: 22879.374140
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[09:42:15.117] end error: 739.349639
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[09:42:16.062] New key frame
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[09:42:16.062] BA loop run
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[09:42:16.081] init error: 2679.501733
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[09:42:16.106] end error: 1164.563693
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[09:42:17.575] New key frame
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[09:42:17.575] BA loop run
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[09:42:17.587] init error: 34584.249826
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[09:42:17.604] end error: 243.975915
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[09:42:18.528] New key frame
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[09:42:18.528] BA loop run
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[09:42:18.540] init error: 205309.228156
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[09:42:18.555] end error: 329.519674
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[09:42:19.361] New key frame
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[09:42:19.361] BA loop run
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[09:42:19.378] init error: 247752.403596
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[09:42:19.403] end error: 1926.209132
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[09:42:20.292] New key frame
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[09:42:20.292] BA loop run
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[09:42:20.309] init error: 3772923.591496
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[09:42:20.336] end error: 13015.806800
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[09:42:21.203] New key frame
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[09:42:21.203] BA loop run
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[09:42:21.220] init error: 8100411.130081
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[09:42:21.247] end error: 2354.665901
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[09:42:22.371] New key frame
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[09:42:22.371] BA loop run
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[09:42:22.385] init error: 13252893.163963
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[09:42:22.405] end error: 3955.403400
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[09:42:22.995] New key frame
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[09:42:22.995] BA loop run
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[09:42:23.007] init error: 50246.031351
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[09:42:23.023] end error: 1239.502501
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[09:42:23.544] New key frame
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[09:42:23.544] BA loop run
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[09:42:23.553] init error: 24423.596147
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[09:42:23.567] end error: 542.436572
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[09:42:24.189] New key frame
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[09:42:24.189] BA loop run
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[09:42:24.201] init error: 17867.188215
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[09:42:24.221] end error: 426.323018
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[09:42:24.729] New key frame
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[09:42:24.729] BA loop run
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[09:42:24.739] init error: 275724.909064
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[09:42:24.754] end error: 521.643418
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[09:42:25.897] New key frame
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[09:42:25.897] BA loop run
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[09:42:25.906] init error: 262049.700145
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[09:42:25.919] end error: 377.674704
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[09:42:26.242] New key frame
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[09:42:26.242] BA loop run
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[09:42:26.256] init error: 39784.857158
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[09:42:26.275] end error: 1360.159533
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[09:42:26.567] New key frame
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[09:42:26.567] BA loop run
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[09:42:26.579] init error: 2829.343323
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[09:42:26.593] end error: 177.152274
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[09:42:26.861] New key frame
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[09:42:26.861] BA loop run
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[09:42:26.872] init error: 463.093803
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[09:42:26.886] end error: 108.046460
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[09:42:27.222] New key frame
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[09:42:27.222] BA loop run
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[09:42:27.234] init error: 253.449879
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[09:42:27.251] end error: 46.918466
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[09:42:27.558] New key frame
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[09:42:27.558] BA loop run
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[09:42:27.571] init error: 270.531664
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[09:42:27.588] end error: 211.306909
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[09:42:28.026] New key frame
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[09:42:28.026] BA loop run
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[09:42:28.035] init error: 106.215440
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[09:42:28.050] end error: 48.649958
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[09:42:28.471] New key frame
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[09:42:28.471] BA loop run
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[09:42:28.484] init error: 540.109305
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[09:42:28.500] end error: 94.974361
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[09:42:28.783] New key frame
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[09:42:28.783] BA loop run
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[09:42:28.797] init error: 311.232055
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[09:42:28.814] end error: 71.629348
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[09:42:29.526] New key frame
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[09:42:29.526] BA loop run
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[09:42:29.537] init error: 641.110125
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[09:42:29.553] end error: 61.509066
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[09:42:30.216] New key frame
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[09:42:30.217] BA loop run
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[09:42:30.228] init error: 1528.464094
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[09:42:30.246] end error: 533.391239
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[09:42:30.900] New key frame
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[09:42:30.900] BA loop run
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[09:42:30.913] init error: 1306.140162
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[09:42:30.932] end error: 279.868488
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[09:42:31.537] New key frame
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[09:42:31.537] BA loop run
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[09:42:31.551] init error: 6952.845242
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[09:42:31.580] end error: 264.563956
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[09:42:32.261] New key frame
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[09:42:32.261] BA loop run
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[09:42:32.275] init error: 863.549138
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[09:42:32.297] end error: 275.322912
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[09:42:33.012] New key frame
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[09:42:33.012] BA loop run
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[09:42:33.029] init error: 49464.954650
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[09:42:33.056] end error: 303.622631
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[09:42:33.638] New key frame
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[09:42:33.638] BA loop run
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[09:42:33.653] init error: 607.686003
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[09:42:33.683] end error: 339.169231
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[09:42:34.299] New key frame
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[09:42:34.299] BA loop run
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[09:42:34.314] init error: 1902.522594
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[09:42:34.348] end error: 397.317811
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[09:42:35.240] New key frame
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[09:42:35.240] BA loop run
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[09:42:35.257] init error: 2445.150875
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[09:42:35.292] end error: 402.052507
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[09:42:35.825] New key frame
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[09:42:35.825] BA loop run
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[09:42:35.845] init error: 17776.183805
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[09:42:35.877] end error: 539.861068
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[09:42:36.930] New key frame
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[09:42:36.930] BA loop run
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[09:42:36.952] init error: 12225.169084
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[09:42:36.986] end error: 637.005548
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[09:42:38.052] New key frame
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[09:42:38.052] BA loop run
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[09:42:38.079] init error: 389723.394965
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[09:42:38.118] end error: 873.699531
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[09:42:39.254] New key frame
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[09:42:39.254] BA loop run
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[09:42:39.277] init error: 3285148.506519
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[09:42:39.313] end error: 1445.314082
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[09:42:40.617] New key frame
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[09:42:40.617] BA loop run
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[09:42:40.638] init error: 2817319.087931
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[09:42:40.679] end error: 3234.274176
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[09:42:41.978] New key frame
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[09:42:41.978] BA loop run
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[09:42:42.003] init error: 445458.985445
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[09:42:42.042] end error: 4705.423805
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+1233
-508
File diff suppressed because it is too large
Load Diff
@@ -8,7 +8,7 @@ vio:
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init_min_disparity: 10
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structureoptim_max_pts: 50
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kfselect_mindist: 0.01
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poseoptim_thresh: 1.0
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poseoptim_thresh: 0.25
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ACC_ekf: 0.2 #acc white noise in continuous in EKF
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GYO_ekf: 0.1 #gyro white noise in continuous in EKF
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VO_ekf_translation: 1.0 #VO noise in EKF
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Reference in New Issue
Block a user