%YAML:1.0 #-------------------------------------------------------------------------------------------- # Camera Parameters. Adjust them! #-------------------------------------------------------------------------------------------- #Sensor settings InputSensorType: 0 InputDepthScaleFactor: 5000.0 IntrinsicsImgSize.width: 640 IntrinsicsImgSize.height: 480 # Camera calibration and distortion parameters (OpenCV) IntrinsicsCamFx: 517.30640 IntrinsicsCamFy: 516.469215 IntrinsicsCamCx: 318.643040 IntrinsicsCamCy: 255.313989 IntrinsicsCamK1: 0.262383 IntrinsicsCamK2: -0.953104 IntrinsicsCamP1: -0.005358 IntrinsicsCamP2: 0.002628 IntrinsicsCamK3: 1.163314 InputCannyEdgeTh1: 80 InputCannyEdgeTh2: 60 InputSmoothEdgeImage: 0 InputComputeGradientsForEdgeDetector: 0 InputDatasetFile: "associate.txt" InputDatasetFolder: "/home/yhzhao/dataSets/vslam/tum/rgbd_dataset_freiburg2_large_with_loop" InputReadGT: 1 #groundtruth.txt InputReadNFrames: 1500 #272 InputDepthMin: 0.1 InputDepthMax: 5.2 InputColorFormatRGB: 0 #Input InputSkipFirstNFrames: 0 ==================================== ==================================== yhzhao@yhzhao:~/test_git/RESLAM$ build/RESLAM config_files/reslam_settings.yaml config_files/dataset_tum1.yaml INF|System.cpp[readSettings,144]: EnableLocalMapping: 1 INF|System.cpp[readSettings,158]: SystemMultiThreading: 0 INF|System.cpp[readSettings,165]: Read: [1, 1, 1.25, 1.5] into 1 1 1.25 1.5 INF|System.cpp[readSensorSettings,90]: InputDatasetFile1: associate.txt INF|System.cpp[readSensorSettings,92]: InputDatasetFile2: associate.txt INF|System.cpp[readSensorSettings,106]: InputSkipFirstNFrames: 0 INF|System.cpp[readSensorSettings,112]: InputDepthMin: 0.1 InputDepthMax: 5.2 INF|LocalMapper.cpp[LocalMapper,55]: setThreadReduce: 0x17af0e0 INF|Tracker.cpp[Tracker,42]: mCameraMatrix: 517.306 516.469 INF|fernrelocaliser.cpp[FernRelocaliser,297]: imgSize / (1 << levels): [40 x 30] height: 480 width: 640 INF|FernConservatory.cpp[FernConservatory,47]: Generating FernConservatory with: 500 4 [40 x 30] [0, 255] 4 width: 40x h:30 INF|fernrelocaliser.cpp[FernRelocaliser,300]: Creating RelocDatabase! INF|Tracker.cpp[Tracker,42]: mCameraMatrix: 517.306 516.469 INF|Input.cpp[readGTTrajectory,50]: Reading: /home/yhzhao/dataSets/vslam/tum/rgbd_dataset_freiburg2_large_with_loop/groundtruth.txt INF|Input.cpp[InputDatasetReader,104]: Reading: /home/yhzhao/dataSets/vslam/tum/rgbd_dataset_freiburg2_large_with_loop/associate.txt START PANGOLIN! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!0 INF|Input.cpp[getImages,132]: mNbReceivedImages!1 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!0 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 1 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875572.417883 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875572.417883 to keyframe with id: 4546748242985284103 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!1 INF|Input.cpp[getImages,132]: mNbReceivedImages!2 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875572.417883 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875572.417883 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 857 size: 6673 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId4546748242985284103 timestamp: 1311875572.417883 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization0 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 0 = 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew0 INF|LocalMapper.cpp[activatePointsMT,960]: allKeyFrameData.size(): 1 0 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 0 out of 0 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 0 newEdgePixels: 0 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 149 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x18ac360 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 0 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 0 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 650 INF|LoopCloser.cpp[loopCloserLinear,98]: Inserted keyframe into DB -1 -1 0 insertedKfId: 0 1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 659 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 1 keyframes 1 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!1 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 2 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875572.453070 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!2 INF|Input.cpp[getImages,132]: mNbReceivedImages!3 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 0 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 0 to 8096188383131234917 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.453070) and 0(1311875572.417883) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999985 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1025/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 0 to 8096188383131234917 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.453070) and 0(1311875572.417883) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999774 -0.0203019 -0.00624347 0.0126426 0.0203521 0.99976 0.00807713 0.0123426 0.00607799 -0.00820238 0.999948 -0.0200323 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999731 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:604/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 0 to 8096188383131234917 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.453070) and 0(1311875572.417883) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999806 -0.0196708 -0.000895305 -0.000227258 0.0196778 0.999769 0.00861699 0.0185127 0.000725595 -0.00863294 0.999962 -0.0209916 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.99913 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1151/1 INF|Tracker.cpp[findInitAndTrackFrames,161]: New Keyframe because poses: 1 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3028/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.99981 -0.0194375 0.00150765 -0.00433073 0.0194229 0.999769 0.00918717 0.0178335 -0.00168588 -0.00915614 0.999957 -0.00949508 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875572.453070 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875572.453070 to keyframe with id: 8096188383131234917 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875572.453070 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 855 size: 7796 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId8096188383131234917 timestamp: 1311875572.453070 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization1 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 1 = 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cd7e00 fh1 0x18ac360fh->id: 0 1 1goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew1 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 365 out of 396 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 396 newEdgePixels: 396 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 26 lastEnergy: 127.462 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 5 INF|LocalMapper.cpp[optimize,276]: Start Energy: 127.462 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -5.57192e-13 5.22264e-13 -2.17639e-13 1.54401e-13 8.22121e-13 3.18717e-13 1.89849e-14 3.06474e-13 -4.8805e-13 -3.15018e-14 -0.0169517 -0.0146093 -0.00198322 -0.00171752 0.00115967 0.000853434 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 125.015 0 0 newEnergyL 0 lastEnergy: 127.462 0 0 lastEnergyL: 0mActiveResiduals: 365 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -5.37556e-13 3.17367e-13 6.1613e-14 1.52269e-13 -1.10683e-12 1.88682e-14 4.3796e-14 -2.09804e-14 7.72247e-13 2.53432e-14 0.00585372 -0.0139326 -0.00798891 -0.00150659 -0.000685294 0.000249599 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 123.455 0 0 newEnergyL 0 lastEnergy: 125.015 0 0 lastEnergyL: 0mActiveResiduals: 365 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 2.34508e-13 -2.08476e-13 6.12713e-14 1.18828e-13 -0.00139439 0.000813158 0.00216009 0.000281951 0.000313657 -0.000307061 0.00140667 -0.000805732 -0.0021549 -0.000367498 -0.000361617 0.000267202 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 124.264 0 0 newEnergyL 0 lastEnergy: 123.455 0 0 lastEnergyL: 0mActiveResiduals: 365 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.07967e-14 3.06107e-14 1.03779e-14 -1.69036e-14 -0.00309157 0.00111591 0.00346488 0.000451872 0.000360959 -0.000307661 0.00310745 -0.00108744 -0.00345972 -0.000588355 -0.000455803 0.0002103 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 126.025 0 0 newEnergyL 0 lastEnergy: 124.264 0 0 lastEnergyL: 0mActiveResiduals: 365 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 5.81115e-13 -5.49147e-13 1.63349e-13 9.37722e-14 -0.00206635 0.000116478 0.00110256 0.000248493 0.000290088 -0.00020126 0.00206656 -8.64465e-05 -0.00110493 -0.000283555 -0.000341813 0.000131367 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 127.863 0 0 newEnergyL 0 lastEnergy: 126.025 0 0 lastEnergyL: 0mActiveResiduals: 365 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 3.73098e-13 -3.43565e-13 8.86493e-14 -1.28635e-13 -0.000775933 0.00141657 0.00306057 0.000376386 9.34364e-05 8.98596e-05 0.000798706 -0.00142929 -0.00304877 -0.000510517 -0.000143125 -0.000104473 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 129.584 0 0 newEnergyL 0 lastEnergy: 127.863 0 0 lastEnergyL: 0mActiveResiduals: 365 INF|LocalMapper.cpp[optimize,282]: Iteration: 6 lastX: 4.24047e-13 -3.76174e-13 6.38529e-14 6.46211e-14 -0.003125 -0.0004629 0.00043546 6.81762e-05 0.000232117 0.000255271 0.00311475 0.000519488 -0.000444948 -7.00412e-05 -0.000298736 -0.000368613 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 6: new Energy: 130.342 0 0 newEnergyL 0 lastEnergy: 129.584 0 0 lastEnergyL: 0mActiveResiduals: 365 INF|LocalMapper.cpp[optimize,282]: Iteration: 7 lastX: 1.66779e-13 -2.05819e-13 4.50202e-14 1.90481e-13 0.00112435 0.000593763 0.00066691 9.37592e-05 -0.000133135 0.000162852 -0.0011136 -0.000621591 -0.000659549 -0.000131903 0.000145222 -0.000118804 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 7: new Energy: 130.55 0 0 newEnergyL 0 lastEnergy: 130.342 0 0 lastEnergyL: 0mActiveResiduals: 365 INF|LocalMapper.cpp[optimize,282]: Iteration: 8 lastX: 1.14716e-13 -1.74451e-14 -7.82334e-15 1.98543e-14 0.000618915 0.000602044 0.000897636 0.000194741 -4.56183e-05 5.93514e-05 -0.000608449 -0.000622173 -0.000891041 -0.000239276 4.51169e-05 -3.23477e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 8: new Energy: 131.62 0 0 newEnergyL 0 lastEnergy: 130.55 0 0 lastEnergyL: 0mActiveResiduals: 365 INF|LocalMapper.cpp[optimize,282]: Iteration: 9 lastX: -4.92551e-14 3.0575e-14 -2.59289e-14 -1.3308e-13 -0.00120551 0.000194755 0.000887681 0.000228527 0.000130406 -3.32644e-05 0.00120773 -0.000179451 -0.000887891 -0.000260975 -0.000165134 -6.6797e-06 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 9: new Energy: 133.391 0 0 newEnergyL 0 lastEnergy: 131.62 0 0 lastEnergyL: 0mActiveResiduals: 365 INF|LocalMapper.cpp[optimize,282]: Iteration: 10 lastX: -2.00134e-13 1.78088e-13 -5.15858e-14 -6.07547e-14 0.000561847 0.000577779 0.000875108 0.000211129 -3.84935e-05 -0.000122606 -0.000551829 -0.000596598 -0.000868833 -0.00025397 3.84642e-05 0.000147454 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 10: new Energy: 134.718 0 0 newEnergyL 0 lastEnergy: 133.391 0 0 lastEnergyL: 0mActiveResiduals: 365 INF|LocalMapper.cpp[optimize,282]: Iteration: 11 lastX: 1.16279e-13 -1.40376e-13 2.91657e-14 -2.42285e-14 -0.00043987 0.000551345 0.00124979 0.000310327 6.55343e-05 -5.10656e-05 0.000448619 -0.000554156 -0.00124542 -0.000363861 -9.0384e-05 4.09855e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 11: new Energy: 137.852 0 0 newEnergyL 0 lastEnergy: 134.718 0 0 lastEnergyL: 0mActiveResiduals: 365 INF|LocalMapper.cpp[optimize,282]: Iteration: 12 lastX: -1.26024e-13 1.08339e-13 -4.90256e-14 -4.41999e-16 0.00109842 0.00116573 0.00178056 0.00042452 -7.57841e-05 6.02875e-05 -0.00107824 -0.00120315 -0.00176796 -0.000511909 7.21302e-05 -1.13843e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 12: new Energy: 142.116 0 0 newEnergyL 0 lastEnergy: 137.852 0 0 lastEnergyL: 0mActiveResiduals: 365 INF|LocalMapper.cpp[optimize,282]: Iteration: 13 lastX: -1.14303e-13 1.0353e-13 -1.42167e-14 -9.44773e-14 -0.00214349 0.000673775 0.00220969 0.000236872 0.000241982 9.3031e-05 0.00215285 -0.000652288 -0.00220703 -0.000323369 -0.000307381 -0.000161548 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 13: new Energy: 145.198 0 0 newEnergyL 0 lastEnergy: 142.116 0 0 lastEnergyL: 0mActiveResiduals: 365 INF|LocalMapper.cpp[optimize,282]: Iteration: 14 lastX: 4.55865e-14 -2.08031e-14 -3.82928e-14 7.37624e-16 -0.00288951 -0.000488753 0.000285562 -0.000213133 0.000264816 4.55594e-05 0.00287903 0.000542139 -0.000294896 0.000217948 -0.000318262 -0.000150874 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 14: new Energy: 143.05 0 0 newEnergyL 0 lastEnergy: 145.198 0 0 lastEnergyL: 0mActiveResiduals: 365 INF|LocalMapper.cpp[optimize,282]: Iteration: 15 lastX: 3.63442e-13 -3.82736e-13 1.47053e-13 1.18254e-13 0.00192265 1.97833e-05 -0.000778809 -0.000190039 -0.000216474 0.000150286 -0.00192072 -4.99669e-05 0.000782198 0.000212518 0.000261984 -8.36425e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 15: new Energy: 140.128 0 0 newEnergyL 0 lastEnergy: 143.05 0 0 lastEnergyL: 0mActiveResiduals: 365 INF|LocalMapper.cpp[optimize,282]: Iteration: 16 lastX: 2.26589e-13 -2.40156e-13 2.75717e-14 -7.86096e-14 0.000802538 0.000241924 0.000125374 0.000115229 -5.64604e-05 -7.82953e-05 -0.000797873 -0.000258607 -0.000121801 -0.000125441 6.90254e-05 0.000108667 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 16: new Energy: 141.281 0 0 newEnergyL 0 lastEnergy: 140.128 0 0 lastEnergyL: 0mActiveResiduals: 365 INF|LocalMapper.cpp[optimize,282]: Iteration: 17 lastX: -1.31354e-13 1.2759e-13 -2.11059e-14 2.73845e-14 -0.00054442 0.00042695 0.0010544 0.000189293 7.84111e-05 2.42359e-05 0.000551026 -0.000425964 -0.00105136 -0.000233357 -0.000101863 -3.91618e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 17: new Energy: 143.749 0 0 newEnergyL 0 lastEnergy: 141.281 0 0 lastEnergyL: 0mActiveResiduals: 365 INF|LocalMapper.cpp[optimize,282]: Iteration: 18 lastX: -1.37986e-13 1.43906e-13 -6.76849e-14 3.94978e-14 -0.00171041 -0.000200792 0.000339681 -6.95372e-05 0.000163825 6.79528e-05 0.00170567 0.000230846 -0.000344388 6.47064e-05 -0.000198434 -0.000129403 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 18: new Energy: 143.33 0 0 newEnergyL 0 lastEnergy: 143.749 0 0 lastEnergyL: 0mActiveResiduals: 365 Input.cpp[readImages,206]: Got image from sensor!2 INF|LocalMapper.cpp[optimize,282]: Iteration: 19 lastX: 1.24676e-13 -1.3654e-13 4.18958e-14 1.36214e-14 0.000203968 -0.000450627 -0.000955385 -0.000194797 -5.24951e-05 6.99475e-05 -0.000211248 0.000455339 0.000951562 0.00023622 6.78775e-05 -6.71628e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,306]: 19: new Energy: 140.996 0 0 newEnergyL 0 lastEnergy: 143.33 0 0 lastEnergyL: 0mActiveResiduals: 365 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 140.996 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 365 INF|LocalMapper.cpp[optimize,345]: End Energy: 140.996 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.635609 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.635609 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6337 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1cd7e00 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 1 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 1 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 646 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 1 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 655 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 2 keyframes 2 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 494 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 3 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875572.482308 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!3 INF|Input.cpp[getImages,132]: mNbReceivedImages!4 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 1 to 2993592205749 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.482308) and 1(1311875572.453070) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 14,0.99972 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2625/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 1 to 2993592205749 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.482308) and 1(1311875572.453070) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997752 0.0657684 -0.0128289 0.0234252 -0.0658325 0.99782 -0.00464062 -0.00977758 0.0124957 0.00547475 0.999907 -0.0542802 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999848 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:496/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 1 to 2993592205749 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.482308) and 1(1311875572.453070) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.997695 0.0666881 -0.0125813 0.0244356 -0.0667498 0.997759 -0.00454614 -0.00989619 0.01225 0.00537546 0.999911 -0.0507321 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 12,0.999645 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2650/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.886588 resInfo good: 7180, 616 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6541/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.997445 0.0708391 -0.00927591 0.0180857 -0.0707715 0.997465 0.00742547 -0.0463189 0.00977841 -0.00675003 0.999929 -0.0556072 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!2 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 482 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!3 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 4 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!4 INF|Input.cpp[getImages,132]: mNbReceivedImages!5 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875572.521373 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.997445 0.0708391 -0.00927591 0.0180857 -0.0707715 0.997465 0.00742547 -0.0463189 0.00977841 -0.00675003 0.999929 -0.0556072 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 1 to 2993592205749 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.521373) and 1(1311875572.453070) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.997445 0.0708391 -0.00927591 0.0180857 -0.0707715 0.997465 0.00742547 -0.0463189 0.00977841 -0.00675003 0.999929 -0.0556072 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 12,0.999501 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2273/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 1 to 2993592205749 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.521373) and 1(1311875572.453070) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999637 0.0265426 -0.0045901 -0.026893 -0.0252979 0.983621 0.178464 -0.774206 0.00925182 -0.178283 0.983936 -0.295302 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 10,0.99997 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2376/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 1 to 2993592205749 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.521373) and 1(1311875572.453070) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999871 0.015792 -0.00296446 -0.0348014 -0.014732 0.974656 0.223222 -0.986271 0.00641445 -0.223149 0.974763 -0.294064 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 0,0.999566 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:366/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.77937 resInfo good: 7624, 172 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5790/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999883 0.0151361 -0.00202172 -0.0397288 -0.0143011 0.974587 0.223552 -0.986883 0.00535404 -0.223497 0.97469 -0.29498 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875572.521373 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875572.521373 to keyframe with id: 2993592205749 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875572.521373 Input.cpp[readImages,206]: Got image from sensor!4 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 868 size: 5020 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId2993592205749 timestamp: 1311875572.521373 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization2 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 2 = 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2112300 fh1 0x18ac360fh->id: 0 2 3goodE: 349 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2112300 fh1 0x1cd7e00fh->id: 1 2 3goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew2 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 87 out of 114 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 114 newEdgePixels: 114 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 808 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 90 lastEnergy: 284.448 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 11 INF|LocalMapper.cpp[optimize,276]: Start Energy: 284.448 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.04508e-13 9.35745e-13 5.71043e-12 -1.70325e-12 0.0130536 -0.00690683 -0.0188616 -0.00276374 -0.00161676 2.25794e-05 0.0159145 -0.0135372 -0.0143825 -0.00252456 -0.00161193 -1.48515e-05 0.0137326 -0.0135041 -0.0169622 -0.00344162 -0.00145982 -3.06299e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 808 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 236.371 0 0 newEnergyL 0 lastEnergy: 284.448 0 0 lastEnergyL: 0mActiveResiduals: 808 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -4.36735e-13 -2.07701e-12 -2.87415e-12 1.64464e-12 1.30537e-07 -6.90687e-08 -1.88614e-07 -2.76395e-08 -1.61698e-08 2.25614e-10 -0.00176204 0.00739897 0.0107057 0.00174744 0.000443511 0.000239725 -0.00262317 0.000164682 0.00399363 0.000299482 0.00100505 -0.00115997 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 808 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 214.157 0 0 newEnergyL 0 lastEnergy: 236.371 0 0 lastEnergyL: 0mActiveResiduals: 808 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.51967e-13 3.51686e-12 8.0612e-13 1.26987e-12 0.00212805 -0.0040039 -0.00317803 -0.00134532 -0.000408298 0.000259836 -0.0026121 0.00368778 0.003365 0.000140931 0.000213574 0.000242242 0.000424051 0.000227701 -0.000246015 0.00200499 -0.000152589 0.000390753 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 808 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 224.096 0 0 newEnergyL 0 lastEnergy: 214.157 0 0 lastEnergyL: 0mActiveResiduals: 808 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -4.76691e-13 7.71852e-13 -1.0175e-12 -1.20551e-12 0.00113042 -0.00360728 -0.00411427 -0.00276633 -0.000205843 0.000361834 -0.00183202 0.00493338 0.00147804 -0.00124596 0.000140836 0.000274729 0.000621494 -0.000724928 0.00286711 -0.00182146 -0.000189992 0.000689258 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 808 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 207.313 0 0 newEnergyL 0 lastEnergy: 224.096 0 0 lastEnergyL: 0mActiveResiduals: 808 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.56651e-13 -2.14765e-12 -1.79387e-12 3.46493e-14 0.000488536 -0.00375372 -0.00259355 -0.00014909 -0.000534095 0.000656377 -0.00220142 0.00356071 0.00271492 0.0011689 -0.000155126 0.000802225 0.00165376 0.000132303 -0.000158993 -0.000480535 -0.000608027 0.00166536 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 808 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 200.128 0 0 newEnergyL 0 lastEnergy: 207.313 0 0 lastEnergyL: 0mActiveResiduals: 808 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -4.89613e-13 -7.74386e-14 -2.33813e-13 4.99094e-13 -0.000427394 -0.00361521 -0.000562446 -0.000331819 -0.000824084 0.00180849 -0.00234599 0.00293471 0.00165836 0.000702679 -0.000646074 0.00199599 0.00271977 0.000385771 -0.00121739 0.00227113 -0.00111752 0.00123046 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 808 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 200.455 0 0 newEnergyL 0 lastEnergy: 200.128 0 0 lastEnergyL: 0mActiveResiduals: 808 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 5 INF|LocalMapper.cpp[optimize,282]: Iteration: 6 lastX: -2.86608e-13 1.7509e-12 1.62776e-12 -2.23007e-12 0.00502798 -0.00174916 -0.00229585 -0.00274545 0.00193909 -0.00518617 0.00267233 0.00314135 -0.000911437 -0.00198673 0.00207372 -0.005145 -0.007753 -0.000613232 0.00342719 -0.00227732 0.00328644 -0.00394065 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 808 INF|LocalMapper.cpp[optimize,306]: 6: new Energy: 197.297 0 0 newEnergyL 0 lastEnergy: 200.455 0 0 lastEnergyL: 0mActiveResiduals: 808 INF|LocalMapper.cpp[optimize,282]: Iteration: 7 lastX: -4.3066e-13 2.39782e-13 -3.95493e-12 2.88727e-12 -0.00221027 -0.000404855 0.000933297 0.000695855 -0.000914407 0.00228944 -0.00116494 -0.000133143 0.000258462 0.000889946 -0.0010417 0.00246755 0.0033751 0.000246027 -0.00128029 0.00103044 -0.00126814 0.00140383 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 808 INF|LocalMapper.cpp[optimize,306]: 7: new Energy: 195.18 0 0 newEnergyL 0 lastEnergy: 197.297 0 0 lastEnergyL: 0mActiveResiduals: 808 INF|LocalMapper.cpp[optimize,282]: Iteration: 8 lastX: -1.61717e-14 -9.48837e-13 3.02314e-12 -2.14326e-12 0.000541042 0.000290333 -0.00177302 -0.00224992 0.00066032 -0.00139391 0.00124366 0.00104424 -0.000687227 -0.00205559 0.0004872 -0.00125432 -0.0017987 -0.000730379 0.00269037 -0.00131246 0.000750488 -0.00060953 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 808 INF|LocalMapper.cpp[optimize,306]: 8: new Energy: 199.882 0 0 newEnergyL 0 lastEnergy: 195.18 0 0 lastEnergyL: 0mActiveResiduals: 808 INF|LocalMapper.cpp[optimize,282]: Iteration: 9 lastX: -3.11411e-13 -2.27006e-13 -4.52444e-12 1.31832e-12 -0.000534157 0.000784726 0.00167402 0.000612027 -0.000205753 0.000373066 0.000296599 -0.00119542 -0.000848299 0.000462008 -0.000357691 0.000661934 0.000254871 0.000218081 -0.000896465 0.000718538 8.26018e-05 -0.000677969 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 808 INF|LocalMapper.cpp[optimize,306]: 9: new Energy: 197.015 0 0 newEnergyL 0 lastEnergy: 199.882 0 0 lastEnergyL: 0mActiveResiduals: 808 INF|LocalMapper.cpp[optimize,282]: Iteration: 10 lastX: 2.18766e-13 1.29395e-12 5.13336e-12 -1.58556e-12 0.00121798 0.00178372 -0.00107568 -0.0010197 0.000616421 -0.00146075 0.000227922 -0.00122987 9.89129e-05 -0.0012877 0.000656746 -0.00131699 -0.00141946 -0.000318806 0.00108059 7.27371e-05 0.000313259 0.000322473 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 808 INF|LocalMapper.cpp[optimize,306]: 10: new Energy: 198.335 0 0 newEnergyL 0 lastEnergy: 197.015 0 0 lastEnergyL: 0mActiveResiduals: 808 INF|LocalMapper.cpp[optimize,282]: Iteration: 11 lastX: -1.53128e-13 -1.39669e-12 -9.95803e-13 7.78064e-13 -5.59446e-05 0.00152024 0.00239131 0.00220773 -0.000791797 0.00121955 -0.00141647 -0.00282662 0.000120659 0.00177752 -0.000638013 0.00132885 0.00151799 0.000686664 -0.00272801 0.00165809 -0.000292896 0.000146872 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 808 INF|LocalMapper.cpp[optimize,306]: 11: new Energy: 192.832 0 0 newEnergyL 0 lastEnergy: 198.335 0 0 lastEnergyL: 0mActiveResiduals: 808 INF|LocalMapper.cpp[optimize,282]: Iteration: 12 lastX: 3.00031e-13 1.96238e-12 1.50559e-12 1.81551e-13 0.000572639 0.00161506 -0.00107827 -0.00184071 0.000436498 -0.000517628 -0.00016985 -0.000401784 -0.000993499 -0.0020526 0.000449576 -0.000461467 -0.00039174 -0.00072036 0.00229575 -0.000975265 -0.000236134 0.00049799 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 808 INF|LocalMapper.cpp[optimize,306]: 12: new Energy: 192.338 0 0 newEnergyL 0 lastEnergy: 192.832 0 0 lastEnergyL: 0mActiveResiduals: 808 INF|LocalMapper.cpp[optimize,282]: Iteration: 13 lastX: -2.0821e-13 -2.06411e-12 -2.31852e-12 -6.35262e-13 0.000757525 3.14794e-05 0.00139893 0.00115512 -0.000747796 0.000965271 -0.00172873 -0.00111646 0.00054825 0.00102068 -0.000446252 0.00102958 0.000987545 0.000591718 -0.00212886 0.00228118 -3.41816e-05 -0.000255797 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 808 INF|LocalMapper.cpp[optimize,306]: 13: new Energy: 201.084 0 0 newEnergyL 0 lastEnergy: 192.338 0 0 lastEnergyL: 0mActiveResiduals: 808 INF|LocalMapper.cpp[optimize,282]: Iteration: 14 lastX: 7.77843e-14 2.51264e-12 3.25877e-12 -6.98001e-13 0.00222173 0.00237289 -0.00192906 -0.00165709 0.00138738 -0.00303761 0.00208736 -0.000728807 -0.00112531 -0.00192228 0.00135079 -0.00301558 -0.0042894 -0.000891288 0.00334218 -0.00339938 0.00150288 -0.00169805 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 808 INF|LocalMapper.cpp[optimize,306]: 14: new Energy: 198.717 0 0 newEnergyL 0 lastEnergy: 201.084 0 0 lastEnergyL: 0mActiveResiduals: 808 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 198.717 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 808 INF|LocalMapper.cpp[optimize,345]: End Energy: 198.717 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.529786 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.529786 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6148 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2112300 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 2 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 1 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 634 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 2 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 643 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 4 keyframes 3 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 529 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!5 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875572.548997 INF|Input.cpp[getImages,132]: mNbReceivedImages!6 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 2 to 2334392281011862109 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.548997) and 3(1311875572.521373) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999585 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:896/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 2 to 2334392281011862109 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.548997) and 3(1311875572.521373) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999784 -0.0175929 -0.0110833 -0.0618952 0.0176931 0.999803 0.00900589 0.0261351 0.0109227 -0.00920004 0.999898 0.00403835 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:954/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 2 to 2334392281011862109 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.548997) and 3(1311875572.521373) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999685 -0.0174595 -0.0180216 -0.0176981 0.0177075 0.999749 0.0136926 0.0174666 0.0177781 -0.0140074 0.999744 0.00122611 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999415 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:620/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.750253 resInfo good: 4993, 27 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3013/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999698 -0.017458 -0.0173209 -0.0164215 0.017746 0.999704 0.0166174 0.0106511 0.0170256 -0.0169198 0.999712 9.5277e-05 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!4 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!5 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 6 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875572.582700 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!6 INF|Input.cpp[getImages,132]: mNbReceivedImages!7 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99879 -0.0346124 -0.0349216 -0.0330257 0.0357643 0.998818 0.0329178 0.0210093 0.033741 -0.0341269 0.998848 -0.000269276 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 2 to 2334392281011862109 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.582700) and 3(1311875572.521373) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99879 -0.0346124 -0.0349216 -0.0330257 0.0357643 0.998818 0.0329178 0.0210093 0.033741 -0.0341269 0.998848 -0.000269276 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1329/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 2 to 2334392281011862109 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.582700) and 3(1311875572.521373) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998309 -0.0348386 -0.0465433 -0.0124491 0.0360569 0.999022 0.0255984 0.0231088 0.0456059 -0.0272333 0.998588 0.0146824 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999437 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:601/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 2 to 2334392281011862109 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.582700) and 3(1311875572.521373) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998332 -0.0344248 -0.0463432 -0.00313853 0.0357726 0.998951 0.0285733 0.0244744 0.045311 -0.0301835 0.998517 0.0078679 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999303 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:675/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.998201 resInfo good: 4946, 74 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3179/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998364 -0.0337853 -0.0461235 0.0035018 0.0353025 0.998849 0.0324859 0.0150265 0.0449728 -0.0340611 0.998407 0.00838777 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!5 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!6 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 7 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875572.620634 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!7 INF|Input.cpp[getImages,132]: mNbReceivedImages!8 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.997288 -0.0417581 -0.0606075 0.0133444 0.0442413 0.998211 0.0402252 0.0173931 0.0588193 -0.0427974 0.997351 0.0127172 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 2 to 2334392281011862109 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.620634) and 3(1311875572.521373) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.997288 -0.0417581 -0.0606075 0.0133444 0.0442413 0.998211 0.0402252 0.0173931 0.0588193 -0.0427974 0.997351 0.0127172 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999991 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1307/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 2 to 2334392281011862109 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.620634) and 3(1311875572.521373) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997071 -0.0460741 -0.0610429 -0.0394412 0.0480435 0.998358 0.031197 0.0365313 0.0595053 -0.0340383 0.997647 0.0355499 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999426 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:662/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 2 to 2334392281011862109 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.620634) and 3(1311875572.521373) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.996919 -0.0460656 -0.0634796 -0.022432 0.0485519 0.99809 0.0381969 0.0183914 0.0615988 -0.0411613 0.997252 0.0281342 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999409 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:767/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.16983 resInfo good: 4997, 23 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3328/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.996805 -0.0446336 -0.0662351 -0.00602821 0.0474013 0.998042 0.0408193 0.0148442 0.0642834 -0.0438286 0.996969 0.0241512 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875572.620634 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875572.620634 to keyframe with id: 2334392281011862109 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875572.620634 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 695 size: 4458 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId2334392281011862109 timestamp: 1311875572.620634 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization3 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 3 = 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21163a0 fh1 0x18ac360fh->id: 0 3 6goodE: 375 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21163a0 fh1 0x1cd7e00fh->id: 1 3 6goodE: 50 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21163a0 fh1 0x2112300fh->id: 2 3 6goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew3 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 134 out of 167 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 167 newEdgePixels: 167 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1346 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 164 lastEnergy: 422.559 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 19 INF|LocalMapper.cpp[optimize,276]: Start Energy: 422.559 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -3.0273e-12 -3.82694e-12 -9.06612e-12 4.17599e-12 -0.010858 0.0087356 0.0122025 0.00943462 -0.000407631 0.00366217 -0.013829 0.00316636 0.011162 0.00894072 3.70884e-05 0.00380316 -0.000592614 0.0191585 0.020627 0.011581 -0.0010805 0.00210817 -0.0410266 0.0182186 0.0254138 0.01126 0.00367883 0.00469523 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1346 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 370.479 0 0 newEnergyL 0 lastEnergy: 422.559 0 0 lastEnergyL: 0mActiveResiduals: 1346 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 8.73391e-13 4.93447e-12 4.84818e-12 -3.33084e-12 -1.08582e-07 8.73589e-08 1.22025e-07 9.43656e-08 -4.0771e-09 3.6622e-08 0.00155391 -0.00245405 -0.000166706 -0.000174127 -0.000115646 0.000173989 -0.0125258 -0.00971606 0.00824949 -0.00153545 0.00128173 0.0014345 -0.00162508 -0.00209131 0.000458866 -0.000430019 1.96826e-06 0.00050255 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1346 Input.cpp[readImages,206]: Got image from sensor!7 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 350.348 0 0 newEnergyL 0 lastEnergy: 370.479 0 0 lastEnergyL: 0mActiveResiduals: 1346 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -6.50269e-13 -3.02502e-12 -8.34172e-12 2.00112e-12 -0.000791971 -0.00318489 0.000645761 0.000733334 -0.0014563 0.00368152 -0.00634553 0.00196722 0.00162433 0.00140881 -0.000905451 0.00377184 0.00665042 0.00193205 -0.00557473 0.00155939 -0.00231835 0.00278873 0.000300722 -0.0011696 0.00320583 0.00139206 -0.00117631 0.00332002 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1346 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 345.231 0 0 newEnergyL 0 lastEnergy: 350.348 0 0 lastEnergyL: 0mActiveResiduals: 1346 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -9.8165e-13 2.7313e-13 4.52912e-12 -1.92768e-12 0.000989408 0.00578852 -0.00167968 -0.00083867 0.00206527 -0.005305 0.0100567 -0.00376919 -0.00214091 -0.00183666 0.00115217 -0.00517496 -0.00639331 0.000533292 0.00475621 -0.00274471 0.00306291 -0.00488284 -0.00445515 -0.00177657 -0.000865999 -0.0027791 0.0023559 -0.00560394 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1346 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 343.348 0 0 newEnergyL 0 lastEnergy: 345.231 0 0 lastEnergyL: 0mActiveResiduals: 1346 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.00407e-12 9.85578e-13 -3.29387e-12 3.72909e-13 -0.00154682 -0.00275332 0.00102361 0.00141565 -0.00233 0.0059341 -0.0104985 0.00133964 0.00207786 0.00200958 -0.001433 0.0062268 0.00870726 0.00347322 -0.00528228 0.00208937 -0.00345673 0.00544174 0.00329956 -0.00265726 0.00234562 0.00114173 -0.00248193 0.00531932 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1346 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 335.59 0 0 newEnergyL 0 lastEnergy: 343.348 0 0 lastEnergyL: 0mActiveResiduals: 1346 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 9.97664e-13 4.55733e-12 6.8902e-12 6.3183e-13 0.00273551 0.004897 -0.000657487 -0.00164798 0.00141905 -0.0039081 0.00524183 -0.00353914 -0.0019146 -0.00264814 0.00116199 -0.00377288 -0.0106875 -0.00288886 0.00482325 -0.00109074 0.00296624 -0.00344068 0.00280434 0.00222892 -0.00195035 -0.000379283 0.00106861 -0.00384125 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1346 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 336.545 0 0 newEnergyL 0 lastEnergy: 335.59 0 0 lastEnergyL: 0mActiveResiduals: 1346 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 336.545 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1346 INF|LocalMapper.cpp[optimize,345]: End Energy: 336.545 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.528699 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.528699 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 5248 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x21163a0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 3 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 1 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 634 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 3 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 643 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 7 keyframes 4 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 531 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 8 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!8 INF|Input.cpp[getImages,132]: mNbReceivedImages!9 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875572.651384 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999692 -0.0111939 -0.0221614 0.00255715 0.0114074 0.99989 0.00952993 1.36167e-05 0.0220522 -0.00977979 0.999709 0.0143726 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 3 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.651384) and 6(1311875572.620634) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999692 -0.0111939 -0.0221614 0.00255715 0.0114074 0.99989 0.00952993 1.36167e-05 0.0220522 -0.00977979 0.999709 0.0143726 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999131 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:990/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 3 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.651384) and 6(1311875572.620634) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999651 -0.0036469 -0.0261742 -0.00722047 0.00372766 0.999988 0.00303721 -0.014837 0.0261629 -0.00313371 0.999653 -0.0113064 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999668 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:593/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 3 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.651384) and 6(1311875572.620634) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999572 -0.00750076 -0.0282603 0.00691548 0.0075483 0.99997 0.00157592 0.000917246 0.0282476 -0.00178856 0.999599 -0.00402564 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999773 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:806/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.698771 resInfo good: 4437, 21 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2878/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999572 -0.00546062 -0.0287495 0.0117557 0.00557793 0.999976 0.00400193 -0.000772976 0.0287269 -0.00416058 0.999579 0.000144767 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!7 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 475 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!8 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 9 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!9 INF|Input.cpp[getImages,132]: mNbReceivedImages!10 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875572.681792 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998287 -0.0107992 -0.0574964 0.0235065 0.0112683 0.999906 0.00784172 -0.00147978 0.0574063 -0.00847618 0.998315 0.000630395 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 3 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.681792) and 6(1311875572.620634) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998287 -0.0107992 -0.0574964 0.0235065 0.0112683 0.999906 0.00784172 -0.00147978 0.0574063 -0.00847618 0.998315 0.000630395 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1230/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 3 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.681792) and 6(1311875572.620634) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998244 -0.00380321 -0.0591174 -0.0272373 0.00368894 0.999991 -0.00204195 0.0217025 0.0591246 0.00182029 0.998249 -0.00739883 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999331 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:419/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 3 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.681792) and 6(1311875572.620634) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998399 -0.00462581 -0.0563705 -0.0362423 0.00496276 0.999971 0.00583891 -0.00411643 0.0563418 -0.00610932 0.998393 -0.00109938 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.99995 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:713/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.12784 resInfo good: 4267, 191 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2873/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998487 -0.0032886 -0.0548825 -0.0423028 0.00369381 0.999967 0.00728337 -0.00626402 0.0548568 -0.00747508 0.998466 -0.0044009 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875572.681792 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875572.681792 to keyframe with id: 1159479296 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875572.681792 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 644 size: 3614 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId1159479296 timestamp: 1311875572.681792 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization4 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 4 = 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x31b3c00 fh1 0x18ac360fh->id: 0 4 8goodE: 397 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x31b3c00 fh1 0x1cd7e00fh->id: 1 4 8goodE: 65 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x31b3c00 fh1 0x2112300fh->id: 2 4 8goodE: 64 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x31b3c00 fh1 0x21163a0fh->id: 3 4 8goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew4 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 80 out of 113 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 113 newEdgePixels: 113 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1840 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 257 lastEnergy: 527.173 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 29 INF|LocalMapper.cpp[optimize,276]: Start Energy: 527.173 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -2.67308e-12 -2.74167e-12 -6.88865e-12 -5.74602e-12 -0.00138612 -0.00474728 0.000667782 0.000337669 0.000301975 -0.000402516 -0.00839215 0.00163594 0.00207881 0.00109685 0.00099677 -0.000383072 0.015712 9.05637e-05 -0.00123247 0.000524337 -0.00176427 -0.000910401 0.000516806 -0.0158042 0.00311847 -0.00139029 0.000180811 -0.000658335 -0.00909015 -0.0245836 0.000516185 -0.00177036 0.00153769 -0.00139082 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1840 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 496.732 0 0 newEnergyL 0 lastEnergy: 527.173 0 0 lastEnergyL: 0mActiveResiduals: 1840 Input.cpp[readImages,206]: Got image from sensor!9 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.09525e-12 -2.17456e-12 -6.40247e-12 1.55299e-12 -1.38606e-08 -4.74723e-08 6.67785e-09 3.37907e-09 3.01977e-09 -4.02587e-09 0.00353536 -0.006702 0.000678533 -0.000675273 -0.000294888 -1.49202e-05 -0.0103972 -0.00935304 0.00261207 -0.00114038 0.00125415 -2.54826e-05 0.00113899 -0.0113671 -0.00115321 -0.00151212 7.98593e-05 -0.000661698 0.00373697 -0.0184168 -0.0031732 -0.00180998 -0.000233616 -0.00149831 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1840 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 487.638 0 0 newEnergyL 0 lastEnergy: 496.732 0 0 lastEnergyL: 0mActiveResiduals: 1840 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.61531e-12 1.20016e-12 2.80763e-12 -2.32841e-13 -0.000596725 -0.00240966 0.000282369 0.000407463 -0.00064618 0.00152438 -0.00364208 0.00164513 0.00103887 0.000961249 -0.000304988 0.00156376 0.0154364 0.00147159 -0.00332268 0.000648388 -0.00256534 0.00165949 -0.0055542 -0.00493036 0.00497203 7.87154e-06 1.24889e-05 0.00146684 -0.00552101 0.0034296 -0.00412628 0.000778524 -0.000135123 0.0016606 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1840 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 486.852 0 0 newEnergyL 0 lastEnergy: 487.638 0 0 lastEnergyL: 0mActiveResiduals: 1840 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.17277e-12 -3.65889e-12 4.23582e-12 -2.3676e-12 0.00207836 0.00243121 -0.00313454 -0.00023044 0.000560822 -0.00210038 0.00370264 -0.00117731 -0.000658503 -0.000443863 0.000443858 -0.00211294 -0.0102425 -6.16435e-05 0.00393794 -0.00239178 0.00208556 -0.0018616 0.0175349 0.00529552 0.00168719 -0.00162468 -0.00107667 -0.00222541 -0.0129424 -0.00543878 -0.00202673 -0.0025781 0.00224173 -0.00297999 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1840 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 486.569 0 0 newEnergyL 0 lastEnergy: 486.852 0 0 lastEnergyL: 0mActiveResiduals: 1840 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.74545e-13 1.74009e-12 1.13269e-12 3.02814e-12 0.00381092 -0.0027061 0.000242982 0.000181059 -0.00017216 -0.000993745 -0.00194716 0.00205974 -0.000331519 0.000780606 0.000342144 -0.000946759 0.0200594 -0.00976081 -0.00267797 -0.00140166 -0.00192283 -0.000556761 -0.00695532 0.00233714 0.00243141 4.94882e-05 0.0010185 -0.000913881 -0.015437 0.00710826 -0.00275287 0.000614998 0.00174144 -0.000376562 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1840 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 480.201 0 0 newEnergyL 0 lastEnergy: 486.569 0 0 lastEnergyL: 0mActiveResiduals: 1840 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.35465e-12 1.10558e-12 4.34027e-13 -6.43003e-13 -0.000193582 0.00470809 -0.00396142 -0.0010732 0.000864527 -0.0017433 0.00486604 -0.000904261 -0.00308314 -0.00147933 0.000341294 -0.00176781 -0.0100497 0.00782539 0.00428556 -0.00355804 0.00195062 -0.00159983 0.00850682 -0.00486865 0.00127321 -0.00476538 -0.000332339 -0.00170386 -0.00311019 -0.00459907 0.00288033 -0.00448457 0.0009923 -0.00288125 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1840 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 496.827 0 0 newEnergyL 0 lastEnergy: 480.201 0 0 lastEnergyL: 0mActiveResiduals: 1840 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 496.827 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1840 INF|LocalMapper.cpp[optimize,345]: End Energy: 496.827 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.550403 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.550403 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 7540 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x31b3c00 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 4 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 10 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 1 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 815 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 4 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 823 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 9 keyframes 5 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 533 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875572.715452 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999472 -0.000162579 -0.0325057 -0.0255616 0.000255586 0.999996 0.00285711 0.000948907 0.0325051 -0.00286391 0.999467 0.00591303 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 4 to 60469952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.715452) and 8(1311875572.681792) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999472 -0.000162579 -0.0325057 -0.0255616 0.000255586 0.999996 0.00285711 0.000948907 0.0325051 -0.00286391 0.999467 0.00591303 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!10 INF|Input.cpp[getImages,132]: mNbReceivedImages!11 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999722 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:418/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 4 to 60469952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.715452) and 8(1311875572.681792) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998091 -0.00262096 -0.0617074 0.106719 0.0013143 0.999774 -0.0212061 0.0212953 0.061749 0.0210845 0.997869 -0.00533921 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.99992 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:533/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 4 to 60469952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.715452) and 8(1311875572.681792) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99806 -0.00456794 -0.0620841 0.114928 0.00332164 0.999791 -0.0201628 0.029396 0.0621633 0.0199175 0.997867 -0.0221762 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999757 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:429/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.06832 resInfo good: 3264, 350 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1791/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998224 -0.0016347 -0.0595549 0.110848 0.000492057 0.999816 -0.0191959 0.0308916 0.0595753 0.0191325 0.99804 -0.0272241 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875572.715452 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875572.715452 to keyframe with id: 60469952 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875572.715452 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 560 size: 2430 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId60469952 timestamp: 1311875572.715452 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization5 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 5 = 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x39ab2e0 fh1 0x18ac360fh->id: 0 5 9goodE: 359 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x39ab2e0 fh1 0x1cd7e00fh->id: 1 5 9goodE: 72 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x39ab2e0 fh1 0x2112300fh->id: 2 5 9goodE: 67 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x39ab2e0 fh1 0x21163a0fh->id: 3 5 9goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x39ab2e0 fh1 0x31b3c00fh->id: 4 5 9goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew5 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 70 out of 78 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 78 newEdgePixels: 78 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2169 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 297 lastEnergy: 663.933 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 36 INF|LocalMapper.cpp[optimize,276]: Start Energy: 663.933 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.291e-12 1.08513e-12 -3.95581e-12 1.87911e-12 -0.00509892 -0.00202353 0.00657055 0.000715113 -0.000607003 0.00331301 -0.0100793 -0.00710193 0.0041207 1.72763e-05 8.09774e-05 0.00296512 0.006221 0.00281471 0.00808715 0.00169382 -0.00127156 0.00250309 -0.0115741 -0.00287347 0.00201697 0.0008722 0.000472434 0.0030514 -0.00168881 -0.00259925 0.00259234 0.000493199 -0.000794646 0.00370842 -0.00555898 -0.00356473 0.00668938 0.000639102 -0.000779095 0.00327939 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2169 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 615.977 0 0 newEnergyL 0 lastEnergy: 663.933 0 0 lastEnergyL: 0mActiveResiduals: 2169 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -2.78644e-12 1.00763e-12 3.73276e-13 -5.18632e-14 -5.09911e-08 -2.02356e-08 6.57054e-08 7.1548e-09 -6.071e-09 3.31312e-08 0.00699886 -0.000651837 0.000170219 -0.000177716 -0.000654125 -0.000423058 -0.00227046 -0.00376696 0.00491711 -0.000702191 0.000105035 -7.70579e-05 -0.000893339 -0.00709293 0.00557358 -0.00131099 7.17424e-05 -0.000249003 -0.000533956 0.00247156 0.00351263 -3.51202e-05 -0.000176742 -0.000414379 0.00911973 0.0090769 0.000257361 0.00129276 -0.00182698 0.00119616 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2169 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 611.63 0 0 newEnergyL 0 lastEnergy: 615.977 0 0 lastEnergyL: 0mActiveResiduals: 2169 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 4.3362e-12 -1.86238e-12 -2.8436e-12 -2.78809e-12 0.000381087 0.00048344 0.000237846 0.000680268 -0.000600948 0.000887027 -0.00260494 0.00120153 -0.000239686 0.000724887 -0.000294716 0.000763498 0.00505602 -0.00251724 -0.00050097 -0.000961902 -0.000716984 0.00035303 0.00301442 0.0068161 -0.00451154 8.53561e-05 -0.000653586 0.000865623 0.00393602 -0.00433424 -0.00310056 -0.00129914 -0.000860543 0.00125962 -0.0105711 -0.00195355 0.00722875 -0.000783084 0.000558817 0.000593708 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2169 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 598.324 0 0 newEnergyL 0 lastEnergy: 611.63 0 0 lastEnergyL: 0mActiveResiduals: 2169 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -7.2367e-14 3.17556e-12 1.74271e-12 1.97124e-12 0.000881891 -0.000222704 -0.00142605 -0.00109257 0.000501601 -0.000424615 -2.1846e-05 0.00139792 -0.00120937 -0.00101483 0.000615906 -0.000574421 0.00477048 0.000205379 0.00384386 -0.00092366 -3.02423e-05 -0.000150219 -0.00447629 -0.00538571 0.00308742 -0.00187031 0.000819845 -0.000231647 -0.000211168 0.00295602 0.0033977 -0.000802646 0.0003766 -0.000489254 -0.000154477 0.00150922 -0.00787984 -0.000568763 8.35691e-05 0.000445354 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2169 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 597.084 0 0 newEnergyL 0 lastEnergy: 598.324 0 0 lastEnergyL: 0mActiveResiduals: 2169 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -3.25176e-13 -3.75564e-12 -6.22288e-12 -2.67854e-12 0.00431272 0.000223809 0.000812599 0.000731974 0.000344401 -0.00173784 0.00295795 0.00228519 0.000927802 0.000911294 0.000466547 -0.0017545 0.012691 8.6662e-05 -0.000264387 -0.000284339 -0.000216537 -0.0029834 0.0122714 0.00866833 -0.0048338 0.000894196 -0.000497034 -0.002086 -0.00403728 -0.00188132 -0.00445648 -0.00022882 0.00115448 -0.00200499 -0.0281935 -0.0110627 0.00334159 -0.00113089 0.00391314 -0.00239504 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2169 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 589.481 0 0 newEnergyL 0 lastEnergy: 597.084 0 0 lastEnergyL: 0mActiveResiduals: 2169 Input.cpp[readImages,206]: Got image from sensor!10 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -2.33537e-12 1.01814e-12 5.12306e-12 3.40974e-12 -0.000726763 0.00238259 -0.000370995 -0.00035344 0.000746367 0.000195857 0.000981028 -0.000296307 -0.00125759 -0.000667187 0.000502936 0.000171661 0.0153377 -0.000258173 0.0045078 -0.000962956 -0.00098886 3.56644e-05 -0.0082326 -0.00688575 0.00512114 -0.00211632 0.00136376 0.000395731 0.00525614 0.00516261 0.00349252 -0.000615804 -7.37535e-05 -0.000410613 -0.0110792 -0.00030263 -0.0131369 -0.00117552 0.00149763 3.96413e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2169 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 593.051 0 0 newEnergyL 0 lastEnergy: 589.481 0 0 lastEnergyL: 0mActiveResiduals: 2169 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 593.051 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2169 INF|LocalMapper.cpp[optimize,345]: End Energy: 593.051 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.557954 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.557954 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 7783 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x39ab2e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 5 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 1 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 630 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 5 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 640 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 10 keyframes 6 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 530 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 11 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875572.751878 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!11 INF|Input.cpp[getImages,132]: mNbReceivedImages!12 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.997986 -3.31702e-05 -0.06343 0.135445 -0.00112584 0.999833 -0.0182365 0.0345302 0.06342 0.0182711 0.99782 -0.0221796 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 5 to 13792730211701713086 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.751878) and 9(1311875572.715452) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.997986 -3.31702e-05 -0.06343 0.135445 -0.00112584 0.999833 -0.0182365 0.0345302 0.06342 0.0182711 0.99782 -0.0221796 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999471 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:506/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 5 to 13792730211701713086 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.751878) and 9(1311875572.715452) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999569 0.0142682 -0.0256412 -0.0159101 -0.0151248 0.999323 -0.0335278 -0.00010582 0.0251455 0.0339012 0.999109 -0.00695912 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 4): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:729/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 5 to 13792730211701713086 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.751878) and 9(1311875572.715452) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999546 0.0145264 -0.0264074 -0.00400331 -0.0154157 0.99931 -0.0337908 0.00668919 0.0258984 0.0341826 0.99908 -0.00111998 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999856 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:301/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.794771 resInfo good: 2319, 111 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1850/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99955 0.0153713 -0.0257605 -0.00272631 -0.0161645 0.999393 -0.0308701 -0.00202263 0.0252703 0.0312726 0.999191 -0.00521079 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!10 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!11 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 12 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875572.779162 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998201 0.0299208 -0.051963 -0.00534825 -0.033092 0.997572 -0.0612801 -0.00383911 0.0500033 0.0628894 0.996767 -0.0105495 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 5 to 13792730211701713086 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.779162) and 9(1311875572.715452) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998201 0.0299208 -0.051963 -0.00534825 -0.033092 0.997572 -0.0612801 -0.00383911 0.0500033 0.0628894 0.996767 -0.0105495 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!12 INF|Input.cpp[getImages,132]: mNbReceivedImages!13 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:856/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 5 to 13792730211701713086 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.779162) and 9(1311875572.715452) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997289 0.0386717 -0.0626065 0.0314959 -0.0429428 0.996735 -0.0683796 0.00756991 0.0597577 0.0708827 0.995693 -0.0196009 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.99998 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:600/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 5 to 13792730211701713086 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.779162) and 9(1311875572.715452) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.997718 0.0385673 -0.0554178 0.00848665 -0.0423094 0.996786 -0.0680196 0.0161106 0.0526164 0.0702091 0.996144 -0.0162512 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999849 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:370/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.1977 resInfo good: 2424, 6 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2139/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.997691 0.0391861 -0.055471 0.0126426 -0.0428723 0.996838 -0.0669012 0.0143121 0.052674 0.0691249 0.996216 -0.015633 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875572.779162 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875572.779162 to keyframe with id: 13792730211701713086 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875572.779162 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 535 size: 1938 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId13792730211701713086 timestamp: 1311875572.779162 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization6 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 6 = 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x313b200 fh1 0x18ac360fh->id: 0 6 11goodE: 340 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x313b200 fh1 0x1cd7e00fh->id: 1 6 11goodE: 75 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x313b200 fh1 0x2112300fh->id: 2 6 11goodE: 64 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x313b200 fh1 0x21163a0fh->id: 3 6 11goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x313b200 fh1 0x31b3c00fh->id: 4 6 11goodE: 9 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x313b200 fh1 0x39ab2e0fh->id: 5 6 11goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew6 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 54 out of 62 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 62 newEdgePixels: 62 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2345 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 325 lastEnergy: 754.378 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 41 INF|LocalMapper.cpp[optimize,276]: Start Energy: 754.378 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 4.7157e-12 -3.57773e-12 -1.74193e-11 1.35539e-12 -0.00484889 -0.00286711 0.000746595 3.37729e-05 -0.000991411 0.00107956 -0.00339139 -0.00683106 0.00141687 -0.000319687 -0.00106654 0.00139983 0.0051737 -0.0124838 0.0038151 -0.000934106 -0.00165657 0.00055654 -0.00724895 -0.0152538 -0.00235043 -0.00113552 -0.000650641 0.00169436 -0.0110921 -0.0251062 -0.00448655 -0.00258069 -0.000445915 0.00193175 -0.0215081 -0.00719838 -0.00188833 -0.000479283 0.0009295 0.00136037 -0.0381674 -0.0126709 -0.031794 -0.00208622 0.00187561 0.00270513 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2345 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 723.439 0 0 newEnergyL 0 lastEnergy: 754.378 0 0 lastEnergyL: 0mActiveResiduals: 2345 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.77014e-13 -2.48057e-12 -1.02905e-12 3.76184e-12 -4.84882e-08 -2.86753e-08 7.4651e-09 3.35579e-10 -9.91916e-09 1.07954e-08 0.000556099 -0.004407 -0.00176452 -0.000578532 -7.84489e-05 0.000240993 -0.00928562 -0.00388057 -0.00189525 -0.000465525 0.000945006 -0.000219186 -0.025707 0.00852499 -0.00211515 0.000747101 0.0026606 -0.000121876 -0.0380082 -0.00285396 -0.00670916 -0.000378573 0.00370769 -6.43122e-05 -0.0077844 -0.00625693 -0.00854295 -0.000543045 0.000878102 -0.000819655 -0.0150404 0.000159205 -0.00859463 -0.00021364 0.00122775 0.000680263 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2345 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 709.461 0 0 newEnergyL 0 lastEnergy: 723.439 0 0 lastEnergyL: 0mActiveResiduals: 2345 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.54352e-12 9.78258e-13 9.10058e-13 -1.9987e-12 -0.00196377 0.00160768 -0.00236134 9.61684e-05 0.000329121 0.000992369 0.0010486 0.00166771 -0.00102869 0.00014541 -2.96146e-05 0.000874147 0.00500815 -0.00298022 -0.000412739 -0.00180608 -0.000218058 0.000855006 0.0150669 -0.00466376 -0.000500834 -0.00197669 -0.00140354 0.0010745 -0.00345439 -0.00466796 0.0042978 -0.00213365 0.000422035 0.000904452 -0.0126478 -0.00266418 0.00505804 -0.00173472 0.00131527 0.000467129 -0.00272318 0.013014 -0.00606162 -0.000479767 0.000135069 0.000328238 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2345 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 707.042 0 0 newEnergyL 0 lastEnergy: 709.461 0 0 lastEnergyL: 0mActiveResiduals: 2345 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -6.00952e-13 -5.97543e-13 -8.16193e-12 5.20313e-12 -1.84153e-05 0.00269582 0.00198618 0.00113594 0.000921969 -0.000511492 0.0034302 -0.0023386 -0.000281913 0.000544657 0.000588136 -0.000541104 0.00392755 -0.00130777 0.00112809 -8.17543e-05 0.000514059 -0.000501062 -0.00745096 -0.00276432 0.00627414 -0.000242517 0.00180992 -0.000267003 0.0129914 -0.000668401 0.00267078 0.000138558 -0.00063767 -0.00100165 -0.00197966 0.00343956 -0.00729373 0.000642614 0.0011524 -0.000828143 -0.00897636 0.00123331 -0.00594704 0.000195474 0.00167013 -0.000138838 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2345 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 694.176 0 0 newEnergyL 0 lastEnergy: 707.042 0 0 lastEnergyL: 0mActiveResiduals: 2345 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.4038e-13 1.2411e-12 -9.5208e-13 -3.01463e-12 -0.00111447 -0.00282988 -0.00183956 -0.000772317 0.000343212 0.000401096 -0.00152887 0.00518347 -0.00107679 8.01794e-05 0.000374564 0.000121756 0.00161044 -0.0017756 0.00291033 -0.00154441 0.000112244 0.00112565 0.0185079 0.00118763 0.000585884 -0.00126571 -0.00190349 0.000959549 -0.0066767 -0.00457106 0.00200504 -0.00208259 0.00053619 0.00155108 -0.0209634 0.00108463 -5.12337e-05 -0.00112528 0.00187067 0.00153472 0.0105857 0.00218254 -0.0029919 -0.0013304 -0.00152649 0.000640975 Input.cpp[readImages,206]: Got image from sensor!12 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2345 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 693.476 0 0 newEnergyL 0 lastEnergy: 694.176 0 0 lastEnergyL: 0mActiveResiduals: 2345 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.22061e-12 -3.32923e-12 -5.08578e-12 7.16486e-12 -0.00245066 0.000516987 3.26357e-05 0.001039 0.000147255 0.00137575 -0.00234556 -0.0019368 0.000562909 0.000881973 0.000125498 0.00149199 0.00181663 -0.000952983 0.00340979 -0.000117945 -0.000316119 0.00188557 -0.00863594 -0.00870822 0.00522277 -0.00123751 0.0010617 0.00184706 0.00707363 0.00610436 0.00294478 0.000660241 -0.000690733 0.00077953 0.00885726 0.00319984 -0.0104171 -1.93197e-06 -0.00123388 0.000964514 -0.00280059 0.00204154 -0.000744408 -6.57112e-05 0.000120281 0.00148454 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2345 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 694.105 0 0 newEnergyL 0 lastEnergy: 693.476 0 0 lastEnergyL: 0mActiveResiduals: 2345 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 694.105 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2345 INF|LocalMapper.cpp[optimize,345]: End Energy: 694.105 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.576978 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.576978 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 9149 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x313b200 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 6 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 1 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 635 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 6 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 643 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 12 keyframes 7 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 529 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 13 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!13 INF|Input.cpp[getImages,132]: mNbReceivedImages!14 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875572.815176 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999233 0.0276545 -0.027739 0.0164515 -0.0286852 0.998886 -0.0374737 0.0108713 0.0266718 0.0382407 0.998913 0.00461018 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 6 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.815176) and 11(1311875572.779162) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999233 0.0276545 -0.027739 0.0164515 -0.0286852 0.998886 -0.0374737 0.0108713 0.0266718 0.0382407 0.998913 0.00461018 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999861 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:340/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 6 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.815176) and 11(1311875572.779162) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997475 0.0362284 -0.0610848 0.133154 -0.0377784 0.998988 -0.0244129 -0.0262584 0.0601385 0.0266589 0.997834 -0.0397194 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.99946 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:343/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 6 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.815176) and 11(1311875572.779162) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998555 0.0328671 -0.0425255 0.0580958 -0.0339889 0.999086 -0.0259307 -0.00807351 0.0416344 0.0273386 0.998759 -0.0276738 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999786 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:273/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.02903 resInfo good: 1799, 139 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1258/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998614 0.0303275 -0.043025 0.0636804 -0.0314131 0.999199 -0.0247821 -0.00641806 0.042239 0.0260993 0.998767 -0.038456 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875572.815176 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875572.815176 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875572.815176 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 478 size: 1406 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875572.815176 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 1 keyframeId: 1 score: -27.9612 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 3 keyframeId: 2 score: -20.1345 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 6 keyframeId: 3 score: -43.1878 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 8 keyframeId: 4 score: -44.0671 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 9 keyframeId: 5 score: -10.5396 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 7 = 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x29bcaa0 fh1 0x18ac360fh->id: 0 7 12goodE: 261 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x29bcaa0 fh1 0x1cd7e00fh->id: 1 7 12goodE: 60 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x29bcaa0 fh1 0x2112300fh->id: 2 7 12goodE: 48 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x29bcaa0 fh1 0x21163a0fh->id: 3 7 12goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x29bcaa0 fh1 0x31b3c00fh->id: 4 7 12goodE: 9 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x29bcaa0 fh1 0x39ab2e0fh->id: 5 7 12goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x29bcaa0 fh1 0x313b200fh->id: 6 7 12goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew7 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 92 out of 102 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 102 newEdgePixels: 102 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2278 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 308 lastEnergy: 796.482 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 42 INF|LocalMapper.cpp[optimize,276]: Start Energy: 796.482 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -3.47283e-12 5.53065e-12 4.48956e-12 -1.73458e-12 0.00554727 -0.00199058 0.00218207 -0.00149877 -0.00174154 -0.0022577 0.00751686 0.00649867 0.00129174 -0.000719157 -0.00197234 -0.00260281 0.00957978 -0.0156311 -0.00983156 -0.00260526 -0.00294457 -0.000356457 0.00380777 -0.00529746 -0.00877613 -0.00154933 -0.00245111 -0.000822643 -0.0132925 -0.0163142 -0.00500216 -0.00295202 -0.00053688 -5.43191e-05 0.00651225 -0.00502488 -0.0169228 -0.00112949 -0.0035219 0.000389202 -0.0121055 -0.00849479 -0.0122815 -0.00185455 -0.000921605 0.000187628 0.0501052 -0.0148593 -0.0065788 -0.00190172 -0.00679673 -0.00232028 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2278 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 752.833 0 0 newEnergyL 0 lastEnergy: 796.482 0 0 lastEnergyL: 0mActiveResiduals: 2278 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -5.31557e-12 -3.51579e-12 2.5336e-12 3.61403e-12 5.54738e-08 -1.99055e-08 2.18208e-08 -1.49925e-08 -1.74221e-08 -2.25779e-08 -0.00539479 0.0125388 0.00305643 0.00139426 0.00057159 -4.53336e-05 0.00121237 -0.0180294 -0.00469761 -0.00185489 -0.000103537 -3.17358e-05 -0.000521011 -0.0136985 -0.00237201 -0.00140339 0.000231731 -0.000115487 -0.0119257 -0.015248 0.00285227 -0.00135946 0.00131475 -0.000419764 -0.00389795 -0.00271802 -0.0144497 -4.86925e-05 0.000346014 0.000660996 0.0340906 -0.00335846 -0.00718906 0.000290425 -0.00348611 -6.13903e-05 0.026007 -0.0208206 -0.0154258 -0.00179348 -0.00230385 -0.00111437 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2278 Input.cpp[readImages,206]: Got image from sensor!13 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 719.772 0 0 newEnergyL 0 lastEnergy: 752.833 0 0 lastEnergyL: 0mActiveResiduals: 2278 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 2.11935e-13 9.80577e-12 -3.65691e-12 -6.04689e-12 0.0012903 -0.00765914 0.000541898 -0.000309813 0.000692776 0.000433756 -0.00340423 0.0035026 0.000221564 0.000764202 0.00119063 0.000277865 -0.00499837 -0.00131536 0.0033008 0.00015933 0.00136057 1.92615e-05 0.0010104 -0.00937134 0.00360482 -0.000764203 0.000499663 0.000538968 -0.00417668 0.00700267 0.00340873 0.000810187 0.00117565 0.000458218 0.00366326 -0.00281372 0.00913595 0.000587909 -0.000133504 0.00105087 0.00689072 0.0113451 -0.00850213 0.00153691 -0.00100095 0.00224987 0.00284713 0.00045133 -0.00970297 0.00047868 -0.000283374 0.00134767 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2278 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 695.702 0 0 newEnergyL 0 lastEnergy: 719.772 0 0 lastEnergyL: 0mActiveResiduals: 2278 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.02503e-12 -8.61737e-12 4.10063e-14 7.12211e-12 -0.00215066 -0.00200604 -0.000340536 0.00148083 0.000979389 -4.77269e-05 0.00427104 -0.00466642 0.00372972 0.00142439 0.000417927 -5.98273e-05 -0.00486094 0.00667685 0.00519645 0.00202832 0.00143855 -0.000741527 -0.000644782 0.00323525 0.00345344 0.00159385 0.0010884 -0.000594375 -0.0134064 -0.0105045 0.00419686 0.000294687 0.00226457 -0.0005094 0.0101608 0.00501758 -0.00135497 0.00187425 0.000108956 -0.000274816 0.00391253 -0.00415902 -0.00149193 0.00136437 0.000439105 -1.17649e-05 0.00699921 0.00620846 -0.0118148 0.00223188 -0.000343084 0.000427195 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2278 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 676.837 0 0 newEnergyL 0 lastEnergy: 695.702 0 0 lastEnergyL: 0mActiveResiduals: 2278 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.65724e-12 9.57516e-12 -3.32711e-12 -4.2042e-12 0.000982742 -0.00649713 0.000224233 -0.00159067 0.000162584 -2.08931e-05 0.000748565 0.00684712 -0.00171276 -0.000294489 0.000147663 -0.000467742 0.0028314 -0.0102604 -0.00273841 -0.00117098 -5.31283e-05 0.00030188 0.00441479 -0.00560999 -0.0018373 -0.000678421 -0.000303794 0.00068109 -0.00233515 0.000610009 0.00135595 -0.000204716 0.00024378 0.000149512 -0.00913645 -0.00568878 0.00607962 -0.000467708 0.000757511 0.000791718 0.00282894 0.0220326 -0.00094413 0.00243244 -0.000301116 0.000541035 -0.00070731 -0.00115338 -0.00053475 -0.000111093 0.000325355 0.000865983 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2278 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 663.617 0 0 newEnergyL 0 lastEnergy: 676.837 0 0 lastEnergyL: 0mActiveResiduals: 2278 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 14 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.20637e-11 -6.37606e-12 3.43734e-12 -1.6894e-12 0.00167824 -0.00277683 0.000828712 0.00119836 0.00124593 -0.00108963 0.00529874 0.00126094 0.00360871 0.00171873 0.00094189 -0.00107147 -0.00395744 0.00189592 0.00542754 0.00100537 0.00202645 -0.00142503 0.00858988 0.00019071 0.005339 0.000897664 0.000804973 -0.00191408 0.00184098 -0.00239614 0.000782235 0.000807633 0.00127532 -0.00129105 -0.00123086 0.000934825 0.0044106 0.00112104 0.00209821 -0.0018849 -0.00793267 -0.00590482 -0.0140559 0.000495785 0.00214764 -0.000276265 0.000465724 0.00771685 -0.00829666 0.00221611 0.00123955 -0.000523955 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2278 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 656.928 0 0 newEnergyL 0 lastEnergy: 663.617 0 0 lastEnergyL: 0mActiveResiduals: 2278 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 656.928 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2278 INF|LocalMapper.cpp[optimize,345]: End Energy: 656.928 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.559973 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.559973 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 4 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 4 with idx: 4 and allID: 8 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 0<->4 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 1<->4 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 2<->4 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 3<->4 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 4<->4 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 5<->4 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 6<->4 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->4 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 4 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 8: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 3/6: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 2/3: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 1/1: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 0/0: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 0 allId: 0 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.989665 0.052284 0.133527 0.0118371 -0.015515 0.964737 -0.26276 0.809067 -0.142557 0.257972 0.955577 0.485527 worldPose: 0.98921 0.0537784 0.136279 0.0148176 -0.0161197 0.964497 -0.263601 0.799209 -0.145617 0.25856 0.954957 0.48674 after: 0.98921 0.0537784 0.136279 0.0148176 -0.0161197 0.964497 -0.263601 0.799209 -0.145617 0.25856 0.954957 0.48674 worldPose of new: 0.999995 0.00072569 0.00308039 0.000897843 -0.000723291 0.999999 -0.000779817 -0.00947014 -0.00308095 0.000777585 0.999995 0.000622082 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.989665 0.052284 0.133527 0.0118371 -0.015515 0.964737 -0.26276 0.809067 -0.142557 0.257972 0.955577 0.485527 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 8 after changeRefFrame: 0.989665 0.052284 0.133527 0.0118371 -0.015515 0.964737 -0.26276 0.809067 -0.142557 0.257972 0.955577 0.485527 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 4 to normal frame with refFrame: 0 frame id kf: 8 newref id: 0 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 4 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 10049 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x29bcaa0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 7 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 1 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 630 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 7 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 637 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 13 keyframes 8 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875572.849962 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!14 INF|Input.cpp[getImages,132]: mNbReceivedImages!15 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998925 0.0264364 -0.038078 0.0354121 -0.0275075 0.999233 -0.0278866 0.0107383 0.0373116 0.028904 0.998886 -0.0341842 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 7 to 60082784 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.849962) and 12(1311875572.815176) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998925 0.0264364 -0.038078 0.0354121 -0.0275075 0.999233 -0.0278866 0.0107383 0.0373116 0.028904 0.998886 -0.0341842 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999229 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:443/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 7 to 60082784 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.849962) and 12(1311875572.815176) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998475 0.0237987 -0.0498141 0.0325 -0.0246557 0.999557 -0.016661 0.00402513 0.0493956 0.0178638 0.99862 -0.087385 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999941 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:316/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 7 to 60082784 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.849962) and 12(1311875572.815176) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998429 0.0228936 -0.0511498 0.0447217 -0.0236478 0.99962 -0.014189 -0.00039635 0.0508055 0.0153763 0.99859 -0.0711817 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999987 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:278/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.988577 resInfo good: 1305, 101 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1280/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998582 0.0215575 -0.0486774 0.0343267 -0.022295 0.999644 -0.0146603 0.00784827 0.048344 0.0157248 0.998707 -0.0733247 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!13 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 472 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!14 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 15 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875572.879775 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99681 0.0320389 -0.0730944 0.0528791 -0.0336979 0.999199 -0.0215771 0.0118943 0.0723446 0.0239714 0.997092 -0.109294 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 7 to 60082784 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.879775) and 12(1311875572.815176) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99681 0.0320389 -0.0730944 0.0528791 -0.0336979 0.999199 -0.0215771 0.0118943 0.0723446 0.0239714 0.997092 -0.109294 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999798 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:349/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 7 to 60082784 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.879775) and 12(1311875572.815176) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997757 0.0288711 -0.060389 -0.151545 -0.0275658 0.99937 0.0223388 -0.175435 0.0609959 -0.020624 0.997925 -0.181833 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999064 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:123/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 7 to 60082784 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.879775) and 12(1311875572.815176) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.995546 0.034255 -0.0878384 -0.0140311 -0.0331551 0.999353 0.0139509 -0.134731 0.0882594 -0.0109765 0.996037 -0.157664 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999432 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:197/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.47831 resInfo good: 1245, 161 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 907/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.99566 0.0321904 -0.0873242 -0.0164748 -0.0321079 0.999482 0.00234944 -0.0692242 0.0873546 0.000464557 0.996177 -0.162191 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875572.879775 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875572.879775 to keyframe with id: 60082784 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875572.879775 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!15 INF|Input.cpp[getImages,132]: mNbReceivedImages!16 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 507 size: 2496 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId60082784 timestamp: 1311875572.879775 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 1 keyframeId: 1 score: -52.8523 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 3 keyframeId: 2 score: -16.6926 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 6 keyframeId: 3 score: -16.9632 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 9 keyframeId: 5 score: -21.6508 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 11 keyframeId: 6 score: -22.4845 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 8 = 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x394ca80 fh1 0x18ac360fh->id: 0 8 14goodE: 252 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x394ca80 fh1 0x1cd7e00fh->id: 1 8 14goodE: 56 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x394ca80 fh1 0x2112300fh->id: 2 8 14goodE: 59 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x394ca80 fh1 0x21163a0fh->id: 3 8 14goodE: 22 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x394ca80 fh1 0x39ab2e0fh->id: 5 8 14goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x394ca80 fh1 0x313b200fh->id: 6 8 14goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x394ca80 fh1 0x29bcaa0fh->id: 7 8 14goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew8 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 117 out of 128 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 128 newEdgePixels: 128 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2267 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 345 lastEnergy: 748.763 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 51 INF|LocalMapper.cpp[optimize,276]: Start Energy: 748.763 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -3.49792e-13 -4.91912e-12 4.99756e-12 3.78942e-12 -0.00180061 0.018939 -0.00125429 -0.000778694 -0.00308065 0.000724485 -0.00671579 0.0282494 -0.00155112 0.00019739 -0.00269197 0.0005997 0.0134959 0.00910252 -0.00505456 -0.00140431 -0.00473708 0.00164558 -0.0061639 0.0180976 -0.00694233 -0.000124325 -0.0028656 0.00211362 0.011266 0.0178991 -0.012055 -0.000814757 -0.00514214 0.00158784 0.00743042 0.0124602 -0.0103732 -0.00133876 -0.00436399 0.00121541 0.0123233 0.0230337 -0.0100115 -0.00038831 -0.0048987 0.00155542 -0.00279234 0.0147052 -0.0408916 -0.00239194 -0.00318601 0.00227172 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2267 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 677.139 0 0 newEnergyL 0 lastEnergy: 748.763 0 0 lastEnergyL: 0mActiveResiduals: 2267 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.28937e-14 -9.31452e-13 -3.90542e-12 5.11804e-12 -1.80051e-08 1.89395e-07 -1.25427e-08 -7.79187e-09 -3.08199e-08 7.2439e-09 0.00324153 0.000363353 -0.00171857 -1.37722e-05 -0.000373629 -9.50941e-05 -0.0112376 0.00317131 0.00331186 0.000361503 0.00117678 9.41996e-05 -0.00833713 0.00725064 -0.00171296 0.000867505 0.000686746 -0.000300955 0.00977129 0.0029446 -0.00369152 0.000241213 -0.000887907 -0.000583104 0.000838089 0.0117945 -0.0111104 0.0015045 -0.000243779 0.000329647 0.00258628 0.0106788 -0.00484094 0.001274 -0.000166398 0.00102465 0.0182407 -0.00567341 -0.0041408 -0.000493886 -0.00182596 0.00113083 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2267 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 647.34 0 0 newEnergyL 0 lastEnergy: 677.139 0 0 lastEnergyL: 0mActiveResiduals: 2267 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -2.12715e-12 2.49325e-12 2.22625e-12 -6.57449e-12 0.00361975 0.00186973 0.00121711 0.00156604 0.00035739 -0.00125463 0.00247736 -0.00112906 0.00263567 0.00133989 0.000499453 -0.0011671 0.00769553 0.00242197 0.00106217 0.00171827 1.08343e-05 -0.00135235 0.0212649 -0.00334839 0.00540846 0.00118151 -0.00150479 -0.00104103 -0.0289304 -0.00682746 -0.00264884 0.000677982 0.00331544 -0.000424325 -0.0128643 -0.00372258 0.00111884 0.00141379 0.00162554 0.000481946 -0.00615533 -0.00415535 0.000758549 0.00132407 0.00104392 -4.61857e-05 0.0183608 0.0137328 -0.0118697 0.00330383 -0.001378 -0.000181014 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2267 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 635.606 0 0 newEnergyL 0 lastEnergy: 647.34 0 0 lastEnergyL: 0mActiveResiduals: 2267 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.75054e-12 -5.68156e-12 -2.51881e-12 6.32695e-12 0.00269346 -0.0028862 0.00201461 0.000406478 -0.000508769 2.84765e-05 5.29871e-06 0.00224531 0.00230675 0.000942273 -0.000161691 -2.20027e-05 0.00159574 -0.00383808 0.00337243 1.00956e-05 -0.000496775 0.000292348 -0.00110841 0.000533056 0.00250713 0.000549436 -6.46832e-05 -0.000222488 0.0165603 0.00318363 0.00105595 0.000658491 -0.00172218 -3.41222e-05 -0.00313298 0.00420856 -0.00918303 0.000592829 0.000159025 0.000341903 -0.038009 0.00852948 -0.0103242 0.00101328 0.00387039 0.00134372 0.0229027 -0.0118346 0.00804666 -0.00053182 -0.00325884 0.000694207 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2267 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 627.462 0 0 newEnergyL 0 lastEnergy: 635.606 0 0 lastEnergyL: 0mActiveResiduals: 2267 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 8.13219e-13 3.45613e-12 6.18187e-13 -8.06779e-12 -0.00122252 0.00228897 -0.000641512 0.000550253 5.85527e-05 0.000226675 -0.00211825 -0.00398208 -0.000308982 -3.21749e-05 0.000134639 0.000431041 0.00278019 0.00436705 -0.000165273 0.000488997 -0.00028742 0.000236928 -0.000574685 0.002809 0.0048454 0.000261437 5.42129e-06 0.000593041 0.00502388 -0.00412514 0.00848567 -0.000174116 -0.000705771 0.000310513 0.00629971 0.00391147 0.00464261 0.000677717 -0.00127615 0.000918694 -0.0143344 -0.00578611 -0.000581952 -0.000632186 0.00100112 0.00156174 0.00751344 0.00231493 -0.0164073 -0.000250186 -0.00113155 0.000972468 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2267 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 621.484 0 0 newEnergyL 0 lastEnergy: 627.462 0 0 lastEnergyL: 0mActiveResiduals: 2267 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -5.80252e-12 -1.75633e-12 6.27731e-12 5.0028e-12 0.000591334 -0.00343868 0.000299214 -0.000315493 -0.000807949 2.83306e-05 -0.000913755 2.74845e-05 0.00102185 9.04962e-05 -0.000624964 -0.000172527 -0.00467588 0.00360516 0.0045411 -6.08101e-05 -0.000435461 0.000203034 6.30606e-05 0.00837308 2.62142e-05 0.000566833 -0.000801043 -9.57451e-05 -0.0229569 0.00963767 -0.00177616 0.000442413 0.00172867 0.000483586 -0.00519509 0.00406865 -0.00468241 -0.000300687 -2.46023e-05 5.19783e-05 0.00809865 -0.00243074 -0.00144698 -0.000790462 -0.00150447 -0.000585392 0.0237228 -0.0230472 0.00520673 -0.00266666 -0.00401871 -3.92823e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2267 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 613.024 0 0 newEnergyL 0 lastEnergy: 621.484 0 0 lastEnergyL: 0mActiveResiduals: 2267 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 613.024 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2267 Input.cpp[readImages,206]: Got image from sensor!15 INF|LocalMapper.cpp[optimize,345]: End Energy: 613.024 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.54472 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.54472 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 1 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 1 with idx: 1 and allID: 1 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 0<->1 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 1<->1 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 2<->1 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 3<->1 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 5<->1 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 6<->1 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->1 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 8<->1 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 1 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 1: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 0/0: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 0 allId: 0 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.999834 0.0181746 -0.00139444 -0.00153026 -0.0181881 0.999781 -0.0103174 -0.0151822 0.00120662 0.010341 0.999946 0.0062096 worldPose: 0.999814 0.0191352 -0.00230624 0.00128925 -0.0191626 0.999738 -0.0125227 -0.0162804 0.00206601 0.0125646 0.999919 0.00761948 after: 0.999814 0.0191352 -0.00230624 0.00128925 -0.0191626 0.999738 -0.0125227 -0.0162804 0.00206601 0.0125646 0.999919 0.00761948 worldPose of new: 0.999999 0.000970149 -0.000901846 0.00283984 -0.000972137 0.999997 -0.00220684 -0.00108607 0.000899702 0.00220771 0.999997 0.00144479 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.999834 0.0181746 -0.00139444 -0.00153026 -0.0181881 0.999781 -0.0103174 -0.0151822 0.00120662 0.010341 0.999946 0.0062096 INF|Mapper.cpp[changeRefFrame,578]: Updating: 2 from old kf id: 1/1 with new ref frame: 0/0 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 1 after changeRefFrame: 0.999834 0.0181746 -0.00139444 -0.00153026 -0.0181881 0.999781 -0.0103174 -0.0151822 0.00120662 0.010341 0.999946 0.0062096 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 1 to normal frame with refFrame: 0 frame id kf: 1 newref id: 0 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 1 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 10258 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x394ca80 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 8 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 1 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 630 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 8 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 637 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 15 keyframes 9 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 16 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875572.918807 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!16 INF|Input.cpp[getImages,132]: mNbReceivedImages!17 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99991 0.00542981 -0.0122642 -0.0578273 -0.00535634 0.999968 0.00601543 -0.0274063 0.0122965 -0.0059492 0.999907 -0.0365559 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 8 to 68652960 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.918807) and 14(1311875572.879775) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99991 0.00542981 -0.0122642 -0.0578273 -0.00535634 0.999968 0.00601543 -0.0274063 0.0122965 -0.0059492 0.999907 -0.0365559 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999986 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:929/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 8 to 68652960 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.918807) and 14(1311875572.879775) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998405 0.00330513 -0.0563644 0.0532328 -0.000141908 0.998429 0.0560329 -0.231891 0.056461 -0.0559355 0.996837 -0.0844102 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999922 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:707/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 8 to 68652960 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.918807) and 14(1311875572.879775) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998334 0.00372284 -0.0575838 0.0511939 -0.000944014 0.998837 0.0482091 -0.186794 0.0576963 -0.0480744 0.997176 -0.0636211 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 9,0.999437 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:887/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.04271 resInfo good: 2276, 220 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2936/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998902 0.000461635 -0.0468528 -0.0223847 0.000212531 0.999897 0.014383 -0.0230741 0.0468546 -0.0143772 0.998798 -0.0348959 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875572.918807 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875572.918807 to keyframe with id: 68652960 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875572.918807 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 509 size: 2056 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId68652960 timestamp: 1311875572.918807 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 3 keyframeId: 2 score: -16.483 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 6 keyframeId: 3 score: -18.1385 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 9 keyframeId: 5 score: -30.8909 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 11 keyframeId: 6 score: -31.1718 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 12 keyframeId: 7 score: -20.9419 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 9 = 9 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3998500 fh1 0x18ac360fh->id: 0 9 15goodE: 224 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3998500 fh1 0x2112300fh->id: 2 9 15goodE: 42 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3998500 fh1 0x21163a0fh->id: 3 9 15goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3998500 fh1 0x39ab2e0fh->id: 5 9 15goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3998500 fh1 0x313b200fh->id: 6 9 15goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3998500 fh1 0x29bcaa0fh->id: 7 9 15goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3998500 fh1 0x394ca80fh->id: 8 9 15goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew9 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 104 out of 125 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 125 newEdgePixels: 125 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1628 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 231 lastEnergy: 519.625 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 33 INF|LocalMapper.cpp[optimize,276]: Start Energy: 519.625 0 0 lastEnergyL: 0 Input.cpp[readImages,206]: Got image from sensor!16 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.40386e-12 5.36682e-12 -4.64099e-12 -1.90474e-12 -0.00568197 0.00216617 -0.00288939 -0.00220725 0.000900766 0.000971134 -0.0104553 0.00104844 -0.00682221 -0.00164377 0.00137485 0.00118545 -0.00938196 0.00169159 -0.00455762 -0.00166558 0.00122313 0.00135126 -0.00643135 0.000385032 -0.00652307 -0.00196601 0.000841189 0.000942213 -0.00811734 0.00589924 -0.00848746 -0.00118672 0.00115947 0.000780349 0.00223862 0.00510208 -0.00987035 -0.00164418 5.81306e-05 0.000726894 -0.00797997 0.0311919 -0.0150927 0.00113409 0.00157378 0.000792068 -0.00227606 -0.035014 -0.0295195 -0.00598208 0.00176836 -0.000214695 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1628 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 480.864 0 0 newEnergyL 0 lastEnergy: 519.625 0 0 lastEnergyL: 0mActiveResiduals: 1628 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.18868e-12 -3.6315e-12 6.82639e-12 -4.60537e-12 -5.68221e-08 2.16629e-08 -2.88935e-08 -2.20792e-08 9.01048e-09 9.71307e-09 -0.000355927 0.00476676 -0.00173672 0.000488568 -7.07531e-05 -9.20718e-05 0.00520371 0.00239654 -0.00165124 0.000213348 -0.000656392 -1.79209e-05 0.00787557 -0.0050245 -2.32236e-05 -0.000635547 -0.00055844 -8.29855e-05 0.00764475 -0.00073315 -0.00116335 -8.14765e-05 -0.000748679 -9.45143e-05 0.0147649 0.00237229 -0.00668096 0.000172751 -0.00157321 -0.000751218 -0.00311231 -0.0104869 -0.0110342 -0.00129415 0.000292362 -0.000135635 0.0088006 -0.0147566 -0.0102427 -0.00165964 -0.000217199 0.0001925 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1628 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 470.328 0 0 newEnergyL 0 lastEnergy: 480.864 0 0 lastEnergyL: 0mActiveResiduals: 1628 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.93663e-12 2.60593e-12 4.1856e-12 -1.24963e-13 0.00314691 0.000888086 -0.000222241 0.000181297 2.51431e-05 -0.000341846 0.00104718 -0.00277317 0.000326485 -0.000255282 0.000256881 -0.000264852 0.00424064 -0.00376078 0.000281917 -0.000226863 -0.000128923 -0.000417067 -0.0062161 -0.000152962 0.00280848 0.000171397 0.000934793 -0.000164032 -0.00248573 -0.00553678 -0.00310064 -0.000276542 0.000431753 -0.00056782 0.000933675 0.00508937 0.000959632 0.000861675 -7.46573e-06 -5.31105e-05 -0.00046223 0.0110992 -0.000808975 0.00155455 0.000445043 -0.000693186 0.00107859 -0.00466701 -0.000588924 -0.000180597 0.00057718 -0.000703101 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1628 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 468.014 0 0 newEnergyL 0 lastEnergy: 470.328 0 0 lastEnergyL: 0mActiveResiduals: 1628 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 6.02579e-12 -4.18911e-12 -4.07517e-12 5.33806e-12 -0.00207714 -0.00205685 0.000612128 5.9329e-05 0.000367323 0.000394107 -0.00232265 0.00594909 0.00246481 0.000390026 0.000463436 0.000223297 0.000220085 0.00301306 0.00217219 -7.62939e-05 0.000117401 0.000341286 0.000309157 0.000824896 0.000526277 -0.000321225 0.000149191 0.000339171 0.00101502 0.00812593 0.000301967 0.000508881 -9.92209e-06 0.000104308 0.006798 -0.00118269 -0.00620756 -0.000636998 -0.00068439 -0.000606359 -0.00689709 -0.015008 -0.0010429 -0.00209432 0.000703517 0.000790868 0.00311671 0.000662001 0.00105329 -0.000333936 1.08145e-05 0.000641237 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1628 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 456.68 0 0 newEnergyL 0 lastEnergy: 468.014 0 0 lastEnergyL: 0mActiveResiduals: 1628 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -3.92123e-12 4.32347e-12 8.42423e-12 -7.37187e-12 0.00237296 0.00107636 -0.000618501 -3.11751e-05 -1.27326e-05 -0.000550409 0.000961413 -0.00408736 -0.00183558 -0.000311679 -2.07733e-05 -0.000293922 -0.000693157 -0.00332733 -0.000236431 -5.49854e-05 0.000196733 -0.000331187 -0.00256218 -0.00505328 0.00124226 -0.000290646 0.000459856 -0.000268086 0.00456727 -0.00106538 -0.000704645 0.000267994 -0.000488134 -0.000110947 -0.000767412 0.00178151 0.00171097 0.000588664 1.77334e-05 0.000269211 -0.00747444 0.00916376 0.00150516 0.00148836 0.00120723 -0.000980172 0.00405706 0.00168989 -0.000632846 0.000552126 0.000273123 -0.000799314 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1628 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 17 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 460.11 0 0 newEnergyL 0 lastEnergy: 456.68 0 0 lastEnergyL: 0mActiveResiduals: 1628 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 5.0581e-12 -6.87615e-12 -1.18499e-11 6.9909e-12 -0.00297639 -9.41093e-06 -0.000541996 -9.07364e-05 -0.000235841 0.000853308 0.000426434 0.00324861 0.00156597 -0.000169464 -0.000410039 0.000587057 0.000483954 0.00325453 0.000750637 -0.000282168 -0.000500823 0.000587305 -0.00125979 -0.000284175 -0.0014359 -0.000679468 -0.000411206 0.000664094 -0.00323495 0.00505584 0.00110929 -0.000211568 -4.40851e-05 0.00021119 -9.01449e-05 -0.00150791 -0.000401798 -0.00108985 -0.000174943 -0.00030697 -0.000390265 -0.00189262 -0.00295205 -0.0012571 -0.000560624 0.00148347 0.00641747 -0.00814352 0.00297474 -0.00170623 -0.00127872 0.00113784 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1628 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 452.531 0 0 newEnergyL 0 lastEnergy: 460.11 0 0 lastEnergyL: 0mActiveResiduals: 1628 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 452.531 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1628 INF|LocalMapper.cpp[optimize,345]: End Energy: 452.531 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.545815 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.545815 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 6 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 6 with idx: 4 and allID: 11 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 0<->6 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 2<->6 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 3<->6 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 5<->6 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 6<->6 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->6 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 8<->6 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 9<->6 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 6 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 11: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 5/9: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 4/8: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 3/6: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 2/3: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 1/1: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 0/0: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 0 allId: 0 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.970219 -0.0118729 0.241937 -0.117354 0.0592789 0.980066 -0.189625 0.819248 -0.234863 0.198319 0.951582 0.483474 worldPose: 0.970164 -0.0121925 0.242142 -0.117342 0.0596514 0.980038 -0.189652 0.819098 -0.234996 0.198437 0.951525 0.483202 after: 0.970164 -0.0121925 0.242142 -0.117342 0.0596514 0.980038 -0.189652 0.819098 -0.234996 0.198437 0.951525 0.483202 worldPose of new: 1 -0.000355151 0.000143913 0.000233147 0.000355168 1 -0.000118689 -5.08425e-05 -0.000143871 0.00011874 1 -0.000385325 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.970219 -0.0118729 0.241937 -0.117354 0.0592789 0.980066 -0.189625 0.819248 -0.234863 0.198319 0.951582 0.483474 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 11 after changeRefFrame: 0.970219 -0.0118729 0.241937 -0.117354 0.0592789 0.980066 -0.189625 0.819248 -0.234863 0.198319 0.951582 0.483474 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 6 to normal frame with refFrame: 0 frame id kf: 11 newref id: 0 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 6 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 8639 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x3998500 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 9 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 1 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 631 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 9 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 639 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 16 keyframes 10 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 533 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875572.949433 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!17 INF|Input.cpp[getImages,132]: mNbReceivedImages!18 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999017 -0.000507335 -0.0443251 -0.0454184 0.000754727 0.999984 0.00556475 0.0192404 0.0443216 -0.00559273 0.999002 -0.031891 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 9 to 13970508825443172352 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.949433) and 15(1311875572.918807) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999017 -0.000507335 -0.0443251 -0.0454184 0.000754727 0.999984 0.00556475 0.0192404 0.0443216 -0.00559273 0.999002 -0.031891 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.99919 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:613/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 9 to 13970508825443172352 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.949433) and 15(1311875572.918807) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998016 -0.00262962 -0.062899 -0.00963402 0.00166815 0.999881 -0.0153336 0.0973543 0.0629318 0.0151982 0.997902 0.0149847 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999978 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:934/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 9 to 13970508825443172352 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.949433) and 15(1311875572.918807) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998443 -0.00360391 -0.0556651 -0.0306986 0.00242055 0.99977 -0.0213115 0.134779 0.0557291 0.0211436 0.998222 0.026145 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999829 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:369/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.22766 resInfo good: 1994, 62 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2280/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998802 -0.00361532 -0.0488012 -0.0586388 0.00318989 0.999956 -0.00879254 0.0802075 0.0488309 0.00862634 0.99877 0.0241201 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875572.949433 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875572.949433 to keyframe with id: 13970508825443172352 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875572.949433 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 595 size: 2413 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId13970508825443172352 timestamp: 1311875572.949433 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 3 keyframeId: 2 score: -16.7068 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 6 keyframeId: 3 score: -18.1324 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 9 keyframeId: 5 score: -22.4313 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 12 keyframeId: 7 score: -22.0963 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 14 keyframeId: 8 score: -10.2047 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 10 = 10 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x41632e0 fh1 0x18ac360fh->id: 0 10 16goodE: 158 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x41632e0 fh1 0x2112300fh->id: 2 10 16goodE: 37 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x41632e0 fh1 0x21163a0fh->id: 3 10 16goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x41632e0 fh1 0x39ab2e0fh->id: 5 10 16goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x41632e0 fh1 0x29bcaa0fh->id: 7 10 16goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x41632e0 fh1 0x394ca80fh->id: 8 10 16goodE: 36 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x41632e0 fh1 0x3998500fh->id: 9 10 16goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew10 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 86 out of 114 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 114 newEdgePixels: 114 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1513 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 215 lastEnergy: 507.966 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 32 INF|LocalMapper.cpp[optimize,276]: Start Energy: 507.966 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.34451e-12 7.99968e-12 1.36019e-11 -9.43368e-12 -0.000466326 0.000101812 0.000770603 -0.000118714 -0.000143891 -0.000355156 -0.0180509 -0.00425069 -0.00432096 -0.000211349 0.00126136 0.000354786 -0.00244039 -0.0086954 -0.00473729 -0.00055048 -0.000131963 3.96342e-05 0.0032999 -0.0054099 -0.000372627 -0.000235715 -0.000215399 -0.000441515 0.00408049 9.34168e-05 -0.00833783 0.000407698 -0.000863311 -6.63089e-06 0.0056244 0.000514162 -0.00421325 0.000724954 -0.000441439 -0.00162103 -0.0112703 0.00109077 -0.0137571 0.000407429 0.00131118 -0.000646879 -0.0254049 0.0480151 -0.0207392 0.00482309 0.00326742 -0.00121105 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1513 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 474.311 0 0 newEnergyL 0 lastEnergy: 507.966 0 0 lastEnergyL: 0mActiveResiduals: 1513 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.17538e-12 6.45109e-13 -1.18682e-11 -6.40739e-13 -4.66452e-09 1.01575e-09 7.70515e-09 -1.18887e-09 -1.43855e-09 -3.55083e-09 0.0148504 0.00352554 0.00210441 0.000522242 -0.00149655 -0.000552136 0.00379653 0.00339836 0.00294347 0.000365452 -0.000538891 -0.000184831 -0.00806724 0.00351027 0.00283428 0.000463263 0.000658183 -1.63787e-05 -4.59419e-05 -0.00777193 -0.000176382 -0.00065197 0.000439832 -0.00129676 -0.00627056 0.00197041 -0.00638348 0.000235801 0.000887982 0.000789127 -0.00199541 0.0123857 -0.00262266 0.00165301 0.000463769 0.000424601 -0.0142831 0.0661939 -0.000764936 0.00728812 0.00204296 -4.06154e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1513 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 448.666 0 0 newEnergyL 0 lastEnergy: 474.311 0 0 lastEnergyL: 0mActiveResiduals: 1513 Input.cpp[readImages,206]: Got image from sensor!17 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.20321e-12 -4.56386e-12 1.0521e-11 1.25624e-11 0.00346005 -0.002935 -0.00218989 -0.000143646 3.27569e-05 -0.000841138 -0.00814507 -0.00274595 -0.00109344 -0.00066303 0.00120878 -0.000443072 0.00393265 -0.00073534 -0.00157822 -0.000382257 -6.00834e-05 -0.000916902 0.00620873 -0.00125889 0.0010178 -0.000383215 -0.000179808 -0.000686208 0.00422296 0.0101903 0.00293294 0.00120014 -0.000572344 -0.00038073 -0.00356974 -0.00474327 0.00151622 -0.000474321 0.000751547 -0.00104185 0.00369923 -0.0183068 0.00039568 -0.00197925 0.000280991 -0.00147647 -0.0104448 0.0216827 -0.00278222 0.00214364 0.00130247 0.000434507 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1513 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 444.153 0 0 newEnergyL 0 lastEnergy: 448.666 0 0 lastEnergyL: 0mActiveResiduals: 1513 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.68611e-12 -6.8778e-13 -5.05317e-12 1.84707e-12 0.000116186 0.00036629 0.00108771 0.000154105 0.000313862 -0.000370662 0.00965099 0.0094304 0.000658297 0.00126027 -0.000588277 -0.000607268 0.00606281 -0.000442432 0.00140897 8.73613e-05 -0.000364586 -9.63246e-05 -0.00431583 7.33035e-05 -0.00203585 0.000203827 0.000729974 -4.84025e-05 -0.00580949 -0.0119054 -0.000499541 -0.000975753 0.00162498 -0.0012915 0.00774697 -0.00328035 -0.00394694 -9.27065e-05 -0.000304599 -0.000302073 -0.0108659 -0.00356351 -0.00584394 3.66895e-06 0.00172035 -5.85024e-05 -0.00148856 0.00991686 0.0042504 0.00166539 0.000755894 -0.00107348 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1513 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 438.244 0 0 newEnergyL 0 lastEnergy: 444.153 0 0 lastEnergyL: 0mActiveResiduals: 1513 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 4.50971e-12 -3.30556e-13 9.21602e-12 1.54992e-12 0.00336507 0.00143315 -0.0021259 -0.000847774 0.000358179 -0.000538725 -0.000690366 0.000351291 -0.00381277 -0.00138568 0.00070026 -0.000380009 -0.00184778 0.00697428 -0.0039357 -0.00060347 0.000930247 -0.000754191 0.00726635 0.0111934 0.00334333 -9.98096e-05 7.13861e-05 -0.000787615 0.0106973 0.0105097 0.0006471 -0.000132112 -0.000835307 0.000194811 -0.0107467 0.00105973 -0.00011939 -0.0010347 0.00193739 -0.000674331 -0.00726536 -0.00426195 0.00237492 -0.0016737 0.0016164 -0.000779768 -0.00532737 -0.025604 -0.00214204 -0.00390761 0.00139667 -0.00062484 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1513 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 437.914 0 0 newEnergyL 0 lastEnergy: 438.244 0 0 lastEnergyL: 0mActiveResiduals: 1513 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.92668e-13 -9.77892e-13 -5.60623e-12 -1.47154e-12 -0.00231693 -0.000640218 0.00226193 0.00074852 -0.000605057 -0.000106115 -0.00539713 0.00418078 0.0017012 0.00152364 -0.000283658 2.79587e-05 0.00209779 -0.00519878 0.00110918 0.000521269 -0.00113709 0.000376914 -0.00286044 -0.0050634 -0.00043384 0.000334483 -0.000490179 0.000205423 -0.0119319 -0.0131718 0.00140151 -0.000368957 0.000953789 -0.000684693 0.00392552 -0.00469849 0.000625674 0.000474596 -0.00149956 0.000267538 0.010011 0.0078115 -0.00217156 0.00188772 -0.00195914 0.000434652 0.00891296 0.0152133 0.00151643 0.00261572 -0.00204955 0.000101594 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1513 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 431.671 0 0 newEnergyL 0 lastEnergy: 437.914 0 0 lastEnergyL: 0mActiveResiduals: 1513 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 431.671 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1513 INF|LocalMapper.cpp[optimize,345]: End Energy: 431.671 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.542083 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.542083 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 5 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 5 with idx: 3 and allID: 9 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 0<->5 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 2<->5 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 3<->5 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 5<->5 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->5 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 8<->5 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 9<->5 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 10<->5 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 5 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 9: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 4/8: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 3/6: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 2/3: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 1/1: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 0/0: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 0 allId: 0 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 18 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.979782 0.0470817 0.19445 -0.114031 0.0033772 0.967885 -0.251369 0.799389 -0.20004 0.246943 0.948158 0.510295 worldPose: 0.979767 0.0489033 0.194077 -0.110184 0.00154034 0.967818 -0.251645 0.798755 -0.200138 0.246853 0.948161 0.509752 after: 0.979767 0.0489033 0.194077 -0.110184 0.00154034 0.967818 -0.251645 0.798755 -0.200138 0.246853 0.948161 0.509752 worldPose of new: 0.999998 0.00185663 9.98226e-05 0.00231134 -0.00185664 0.999998 8.87033e-05 -0.00089006 -9.96577e-05 -8.88885e-05 1 -0.000483151 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.979782 0.0470817 0.19445 -0.114031 0.0033772 0.967885 -0.251369 0.799389 -0.20004 0.246943 0.948158 0.510295 INF|Mapper.cpp[changeRefFrame,578]: Updating: 10 from old kf id: 5/9 with new ref frame: 0/0 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 9 after changeRefFrame: 0.979782 0.0470817 0.19445 -0.114031 0.0033772 0.967885 -0.251369 0.799389 -0.20004 0.246943 0.948158 0.510295 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 5 to normal frame with refFrame: 0 frame id kf: 9 newref id: 0 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 5 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 8537 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x41632e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 10 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 1 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 633 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 10 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 641 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 17 keyframes 11 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 531 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875572.980082 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 10 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.980082) and 16(1311875572.949433) on lvl: 2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!18 INF|Input.cpp[getImages,132]: mNbReceivedImages!19 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999064 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:509/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 10 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.980082) and 16(1311875572.949433) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998523 0.00396947 -0.0541769 0.156659 -0.00304585 0.999849 0.01712 -0.118926 0.0542367 -0.0169297 0.998385 0.0555146 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999877 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:643/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 10 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.980082) and 16(1311875572.949433) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.997908 0.00805183 -0.0641452 0.181497 -0.005713 0.999315 0.0365618 -0.198178 0.0643957 -0.0361188 0.997271 0.0385613 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999527 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:416/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.03353 resInfo good: 2312, 101 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1999/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998435 0.00562332 -0.0556357 0.128416 -0.00485982 0.999892 0.0138491 -0.0837464 0.0557076 -0.013557 0.998355 0.0444166 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875572.980082 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875572.980082 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875572.980082 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 496 size: 1766 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875572.980082 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 3 keyframeId: 2 score: -15.644 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 6 keyframeId: 3 score: -16.4289 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 12 keyframeId: 7 score: -12.0391 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 14 keyframeId: 8 score: -14.7435 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 15 keyframeId: 9 score: -13.2476 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 11 = 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x38cfbe0 fh1 0x18ac360fh->id: 0 11 17goodE: 146 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x38cfbe0 fh1 0x2112300fh->id: 2 11 17goodE: 37 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x38cfbe0 fh1 0x21163a0fh->id: 3 11 17goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x38cfbe0 fh1 0x29bcaa0fh->id: 7 11 17goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x38cfbe0 fh1 0x394ca80fh->id: 8 11 17goodE: 52 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x38cfbe0 fh1 0x3998500fh->id: 9 11 17goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x38cfbe0 fh1 0x41632e0fh->id: 10 11 17goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew11 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 75 out of 90 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 90 newEdgePixels: 90 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1580 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 224 lastEnergy: 499.102 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 33 INF|LocalMapper.cpp[optimize,276]: Start Energy: 499.102 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 2.68543e-12 3.99665e-12 5.91779e-14 1.03882e-12 -0.00462433 0.00177577 0.00096614 8.87951e-05 -9.97392e-05 0.00185662 -0.00436194 -0.0139851 -0.00479276 -0.0011994 -0.000212118 0.00190719 -0.00981856 -0.00260612 -0.00369276 -9.64284e-05 0.000493716 0.0016411 -0.00584316 0.00712061 -0.00362868 0.000425647 -0.000787977 0.00378146 -0.00611723 -0.0214002 -0.00426955 -0.00265233 -0.000205936 0.00203727 -0.0160492 -0.01251 -0.0085799 -0.00202929 0.00139218 0.00106628 -0.033116 -0.035977 -0.0127952 -0.00454878 0.00274149 0.00215219 -0.0131312 -0.0665659 -0.028512 -0.00776054 0.00181568 -0.000477894 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1580 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 458.634 0 0 newEnergyL 0 lastEnergy: 499.102 0 0 lastEnergyL: 0mActiveResiduals: 1580 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -7.87684e-12 2.33579e-12 1.12271e-11 -9.26608e-12 -4.62432e-08 1.77508e-08 9.65991e-09 8.82434e-10 -9.98899e-10 1.85688e-08 -0.00910814 0.0130883 0.000840402 0.00146496 0.00102676 7.25547e-05 -0.00379589 -0.000892871 -0.00201433 -0.000134819 0.000382955 0.000579833 -0.00486472 -0.00796746 0.001059 -0.00092993 0.000822642 -0.000205999 0.000724714 0.011717 -0.00668826 0.0010304 -0.000364227 0.000230611 -0.0136813 0.00981298 -0.011329 0.000990749 0.00162173 0.00104441 -0.0116123 0.0151718 0.0031252 0.0016033 0.000865013 0.000706029 -0.0164366 -0.0364986 -0.0156743 -0.0039788 0.00196353 0.000501613 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1580 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 442.805 0 0 newEnergyL 0 lastEnergy: 458.634 0 0 lastEnergyL: 0mActiveResiduals: 1580 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.91648e-12 2.82343e-12 -1.98583e-12 -2.46312e-13 -0.000201701 -0.00114914 -0.00375393 -0.000512232 0.000302447 0.000631499 0.00154387 0.00045243 -0.000837333 -0.00158311 4.21746e-05 0.000918404 -0.00140499 0.00905303 0.0025592 -0.000665149 0.000471914 0.000351879 0.00606334 0.0182105 -0.00238334 0.000434232 -0.000892525 0.000711361 0.0029324 -0.00697808 0.000103489 -0.00244609 -1.74906e-06 0.000399364 -0.00363534 -0.0124784 0.00452357 -0.00314154 0.000962738 -0.000479281 -0.0179335 -0.0084464 -0.00768448 -0.00270833 0.00180913 0.000378316 0.0102219 0.00248019 0.00504909 -0.00160787 -0.00090161 -0.000162494 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1580 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 435.895 0 0 newEnergyL 0 lastEnergy: 442.805 0 0 lastEnergyL: 0mActiveResiduals: 1580 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.06016e-12 6.12056e-13 1.89962e-12 3.437e-12 -0.00230756 0.000953694 0.00469576 0.000543086 -0.000569033 -0.000319561 -0.000337816 -0.00317692 0.000691069 0.00153167 -0.000596671 -0.000266147 -0.000595207 -0.0106604 -0.000528543 0.000721794 -0.000727524 0.000450522 -0.00679149 -0.0205047 -0.000966205 -0.000618596 0.000178425 0.000152908 0.00469456 0.00254643 -0.0011766 0.00195608 -0.00146808 -7.10384e-05 0.0115543 0.0151705 -0.00348417 0.00347515 -0.0019172 0.000804728 0.0142687 0.015614 0.00410955 0.00329915 -0.0024786 -1.29891e-05 -0.0177497 -0.00141001 -0.00060445 0.0018624 0.00134469 0.000869499 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1580 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 435.15 0 0 newEnergyL 0 lastEnergy: 435.895 0 0 lastEnergyL: 0mActiveResiduals: 1580 Input.cpp[readImages,206]: Got image from sensor!18 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -3.46387e-12 -2.48999e-12 4.39331e-12 -1.84334e-12 0.00146991 -0.00261267 -0.00568327 -0.000569772 0.000111451 -0.000102568 -0.00669284 0.00356572 -0.000792112 -0.00181439 0.000869125 1.95248e-05 -0.00198975 0.0176445 0.00160906 -0.000281198 0.000523713 -0.000749349 0.00911528 0.0212947 0.00307237 0.000453083 -0.00106124 -0.000373415 -0.00296516 -0.00844698 0.00278355 -0.00281313 0.000733846 -0.000726963 -0.000801865 -0.0115795 0.00245889 -0.00324141 0.000593013 -0.00160526 -0.0153754 -0.00853387 -0.00549941 -0.00271349 0.00171642 -0.000616554 0.0135431 -0.0104184 0.00138234 -0.00335021 -0.00137479 -0.00139808 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1580 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 428.969 0 0 newEnergyL 0 lastEnergy: 435.15 0 0 lastEnergyL: 0mActiveResiduals: 1580 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -9.75104e-13 -1.0227e-12 -1.16196e-11 1.02053e-11 -0.00217868 0.00116927 0.00415264 0.000543355 0.000303825 0.000207192 0.0120848 -0.0019192 -0.000420546 0.00146257 -0.00111089 -6.11934e-05 0.0033001 -0.0147927 -0.00162896 1.88547e-05 -0.000367969 0.000718926 -0.00402231 -0.0183793 -0.00349988 -0.000725443 0.000758995 0.0004389 0.00204734 0.00347553 -0.00375417 0.0017752 -0.000552829 0.00079932 -0.000858189 0.0117455 -0.00511271 0.00271092 -0.000208296 0.00152035 -0.00145886 0.0132354 0.00242392 0.00264682 -0.000186634 0.000958884 -0.00659507 0.00555416 0.00465512 0.00252821 0.000862932 0.00115407 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1580 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 426.194 0 0 newEnergyL 0 lastEnergy: 428.969 0 0 lastEnergyL: 0mActiveResiduals: 1580 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 426.194 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1580 INF|LocalMapper.cpp[optimize,345]: End Energy: 426.194 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.531798 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.531798 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 3 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 3 with idx: 2 and allID: 6 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 0<->3 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 2<->3 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 3<->3 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->3 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 8<->3 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 9<->3 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 10<->3 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 11<->3 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 3 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 6: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 2/3: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 1/1: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 0/0: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 0 allId: 0 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.99689 0.0439799 0.0653973 0.040779 -0.0258302 0.966305 -0.256099 0.817447 -0.074457 0.253613 0.964436 0.490838 worldPose: 0.996889 0.0436151 0.0656474 0.0389026 -0.0254146 0.966322 -0.256076 0.816642 -0.0746053 0.253611 0.964425 0.490541 after: 0.996889 0.0436151 0.0656474 0.0389026 -0.0254146 0.966322 -0.256076 0.816642 -0.0746053 0.253611 0.964425 0.490541 worldPose of new: 1 -0.000416561 0.00014869 -0.00160886 0.000416562 1 -4.40653e-06 -0.000819758 -0.000148689 4.46847e-06 1 -0.000294283 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.99689 0.0439799 0.0653973 0.040779 -0.0258302 0.966305 -0.256099 0.817447 -0.074457 0.253613 0.964436 0.490838 INF|Mapper.cpp[changeRefFrame,578]: Updating: 7 from old kf id: 3/6 with new ref frame: 0/0 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 6 after changeRefFrame: 0.99689 0.0439799 0.0653973 0.040779 -0.0258302 0.966305 -0.256099 0.817447 -0.074457 0.253613 0.964436 0.490838 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 3 to normal frame with refFrame: 0 frame id kf: 6 newref id: 0 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 3 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 8317 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x38cfbe0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 11 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 1 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 631 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 11 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 640 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 18 keyframes 12 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 19 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!19 INF|Input.cpp[getImages,132]: mNbReceivedImages!20 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.020428 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.993965 0.00563847 -0.109555 0.219239 -0.00477774 0.999956 0.00811753 -0.0708394 0.109596 -0.00754512 0.993948 0.108296 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 11 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.020428) and 17(1311875572.980082) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.993965 0.00563847 -0.109555 0.219239 -0.00477774 0.999956 0.00811753 -0.0708394 0.109596 -0.00754512 0.993948 0.108296 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.9998 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:602/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 11 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.020428) and 17(1311875572.980082) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998609 0.0184139 -0.0494059 -0.0575702 -0.0163013 0.998949 0.0428274 -0.250489 0.0501426 -0.0419625 0.99786 -0.0665639 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:883/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 11 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.020428) and 17(1311875572.980082) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998141 0.0204857 -0.0573979 -0.000975964 -0.0175826 0.998562 0.0506361 -0.280485 0.0583527 -0.0495328 0.997066 -0.057417 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 5): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:662/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.08158 resInfo good: 1649, 117 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2446/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998604 0.0103021 -0.0518124 -0.0325484 -0.0106462 0.999923 -0.00637078 -0.00414693 0.0517428 0.00691349 0.998637 -0.0105445 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875573.020428 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875573.020428 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875573.020428 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 455 size: 1544 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875573.020428 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 3 keyframeId: 2 score: -14.6941 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 12 keyframeId: 7 score: -11.0615 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 14 keyframeId: 8 score: -21.0205 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 15 keyframeId: 9 score: -27.4816 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 16 keyframeId: 10 score: -26.2103 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 12 = 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51d48a0 fh1 0x18ac360fh->id: 0 12 18goodE: 151 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51d48a0 fh1 0x2112300fh->id: 2 12 18goodE: 39 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51d48a0 fh1 0x29bcaa0fh->id: 7 12 18goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51d48a0 fh1 0x394ca80fh->id: 8 12 18goodE: 57 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51d48a0 fh1 0x3998500fh->id: 9 12 18goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51d48a0 fh1 0x41632e0fh->id: 10 12 18goodE: 9 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51d48a0 fh1 0x38cfbe0fh->id: 11 12 18goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew12 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 56 out of 76 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 76 newEdgePixels: 76 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1574 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 220 lastEnergy: 476.993 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 34 INF|LocalMapper.cpp[optimize,276]: Start Energy: 476.993 0 0 lastEnergyL: 0 Input.cpp[readImages,206]: Got image from sensor!19 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 6.31328e-12 4.47141e-13 1.95602e-11 -1.30727e-11 0.00321799 0.00163883 0.000588796 -4.43745e-06 -0.000148688 -0.000416557 -0.0111123 -0.0189929 -0.00316035 -0.00193848 0.000981615 5.54898e-05 0.0172687 0.00835694 -0.00238128 0.00111391 -0.00218502 -0.000107413 0.0108996 -0.0291779 0.00341429 -0.00270104 -0.000787021 -0.00169484 0.0107156 -0.0443801 0.00747305 -0.00424642 -0.0008091 -0.00245362 0.00668156 -0.0268789 -0.00261086 -0.00223341 -0.00028969 -0.00246695 0.0145269 -0.0349043 0.000997674 -0.00369241 -0.00118122 -0.00154616 0.00989199 -0.0175413 -0.00688655 -0.00167073 -0.000724809 -0.00117034 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1574 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 451.803 0 0 newEnergyL 0 lastEnergy: 476.993 0 0 lastEnergyL: 0mActiveResiduals: 1574 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.07359e-12 -4.11666e-12 5.96793e-12 1.15442e-11 3.21807e-08 1.63792e-08 5.88579e-09 -5.08058e-11 -1.48804e-09 -4.16324e-09 0.00880895 0.00485789 0.000536012 0.000627958 -0.000796165 -0.000453244 -0.0114711 -0.0152445 -0.00104532 -0.00176839 0.0017164 -0.000508742 0.0119506 0.00915319 -0.00277568 0.000831344 -0.00153326 -7.62576e-05 0.00496882 0.00866628 -0.00679748 0.000787668 -0.000667252 0.000788126 -0.00292899 0.0173315 -0.00250771 0.00175281 0.000242875 0.000538017 -0.00210519 0.00505854 0.00567123 0.0012521 0.000464898 -0.000540505 0.00686376 0.00184854 0.00106729 0.000491174 -0.000768725 -9.58e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1574 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 442.09 0 0 newEnergyL 0 lastEnergy: 451.803 0 0 lastEnergyL: 0mActiveResiduals: 1574 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.43508e-12 -3.16298e-13 -6.29585e-12 -2.31369e-12 -0.00219654 0.00118704 -0.00109896 0.000263878 -0.000230934 0.000991443 -0.00540431 -0.00118195 -0.00212142 -0.000861528 1.9166e-05 0.00116407 -0.00686603 0.0130485 0.00181126 0.000658876 -0.000245039 0.000818823 -0.00117731 -0.000696386 0.00412498 -0.000822646 -0.000259117 0.000225193 0.00272078 -0.00588799 0.00861842 -0.00150335 -0.000619584 -0.000444329 0.00929331 -0.0019141 -0.000243954 -0.00112525 -0.00136136 -0.000204536 0.00465711 -0.00394523 -0.00434739 -0.00201813 -0.00110952 0.00134786 -0.00226524 -0.00129491 -0.00221428 -0.00131295 -0.000246984 0.000366613 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1574 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 433.577 0 0 newEnergyL 0 lastEnergy: 442.09 0 0 lastEnergyL: 0mActiveResiduals: 1574 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 2.12297e-12 -5.42025e-15 2.83259e-12 5.35599e-12 -0.00468744 0.00121987 -0.00265285 -0.000751877 -0.000224726 0.000619202 0.00662777 0.00350144 -0.0011456 -0.000528935 -0.00122759 0.000755266 -0.00945243 -0.00121656 -0.00359335 -0.00145342 0.000405842 0.000706971 -0.00190004 0.00265899 -0.00201613 -0.00120214 -0.000605347 0.000905763 -0.00708054 -0.00604105 -0.00645208 -0.00198112 5.45891e-07 0.00152067 -0.000251695 0.0106884 0.00200427 -0.000322874 -0.00068378 0.000765873 0.00486883 -0.00436661 0.0101692 -0.00118874 -0.000855345 -0.00106997 0.00741775 -0.00607228 0.00566391 -0.00184808 -0.00145199 4.08108e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1574 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 429.714 0 0 newEnergyL 0 lastEnergy: 433.577 0 0 lastEnergyL: 0mActiveResiduals: 1574 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 20 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.92001e-12 8.46992e-13 -1.40993e-12 -4.71396e-12 -0.00201186 0.00103658 1.65252e-05 0.000567745 -0.000329926 0.000659985 -0.00677709 -0.00339126 -0.000623616 -0.000421599 9.16839e-05 0.000967066 -0.00333695 0.00770627 0.00251536 0.000711041 -0.000561377 0.000987027 0.00491926 -0.00103132 0.00507397 -0.000157607 -0.00101331 -3.93567e-06 0.0130973 0.00858068 0.00758308 0.000554776 -0.00192714 -0.000669907 0.00410685 -0.00663622 -0.000726768 -0.000877492 -0.00089726 2.47564e-05 -0.000475394 -0.00065058 -0.00828737 -0.00104911 -0.000657237 0.00138487 -0.00888523 -0.00644019 -0.00292036 -0.00113942 0.000363434 0.00016084 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1574 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 430.212 0 0 newEnergyL 0 lastEnergy: 429.714 0 0 lastEnergyL: 0mActiveResiduals: 1574 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 3.06831e-12 -7.66324e-13 2.82541e-12 6.94549e-12 -0.00248369 0.000525862 -0.00218243 -0.000967451 -0.000197544 0.000361271 0.0036983 0.00454376 -0.00211881 -0.000128972 -0.000799467 0.000287403 -0.00379827 -0.00502766 -0.00329659 -0.00147608 0.000297338 0.000298108 -0.00369921 -0.00245249 -0.00429762 -0.00140024 -0.000156504 0.00065397 -0.00709674 -0.00226035 -0.00748081 -0.00111518 0.000462982 0.00110435 -0.00166967 0.00179227 0.0033321 -0.000826568 -0.00057835 0.000426544 0.0125931 0.00180649 0.0105198 -0.00010119 -0.00120457 -0.000941754 -0.00226836 0.00156624 0.00615879 -0.000637238 -0.000281486 0.000348587 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1574 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 425.207 0 0 newEnergyL 0 lastEnergy: 430.212 0 0 lastEnergyL: 0mActiveResiduals: 1574 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 425.207 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1574 INF|LocalMapper.cpp[optimize,345]: End Energy: 425.207 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.533131 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.533131 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 9 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 9 with idx: 4 and allID: 15 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 0<->9 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 2<->9 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->9 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 8<->9 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 9<->9 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 10<->9 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 11<->9 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 12<->9 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 9 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 15: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 8/14: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 7/12: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 6/11: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 5/9: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 4/8: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 3/6: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 2/3: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 1/1: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 0/0: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 0 allId: 0 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.914595 -0.0775544 0.396864 -0.00388066 0.143325 0.979893 -0.138811 0.797365 -0.378118 0.183836 0.907321 0.637529 worldPose: 0.914587 -0.0803136 0.396334 -0.0122973 0.145397 0.979848 -0.136962 0.799893 -0.377347 0.182889 0.907833 0.633853 after: 0.914587 -0.0803136 0.396334 -0.0122973 0.145397 0.979848 -0.136962 0.799893 -0.377347 0.182889 0.907833 0.633853 worldPose of new: 0.999996 -0.00263146 -0.000984297 -0.00569091 0.00263233 0.999996 0.000886409 0.00197588 0.00098196 -0.000888997 0.999999 -0.00296253 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.914595 -0.0775544 0.396864 -0.00388066 0.143325 0.979893 -0.138811 0.797365 -0.378118 0.183836 0.907321 0.637529 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 15 after changeRefFrame: 0.914595 -0.0775544 0.396864 -0.00388066 0.143325 0.979893 -0.138811 0.797365 -0.378118 0.183836 0.907321 0.637529 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 9 to normal frame with refFrame: 0 frame id kf: 15 newref id: 0 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 9 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 8970 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x51d48a0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 12 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 1 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 631 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 12 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 638 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 19 keyframes 13 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 525 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.050346 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!20 INF|Input.cpp[getImages,132]: mNbReceivedImages!21 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998517 0.0116938 -0.0531658 -0.0215259 -0.012011 0.999912 -0.00564941 -0.00888507 0.0530951 0.0062796 0.99857 -0.00281254 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 12 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.050346) and 18(1311875573.020428) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998517 0.0116938 -0.0531658 -0.0215259 -0.012011 0.999912 -0.00564941 -0.00888507 0.0530951 0.0062796 0.99857 -0.00281254 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.99949 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:521/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 12 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.050346) and 18(1311875573.020428) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998416 0.00723862 -0.055796 -0.0154239 -0.00750762 0.999961 -0.00461309 -0.00193033 0.0557605 0.00502468 0.998432 -0.0624245 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 9): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:926/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 12 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.050346) and 18(1311875573.020428) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998582 0.00788453 -0.052644 -0.0295017 -0.00784126 0.999969 0.00102841 -0.0170286 0.0526505 -0.000614159 0.998613 -0.0624663 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 14,0.99931 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1139/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.13678 resInfo good: 1505, 39 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2849/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998882 0.00506537 -0.0470032 -0.0495313 -0.00542104 0.999958 -0.00744258 0.0266554 0.0469635 0.00768907 0.998867 -0.0510961 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875573.050346 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875573.050346 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875573.050346 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 534 size: 2260 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875573.050346 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 3 keyframeId: 2 score: -13.2068 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 12 keyframeId: 7 score: -11.8539 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 14 keyframeId: 8 score: -15.9441 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 16 keyframeId: 10 score: -17.4574 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 17 keyframeId: 11 score: -12.2245 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 13 = 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28d1840 fh1 0x18ac360fh->id: 0 13 19goodE: 124 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28d1840 fh1 0x2112300fh->id: 2 13 19goodE: 32 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28d1840 fh1 0x29bcaa0fh->id: 7 13 19goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28d1840 fh1 0x394ca80fh->id: 8 13 19goodE: 56 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28d1840 fh1 0x41632e0fh->id: 10 13 19goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28d1840 fh1 0x38cfbe0fh->id: 11 13 19goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28d1840 fh1 0x51d48a0fh->id: 12 13 19goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew13 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 78 out of 106 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 106 newEdgePixels: 106 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1470 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 201 lastEnergy: 454.411 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 33 INF|LocalMapper.cpp[optimize,276]: Start Energy: 454.411 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 3.01722e-14 1.70923e-12 -5.85085e-12 -9.61109e-12 0.0113794 -0.00396932 0.00591765 0.000887696 0.00098312 -0.00263187 -0.000407508 -0.0144239 0.00158545 0.000472749 0.00202772 -0.00203004 0.0186645 -0.0135008 0.00460526 0.00118033 0.000207046 -0.00317195 0.0182125 -0.0152249 0.0106733 0.00173751 0.000384662 -0.00347481 0.0132589 -0.0347422 0.00902142 -0.000107684 0.000929902 -0.00370477 0.00146828 -0.0299807 0.00135155 -1.86741e-05 0.00167569 -0.00206485 0.00847985 -0.0180444 0.00208759 0.00163929 0.00127172 -0.00252376 0.00174126 0.0110773 0.00211003 0.00473648 0.00193568 -0.00272304 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1470 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 422.224 0 0 newEnergyL 0 lastEnergy: 454.411 0 0 lastEnergyL: 0mActiveResiduals: 1470 Input.cpp[readImages,206]: Got image from sensor!20 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.05561e-12 5.2094e-13 2.28552e-12 2.9299e-13 1.13796e-07 -3.97018e-08 5.91744e-08 8.87907e-09 9.83286e-09 -2.63199e-08 0.00325618 0.0020143 0.00246251 0.000383112 -0.000266378 -0.000266447 0.000642316 -0.00268377 -0.00305418 -0.00014302 0.000237675 -0.000442004 -0.0120528 0.00521836 -0.00710631 0.000480458 0.00131302 0.000507268 -0.017886 0.0105623 -0.00446773 0.00118916 0.00183143 0.00074961 0.00244691 0.018007 -0.00176662 0.00228249 0.000101347 -0.000587496 -0.0113466 0.0196586 -0.000434948 0.00218877 0.00113413 0.000492795 -0.0132058 0.0253213 -0.0124739 0.00256631 0.00216036 0.00104226 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1470 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 415.771 0 0 newEnergyL 0 lastEnergy: 422.224 0 0 lastEnergyL: 0mActiveResiduals: 1470 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -3.12673e-12 -3.01005e-13 -2.88644e-12 -1.27123e-12 0.00139729 0.00215002 -0.00151741 -0.000214231 -0.000329544 -0.0011442 -0.00316991 0.00614278 0.000872653 -0.000479752 0.00012953 -0.000754281 0.000139153 0.00809849 0.00283211 0.000151645 -0.000345814 -0.0012521 0.0159508 0.00329123 0.00301292 -0.0001273 -0.00174212 -0.00197547 0.00598626 0.0156438 0.000897869 0.00119871 -0.00055887 -0.00166376 -0.0151942 -0.0121206 -0.00267027 -0.00205913 0.00117031 -0.000423049 -0.00576802 -0.00887214 -0.00403776 -0.00135433 0.000412572 -0.00177566 0.000529883 -0.0139806 -0.00208844 -0.00165904 0.000225214 -0.00221732 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1470 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 407.937 0 0 newEnergyL 0 lastEnergy: 415.771 0 0 lastEnergyL: 0mActiveResiduals: 1470 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.19843e-12 -2.71554e-12 -2.35186e-12 5.89893e-12 0.00202478 -0.00104583 -0.000186387 -3.9104e-05 0.000577913 4.1745e-05 0.00720032 -0.00352876 0.00104807 2.64519e-05 7.96172e-05 -0.000100671 0.00447616 -0.00780413 -0.00259348 -0.000563025 0.000459663 -0.000176962 -0.017629 -0.00177079 -0.00389067 -5.32438e-05 0.00242723 0.00113662 -0.00917394 -0.00873193 -0.00673776 -0.000784114 0.00152081 0.000664901 0.0177172 0.0191637 0.00169321 0.00268332 -0.000578493 -0.00039527 0.000124015 0.00504459 0.00536118 0.000843758 0.000593649 0.000748521 -0.00458271 -0.000448087 0.00270562 0.00014026 0.00109971 0.00108886 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1470 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 408.113 0 0 newEnergyL 0 lastEnergy: 407.937 0 0 lastEnergyL: 0mActiveResiduals: 1470 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 4.26459e-13 1.30016e-12 8.73194e-13 -2.93539e-12 0.00271029 0.00228219 0.000130254 -0.000150036 -0.000145388 -0.00108232 -0.00364694 0.00719059 0.000141415 -2.39683e-05 0.000444934 -0.000748822 0.00468457 0.00866534 0.00300663 0.000524912 -0.000566203 -0.000742371 0.0147264 -0.00407513 0.000904913 -0.000521589 -0.00138643 -0.00203742 0.0120893 -0.00221171 0.00375019 -0.000198162 -0.00106294 -0.00159543 -0.0203065 -0.00570437 -0.00525107 -0.00123855 0.00235611 -0.00031631 -0.0108693 -0.00517005 -0.00796483 -0.000660753 0.00113805 -0.00161643 0.00117641 -0.000650113 0.00103491 0.000160071 0.000168 -0.00193296 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1470 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 404.121 0 0 newEnergyL 0 lastEnergy: 408.113 0 0 lastEnergyL: 0mActiveResiduals: 1470 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 21 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -2.14086e-12 1.31279e-12 3.32189e-13 2.4798e-12 -0.00186876 0.000147635 -0.000739502 -0.000504452 0.000236966 0.000220558 0.00591026 0.00193206 -0.00230956 0.000114069 -0.000486128 5.22799e-05 -0.00243662 -0.00786515 -0.00690184 -0.0011457 0.000694894 -0.000124367 -0.0064002 0.0139357 -0.000999321 0.00101832 0.000616549 0.00104147 -0.00959368 0.00027675 -0.00177372 -0.000410729 0.000904208 0.000833036 0.0201769 0.00513884 0.00515208 0.000870639 -0.00177043 -0.000417714 -0.000751366 -0.00312127 0.00466901 -0.000639887 -0.000270817 0.000890035 -0.00850275 -0.010031 0.00141799 -0.0014732 0.00100988 0.00104883 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1470 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 399.904 0 0 newEnergyL 0 lastEnergy: 404.121 0 0 lastEnergyL: 0mActiveResiduals: 1470 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 399.904 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1470 INF|LocalMapper.cpp[optimize,345]: End Energy: 399.904 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.527533 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.527533 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 10 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 10 with idx: 4 and allID: 16 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 0<->10 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 2<->10 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->10 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 8<->10 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 10<->10 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 11<->10 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 12<->10 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 13<->10 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 10 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 16: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 9/15: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 8/14: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 7/12: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 6/11: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 5/9: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 4/8: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 3/6: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 2/3: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 1/1: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 0/0: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 0 allId: 0 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.890635 -0.0712696 0.4491 -0.00916384 0.147664 0.979446 -0.137407 0.796944 -0.430076 0.188696 0.882852 0.608253 worldPose: 0.890776 -0.0692814 0.44913 -0.00525793 0.145524 0.979755 -0.137488 0.799276 -0.430512 0.18783 0.882825 0.606374 after: 0.890776 -0.0692814 0.44913 -0.00525793 0.145524 0.979755 -0.137488 0.799276 -0.430512 0.18783 0.882825 0.606374 worldPose of new: 0.999998 0.00196406 0.000340838 0.00213334 -0.00196437 0.999998 0.000907489 0.00176439 -0.000339055 -0.000908157 1 -0.00115768 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.890635 -0.0712696 0.4491 -0.00916384 0.147664 0.979446 -0.137407 0.796944 -0.430076 0.188696 0.882852 0.608253 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 16 after changeRefFrame: 0.890635 -0.0712696 0.4491 -0.00916384 0.147664 0.979446 -0.137407 0.796944 -0.430076 0.188696 0.882852 0.608253 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 10 to normal frame with refFrame: 0 frame id kf: 16 newref id: 0 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 10 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 8312 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x28d1840 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 13 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 1 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 638 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 13 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 647 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 20 keyframes 14 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 533 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.087981 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!21 INF|Input.cpp[getImages,132]: mNbReceivedImages!22 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 13 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.087981) and 19(1311875573.050346) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.99902 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:570/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 13 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.087981) and 19(1311875573.050346) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997109 0.0428332 -0.0627633 0.288837 -0.0323536 0.986688 0.159375 -0.741853 0.0687543 -0.156884 0.985221 -0.0864379 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:482/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 13 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.087981) and 19(1311875573.050346) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.996935 0.0465835 -0.0628597 0.292185 -0.0359139 0.986252 0.161301 -0.745823 0.0695094 -0.158549 0.984901 -0.0907433 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 8,0.999969 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:808/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.15445 resInfo good: 2032, 228 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2259/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999001 0.0198139 -0.0400561 0.13736 -0.0166013 0.996736 0.0790006 -0.335003 0.0414907 -0.0782567 0.996069 -0.0636017 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875573.087981 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875573.087981 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875573.087981 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 521 size: 1664 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875573.087981 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 3 keyframeId: 2 score: -11.0726 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 12 keyframeId: 7 score: -14.009 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 14 keyframeId: 8 score: -15.4058 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 17 keyframeId: 11 score: -36.3524 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 18 keyframeId: 12 score: -35.3378 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 14 = 14 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x4a517a0 fh1 0x18ac360fh->id: 0 14 20goodE: 119 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x4a517a0 fh1 0x2112300fh->id: 2 14 20goodE: 33 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x4a517a0 fh1 0x29bcaa0fh->id: 7 14 20goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x4a517a0 fh1 0x394ca80fh->id: 8 14 20goodE: 65 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x4a517a0 fh1 0x38cfbe0fh->id: 11 14 20goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x4a517a0 fh1 0x51d48a0fh->id: 12 14 20goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x4a517a0 fh1 0x28d1840fh->id: 13 14 20goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew14 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 77 out of 93 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 93 newEdgePixels: 93 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1489 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 214 lastEnergy: 504.006 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 33 INF|LocalMapper.cpp[optimize,276]: Start Energy: 504.006 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.38671e-12 3.94423e-12 -1.08716e-13 -1.37636e-11 -0.00426355 -0.00353398 0.00231302 0.000907814 -0.000339943 0.00196419 -0.0236138 -0.0116072 0.00544386 0.000232441 0.00160588 0.00240735 -0.00388826 6.27262e-05 0.00530239 0.00112239 -0.000580733 0.00229343 -0.00405578 -0.0254392 -0.00542711 -0.00183148 -0.000180026 0.000468457 -0.0404961 -0.0143872 -0.0103702 -0.00139983 0.00358198 0.00220806 -0.0408662 -0.0226062 -0.00915193 -0.00183105 0.00400586 0.00114798 -0.0114373 -0.0241048 8.08568e-06 -0.00178341 0.000854443 0.000329289 0.0218151 -0.0925319 -0.0147294 -0.00838224 -0.00220503 -0.0025076 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1489 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 475.784 0 0 newEnergyL 0 lastEnergy: 504.006 0 0 lastEnergyL: 0mActiveResiduals: 1489 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -2.48558e-12 -3.76402e-12 -9.76237e-12 2.44958e-12 -4.26366e-08 -3.53479e-08 2.31289e-08 9.0755e-09 -3.39969e-09 1.9645e-08 0.00722457 0.00743589 0.00234385 0.000896286 -0.000588942 -0.000325083 -0.00185298 -0.0102523 -0.00352906 -0.00113276 0.000505543 -0.000622134 -0.014918 0.0154296 0.00270705 0.00158105 0.00153873 0.00116086 0.00831408 0.00977926 0.00543759 0.00133755 -0.000872454 -6.63979e-05 -0.000584401 0.025786 0.00730016 0.00276602 8.33938e-05 0.000989639 -0.0112517 0.020274 -0.00225276 0.00183682 0.00153434 0.00187183 0.0140084 -0.0844723 -0.0150339 -0.00844844 -0.000665747 -0.00300805 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1489 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 462.527 0 0 newEnergyL 0 lastEnergy: 475.784 0 0 lastEnergyL: 0mActiveResiduals: 1489 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.53314e-12 7.75486e-13 -2.78906e-12 1.96281e-12 0.00231086 -0.00596941 -0.00514675 0.000495478 -9.51081e-05 -0.000137364 -0.00293504 0.00319403 0.00145556 -0.000803837 0.000409028 0.000233714 -0.00168344 0.0213342 0.00493368 0.001398 -0.000232392 0.000555827 0.0150458 -1.77706e-05 0.00465307 -0.000881498 -0.00146189 -0.00130488 -0.0115778 0.00673402 -0.000364422 -0.000459858 0.00114158 -0.000232212 0.000662721 0.00165545 -0.0096711 -0.00103121 0.000195499 -0.000827119 -0.00590291 -0.00482877 0.00487933 -0.00118313 0.000868716 -0.00122613 0.00414509 -0.0216237 -0.00239714 -0.00343895 -0.000821302 -0.00208661 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1489 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 446.475 0 0 newEnergyL 0 lastEnergy: 462.527 0 0 lastEnergyL: 0mActiveResiduals: 1489 Input.cpp[readImages,206]: Got image from sensor!21 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.49479e-12 -6.46983e-12 -1.47915e-12 1.04168e-11 0.00369078 -0.00411705 -0.00132216 0.000943383 0.000257687 -0.000466567 0.00964765 -0.00570828 0.000377344 0.00191425 -0.000418374 -0.000273647 -0.0019169 -0.0228813 0.00055429 -1.4846e-05 0.000969679 0.000107806 -0.0204786 0.00704628 -0.00407162 0.00298455 0.00244357 0.00156579 0.0113674 0.0072181 0.00580039 0.00330685 -0.000436185 0.000851499 -0.0093808 0.00297631 0.00646531 0.00283858 0.00124505 0.0017993 -0.00827254 0.0222526 0.000227635 0.00439241 0.00158534 0.00234818 0.0189898 -0.0066735 -0.00916985 0.00171558 -0.00136046 0.000389962 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1489 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 437.522 0 0 newEnergyL 0 lastEnergy: 446.475 0 0 lastEnergyL: 0mActiveResiduals: 1489 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -3.36707e-12 6.32719e-12 -4.79616e-12 -6.21658e-12 -0.000796858 -0.00507203 -0.00664759 -0.00163078 0.000734856 -0.00155077 0.0048693 0.00215203 -0.00460291 -0.00262267 0.000215247 -0.0015075 0.0103041 0.019698 -0.00042299 -0.000123402 -0.000605481 -0.00191036 0.0172642 0.00279481 0.00669411 -0.00170577 -0.000957364 -0.00285336 -0.0121223 0.00921183 -0.00302789 -0.0012273 0.0017549 -0.00182355 0.0012428 0.00753297 -0.000233479 -0.00121603 0.000650375 -0.00250955 -0.00792715 -0.00134465 0.00512883 -0.00158433 0.00228604 -0.00237865 -0.0166059 -0.0332971 -0.00727457 -0.00585913 0.00223103 -0.00268517 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1489 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 435.178 0 0 newEnergyL 0 lastEnergy: 437.522 0 0 lastEnergyL: 0mActiveResiduals: 1489 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -2.43932e-12 -3.91205e-12 3.39215e-12 2.22546e-12 0.00213064 0.0037222 0.00152112 0.00226804 -0.000433646 0.00145614 0.00341453 -0.00332743 0.00250134 0.0026848 -0.00054863 0.00167467 -0.0135583 -0.0138344 0.0022506 0.000887754 0.00100534 0.00274512 -0.0193556 -0.00489015 -0.00346014 0.00148064 0.00131971 0.00348367 0.0139414 -0.00609052 0.00263212 0.00142729 -0.00181807 0.00251287 -0.00284447 -0.00306411 0.00372547 0.00148903 -0.000458487 0.00305137 -0.0108334 0.000699235 -0.000243415 0.0014701 0.00102426 0.00358256 0.0303025 0.025651 -0.00286884 0.00474721 -0.00343962 0.00161192 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1489 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 429.109 0 0 newEnergyL 0 lastEnergy: 435.178 0 0 lastEnergyL: 0mActiveResiduals: 1489 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 429.109 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1489 INF|LocalMapper.cpp[optimize,345]: End Energy: 429.109 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.55662 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.55662 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 11 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 11 with idx: 4 and allID: 17 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 0<->11 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 2<->11 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->11 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 8<->11 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 11<->11 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 12<->11 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 13<->11 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 14<->11 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 11 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 17: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 10/16: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 9/15: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 8/14: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 7/12: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 6/11: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 5/9: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 4/8: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 3/6: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 2/3: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 1/1: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 0/0: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 0 allId: 0 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.86357 -0.0730932 0.498903 -0.130466 0.158937 0.978457 -0.131759 0.826355 -0.478525 0.193077 0.856584 0.631532 worldPose: 0.863459 -0.0723198 0.499207 -0.125931 0.159328 0.978105 -0.133885 0.81942 -0.478595 0.195142 0.856076 0.627502 after: 0.863459 -0.0723198 0.499207 -0.125931 0.159328 0.978105 -0.133885 0.81942 -0.478595 0.195142 0.856076 0.627502 worldPose of new: 1 0.000699044 0.000463063 0.00366437 -0.000698081 0.999998 -0.00207628 -0.0057134 -0.000464514 0.00207595 0.999998 -0.00580447 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.86357 -0.0730932 0.498903 -0.130466 0.158937 0.978457 -0.131759 0.826355 -0.478525 0.193077 0.856584 0.631532 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 17 after changeRefFrame: 0.86357 -0.0730932 0.498903 -0.130466 0.158937 0.978457 -0.131759 0.826355 -0.478525 0.193077 0.856584 0.631532 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 11 to normal frame with refFrame: 0 frame id kf: 17 newref id: 0 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 11 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 8286 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x4a517a0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 14 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 22 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 1 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 642 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 14 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 651 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 21 keyframes 15 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.118642 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998537 0.0144508 -0.0521073 0.149957 -0.00855141 0.993704 0.11171 -0.441526 0.0533935 -0.111101 0.992374 -0.0686814 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 14 to 60017792 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.118642) and 20(1311875573.087981) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998537 0.0144508 -0.0521073 0.149957 -0.00855141 0.993704 0.11171 -0.441526 0.0533935 -0.111101 0.992374 -0.0686814 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999397 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:503/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 14 to 60017792 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.118642) and 20(1311875573.087981) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997393 0.0429895 -0.0579502 0.11538 -0.0337816 0.987891 0.15143 -0.667645 0.0637583 -0.149077 0.986768 -0.0526378 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!22 INF|Input.cpp[getImages,132]: mNbReceivedImages!23 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999794 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:418/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 14 to 60017792 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.118642) and 20(1311875573.087981) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.997278 0.019789 -0.0710278 0.145169 -0.0142649 0.996894 0.0774554 -0.289029 0.07234 -0.0762313 0.994463 -0.0197137 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 11,0.999741 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:642/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.13879 resInfo good: 1605, 59 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1886/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998929 0.00327116 -0.046143 0.00572029 -0.00141743 0.999193 0.0401491 -0.0917961 0.0462371 -0.0400407 0.998128 -0.0266162 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875573.118642 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875573.118642 to keyframe with id: 60017792 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875573.118642 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 513 size: 1820 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId60017792 timestamp: 1311875573.118642 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 3 keyframeId: 2 score: -14.5183 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 12 keyframeId: 7 score: -16.9045 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 14 keyframeId: 8 score: -39.9296 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 18 keyframeId: 12 score: -21.2309 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 19 keyframeId: 13 score: -39.0329 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 15 = 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x393cca0 fh1 0x18ac360fh->id: 0 15 21goodE: 133 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x393cca0 fh1 0x2112300fh->id: 2 15 21goodE: 38 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x393cca0 fh1 0x29bcaa0fh->id: 7 15 21goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x393cca0 fh1 0x394ca80fh->id: 8 15 21goodE: 65 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x393cca0 fh1 0x51d48a0fh->id: 12 15 21goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x393cca0 fh1 0x28d1840fh->id: 13 15 21goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x393cca0 fh1 0x4a517a0fh->id: 14 15 21goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew15 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 87 out of 100 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 100 newEdgePixels: 100 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1513 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 202 lastEnergy: 523.042 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 34 INF|LocalMapper.cpp[optimize,276]: Start Energy: 523.042 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 7.81155e-12 1.1023e-12 -1.07958e-12 2.92481e-12 -0.00733535 0.0114362 0.0115953 -0.0020761 -0.000463784 0.000698556 -0.00314747 0.00653832 3.13794e-08 -0.00118524 -0.00113329 0.000634751 0.00763664 0.00674434 0.0025981 -0.00121569 -0.00160786 -0.000126979 0.0102869 0.00483344 0.000948679 -0.0013527 -0.00218253 -0.000561111 -0.0126537 -0.0077692 0.0049054 -0.00278048 0.000232952 -0.000364981 0.0221848 -0.0113787 0.0050673 -0.00304853 -0.00306715 -0.000813049 -0.00506284 -0.0464819 -0.000930115 -0.00699181 -0.000949985 0.000210229 0.0398628 -0.0848793 0.00164742 -0.00991037 -0.0051953 -0.00333862 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1513 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 479.291 0 0 newEnergyL 0 lastEnergy: 523.042 0 0 lastEnergyL: 0mActiveResiduals: 1513 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 7.93819e-12 3.51251e-12 4.52548e-12 -6.1381e-12 -7.33525e-08 1.14357e-07 1.15951e-07 -2.07718e-08 -4.64146e-09 6.99087e-09 -0.000296833 -0.00164287 -3.31378e-05 6.64674e-05 8.25433e-05 -0.000681891 -0.00112919 -0.00451782 -0.00139121 -0.000197241 0.000176651 -0.000236406 0.0138318 0.000714058 -0.00157247 0.000315384 -0.00117511 -0.000313682 -0.0141973 0.00672503 -0.00268944 0.00114674 0.00165336 0.000521738 -0.0128544 0.010725 0.00197513 0.00160545 0.00126006 0.000417107 0.00849438 0.0325942 -0.00549485 0.00420638 -9.73436e-05 -0.000376311 0.0189619 0.0034614 -0.00502129 0.000899178 -0.00173 -0.000477136 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1513 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 463.639 0 0 newEnergyL 0 lastEnergy: 479.291 0 0 lastEnergyL: 0mActiveResiduals: 1513 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 6.55222e-14 -2.02355e-12 -5.78261e-12 4.07347e-12 0.000766961 -0.00769179 -0.0030912 -0.000226773 0.000643893 -0.0011668 0.000823654 0.00729163 1.93051e-05 -0.000115862 0.000682491 -0.00127985 0.00503693 0.00520773 0.00217252 0.000215599 1.62708e-05 -0.0015317 -0.00746596 2.0361e-05 0.00102264 -0.000224609 0.00142477 -0.00161641 -0.00439951 0.0140191 0.00349747 0.00152622 0.000869825 -0.00156564 0.0199658 0.00903287 0.00263703 0.00112772 -0.00132864 -0.00198108 -0.0223767 0.00124575 -0.00275203 -0.000539078 0.00239228 -0.000249041 0.00826741 -0.0288685 -0.0032128 -0.00347596 -0.000629532 -0.00171751 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1513 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 457.015 0 0 newEnergyL 0 lastEnergy: 463.639 0 0 lastEnergyL: 0mActiveResiduals: 1513 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -4.02123e-12 1.25788e-13 -1.84159e-12 -5.31409e-12 0.000309726 0.00409996 0.000746818 0.000368177 -0.000301944 0.00090286 0.00301245 -0.00518042 0.000236099 0.000549446 -0.000631918 0.000961004 0.000821563 -0.00566056 -0.00287357 -9.90838e-05 -0.000313775 0.00158591 -0.00234961 -0.0048976 0.00259229 8.92395e-06 -5.81679e-05 0.00193111 -0.00556529 -0.00663115 -0.000697454 -0.000489563 5.72753e-05 0.00217882 -0.00952343 0.0053371 -0.000442646 0.000587722 0.00052825 0.0020095 -0.00683022 -0.00387984 -0.00244396 0.000600952 0.000769125 0.000324634 0.0209208 0.0169737 0.00270218 0.00271764 -0.00189312 0.000624528 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1513 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 448.58 0 0 newEnergyL 0 lastEnergy: 457.015 0 0 lastEnergyL: 0mActiveResiduals: 1513 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.75454e-13 -8.19347e-13 -5.19272e-12 3.81136e-12 -0.00111466 -0.00816194 -0.00555198 0.000715275 9.89475e-05 -8.96498e-05 -0.0041788 0.00961417 0.00275571 0.000711136 0.000571089 -0.000111641 -0.00492986 0.00588846 0.0047109 0.000609292 0.000349964 -0.000636445 0.000230397 0.0111243 0.00322772 0.0011607 -0.000129826 -0.00078698 -0.00718289 0.0122019 0.00761917 0.00132825 0.000362344 -0.000666234 0.0103694 -0.00674038 0.00417987 -0.000571809 -0.00102576 -0.000705333 0.0108731 0.00251555 -0.00633992 -0.00120099 -0.00183956 0.000114036 -0.00317281 -0.0272195 -0.00492998 -0.0046631 -0.000521545 0.000157897 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1513 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 450.537 0 0 newEnergyL 0 lastEnergy: 448.58 0 0 lastEnergyL: 0mActiveResiduals: 1513 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -2.55457e-13 -4.71104e-12 5.70154e-14 7.47088e-12 -0.00275888 0.00393718 0.00267775 0.000870992 -0.000638042 0.00220841 -0.00210932 -0.0119581 -0.000892937 0.000225444 -0.000715148 0.00244208 -0.000520496 -0.00535923 -0.00490701 -4.30648e-05 -0.00107623 0.00282526 -0.0010063 -0.00335911 -0.000237379 -6.553e-05 -0.000915782 0.00334769 -0.00117244 -0.0155503 -0.00155228 -0.00190709 -0.00140578 0.00346534 -0.0125853 0.00874261 -0.000368277 0.000311245 -7.117e-05 0.00338269 0.000879251 0.0141388 0.00291145 0.00190986 -0.00115005 0.00276767 0.0173782 0.00901113 0.00707278 0.00144433 -0.00252637 0.0020251 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1513 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 436.449 0 0 newEnergyL 0 lastEnergy: 450.537 0 0 lastEnergyL: 0mActiveResiduals: 1513 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 436.449 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1513 INF|LocalMapper.cpp[optimize,345]: End Energy: 436.449 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.554009 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.554009 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! Input.cpp[readImages,206]: Got image from sensor!22 INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 8 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 8 with idx: 3 and allID: 14 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 0<->8 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 2<->8 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->8 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 8<->8 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 12<->8 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 13<->8 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 14<->8 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 15<->8 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 8 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 14: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 7/12: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 6/11: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 5/9: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 4/8: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 3/6: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 2/3: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 1/1: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 0/0: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 0 allId: 0 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.933526 -0.0792005 0.349653 -0.0394083 0.136107 0.980569 -0.141276 0.823359 -0.33167 0.179475 0.926166 0.631859 worldPose: 0.933336 -0.0810544 0.349733 -0.0424537 0.138411 0.980109 -0.142228 0.818284 -0.331249 0.181153 0.92599 0.63066 after: 0.933336 -0.0810544 0.349733 -0.0424537 0.138411 0.980109 -0.142228 0.818284 -0.331249 0.181153 0.92599 0.63066 worldPose of new: 0.999998 -0.00185499 -0.000195543 -0.00139455 0.00185465 0.999997 -0.00172785 -0.00390734 0.000198747 0.00172749 0.999998 -0.00261282 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.933526 -0.0792005 0.349653 -0.0394083 0.136107 0.980569 -0.141276 0.823359 -0.33167 0.179475 0.926166 0.631859 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 14 after changeRefFrame: 0.933526 -0.0792005 0.349653 -0.0394083 0.136107 0.980569 -0.141276 0.823359 -0.33167 0.179475 0.926166 0.631859 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 8 to normal frame with refFrame: 0 frame id kf: 14 newref id: 0 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 8 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 8252 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x393cca0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 15 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 1 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 642 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 15 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 650 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 22 keyframes 16 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 550 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 23 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.148326 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!23 INF|Input.cpp[getImages,132]: mNbReceivedImages!24 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999397 -0.00259314 -0.0346335 -0.0522975 0.0036014 0.999571 0.0290817 -0.035905 0.0345432 -0.0291889 0.998977 -0.0340834 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 15 to 4797349169641553920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.148326) and 21(1311875573.118642) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999397 -0.00259314 -0.0346335 -0.0522975 0.0036014 0.999571 0.0290817 -0.035905 0.0345432 -0.0291889 0.998977 -0.0340834 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999862 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:797/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 15 to 4797349169641553920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.148326) and 21(1311875573.118642) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997961 0.0127661 -0.0625293 0.104304 -0.0102563 0.999135 0.040296 -0.110164 0.0629897 -0.0395725 0.997229 0.028742 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999733 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:559/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 15 to 4797349169641553920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.148326) and 21(1311875573.118642) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999499 -0.00579879 -0.0311098 -0.0459056 0.00613854 0.999922 0.0108369 0.0543172 0.0310446 -0.0110224 0.999457 -0.00367354 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999545 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:385/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.969471 resInfo good: 1820, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2077/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999296 -0.00373754 -0.0373228 -0.0109033 0.0043001 0.999878 0.015004 0.0392116 0.0372621 -0.0151539 0.999191 -0.00201416 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!22 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!23 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 24 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.181943 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!24 INF|Input.cpp[getImages,132]: mNbReceivedImages!25 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998417 -0.0053934 -0.0559878 -0.0163813 0.00665894 0.999726 0.0224421 0.0587876 0.0558514 -0.0227793 0.998179 -0.00339575 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 15 to 4797349169641553920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.181943) and 21(1311875573.118642) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998417 -0.0053934 -0.0559878 -0.0163813 0.00665894 0.999726 0.0224421 0.0587876 0.0558514 -0.0227793 0.998179 -0.00339575 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999729 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:602/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 15 to 4797349169641553920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.181943) and 21(1311875573.118642) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998439 0.00281118 -0.0557819 -0.113019 -0.000437977 0.999096 0.0425111 -0.0421709 0.055851 -0.0424203 0.997538 0.0349664 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999739 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:517/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 15 to 4797349169641553920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.181943) and 21(1311875573.118642) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998919 -0.0131357 -0.0445917 -0.162547 0.0134673 0.999884 0.00714323 0.151246 0.0444927 -0.00773603 0.99898 0.0259236 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.99954 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:221/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.51786 resInfo good: 1688, 132 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1672/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998871 -0.0125507 -0.0458119 -0.150818 0.0129137 0.999887 0.00763513 0.152321 0.0457109 -0.00821811 0.998921 0.0223659 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875573.181943 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875573.181943 to keyframe with id: 4797349169641553920 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875573.181943 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 575 size: 2138 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId4797349169641553920 timestamp: 1311875573.181943 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 3 keyframeId: 2 score: -12.5432 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 12 keyframeId: 7 score: -14.8768 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 18 keyframeId: 12 score: -16.0073 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 19 keyframeId: 13 score: -15.7808 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 20 keyframeId: 14 score: -7.82687 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 16 = 16 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20f1be0 fh1 0x18ac360fh->id: 0 16 23goodE: 132 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20f1be0 fh1 0x2112300fh->id: 2 16 23goodE: 26 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20f1be0 fh1 0x29bcaa0fh->id: 7 16 23goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20f1be0 fh1 0x51d48a0fh->id: 12 16 23goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20f1be0 fh1 0x28d1840fh->id: 13 16 23goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20f1be0 fh1 0x4a517a0fh->id: 14 16 23goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20f1be0 fh1 0x393cca0fh->id: 15 16 23goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew16 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 113 out of 136 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 136 newEdgePixels: 136 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1345 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 183 lastEnergy: 483.956 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 32 INF|LocalMapper.cpp[optimize,276]: Start Energy: 483.956 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 9.83626e-12 6.06537e-12 -1.78855e-12 -1.37501e-11 0.00279683 0.00781652 0.00521855 -0.00172765 0.000197143 -0.0018548 0.00108219 -0.0121211 -0.00351245 -0.0028879 7.10306e-05 -0.00158288 0.0105872 0.00556971 0.0048805 -0.000348684 -0.000540651 -0.00249842 0.0245291 0.0291312 0.011704 0.00305348 -0.00198723 -0.00389968 0.0173395 0.0148197 0.00922096 0.00153661 -0.00152094 -0.00337231 0.0285378 -0.000358543 0.00793644 -0.000374465 -0.00269987 -0.00287701 0.00773716 -0.0341926 0.0116144 -0.00356719 -0.00085422 -0.00307681 0.0117121 0.0159293 -0.00595535 0.00151976 -0.000434841 -0.00261324 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1345 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 452.385 0 0 newEnergyL 0 lastEnergy: 483.956 0 0 lastEnergyL: 0mActiveResiduals: 1345 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 9.40762e-12 -9.69621e-14 -2.15405e-12 -1.87306e-12 2.7969e-08 7.8166e-08 5.2185e-08 -1.72799e-08 1.97093e-09 -1.85489e-08 0.00393446 0.000188542 -0.00228415 9.57011e-05 -0.0002946 -0.000354955 -0.00272168 -0.000628149 -0.00139236 -2.45527e-05 0.000337185 0.000358714 0.00953926 -0.00415895 -0.00490031 -0.000278244 -0.000964309 -0.000763718 0.00503532 -0.00774928 0.00495652 -0.000264144 -0.00044414 -0.000541219 0.0175178 0.00610624 0.00196152 0.00138187 -0.00127573 -0.00132247 0.0140476 0.0103102 -0.000709926 0.001831 -0.000842586 -0.0013782 -0.0166447 0.0161989 -0.0158177 0.00149252 0.00231807 0.000118686 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1345 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 432.877 0 0 newEnergyL 0 lastEnergy: 452.385 0 0 lastEnergyL: 0mActiveResiduals: 1345 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -2.34726e-12 -7.45386e-13 1.54489e-12 2.94682e-12 -0.00370568 -0.00306369 -0.00210131 0.000165533 -0.000166372 0.00141329 0.000994845 -0.00115932 0.000404925 -0.000368243 -0.000554108 0.00131268 -0.0057191 0.00534598 0.00249459 0.000113332 -9.58448e-05 0.00144726 0.00308812 0.00866131 0.00607087 0.000231162 -0.00076279 0.000595629 0.00187689 0.00702622 -0.00220369 -0.000261821 -0.000631144 0.00042558 -0.00156302 -0.00710947 -0.00199387 -0.00229858 -0.00105125 0.00152781 0.00191917 -0.00628367 0.00215985 -0.00235355 -0.00125004 0.00138161 0.00273322 -0.00362564 -0.000348906 -0.00131181 -0.000707186 -0.000268688 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1345 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 425.455 0 0 newEnergyL 0 lastEnergy: 432.877 0 0 lastEnergyL: 0mActiveResiduals: 1345 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 2.56413e-12 -4.29538e-13 3.36347e-13 -9.87283e-13 0.00114201 0.00245337 0.0035057 0.00102906 -0.000230242 0.000239115 -0.00881121 -0.00725346 0.00241288 0.000916259 0.000774108 0.000505072 -0.000781483 -0.00608892 -0.00039636 0.000720839 -0.000101109 0.000838219 0.00991555 -0.0141138 -0.00513238 -0.000510832 -0.00146602 0.00102545 0.00178329 -0.010293 0.00248794 0.000153299 -0.000627004 0.00131717 0.00215264 0.0189202 0.00277669 0.00397885 -9.37954e-05 0.000722148 0.00893254 0.00786965 2.67884e-05 0.00276731 -0.000606927 0.000452299 -0.0122509 0.00707106 -0.00257422 0.00181877 0.000807527 0.000977483 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1345 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 413.377 0 0 newEnergyL 0 lastEnergy: 425.455 0 0 lastEnergyL: 0mActiveResiduals: 1345 Input.cpp[readImages,206]: Got image from sensor!24 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -4.84671e-13 2.29386e-13 -8.28269e-12 3.22369e-12 0.00157117 -0.0054978 -0.00341276 0.000741645 4.91112e-05 0.000424059 0.00613837 -0.00507175 -0.000710514 0.000290305 -0.000453116 0.000255629 -0.00221385 -0.000671441 0.00510779 0.000886375 0.000325401 0.000555689 -0.000746447 0.012953 0.00604966 0.00242807 0.000456309 -0.000359086 -0.00390335 0.0101857 0.000271232 0.0018278 0.000703661 -0.000358034 0.0146056 -0.00995179 -0.00794134 -0.00120848 -0.00154723 0.000357519 0.00128174 -0.0079182 0.00100276 -0.000952579 -0.000417459 0.000618856 -0.0138278 0.00609814 -0.00510594 0.00143794 0.00199416 -0.000390179 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1345 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 410.459 0 0 newEnergyL 0 lastEnergy: 413.377 0 0 lastEnergyL: 0mActiveResiduals: 1345 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.53151e-12 -2.1419e-12 7.10252e-12 3.40301e-12 0.000750029 0.000220633 0.00349076 0.000330823 0.000677916 -0.0011726 0.000708828 0.00104188 0.0030376 0.000719074 0.000683224 -0.00135809 0.00403008 -0.00546984 -0.00160588 0.000163904 0.000353912 -0.00111342 0.00721754 -0.0107263 -0.00656536 -0.000393334 -0.000388721 7.73255e-05 0.00848631 -0.0107619 -0.00188585 -5.70616e-05 -0.000198144 0.000223465 -0.00493173 0.00907082 -0.00225723 0.00275756 0.00163101 -0.00106001 0.00489451 0.00171023 -0.000571532 0.00224264 0.000710983 -0.000881924 -0.017712 0.0147682 0.00109098 0.00280993 0.00227897 0.000754751 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1345 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 404.075 0 0 newEnergyL 0 lastEnergy: 410.459 0 0 lastEnergyL: 0mActiveResiduals: 1345 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 404.075 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1345 INF|LocalMapper.cpp[optimize,345]: End Energy: 404.075 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.556236 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.556236 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 12 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 12 with idx: 3 and allID: 18 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 0<->12 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 2<->12 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->12 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 12<->12 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 13<->12 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 14<->12 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 15<->12 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->12 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 12 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 18: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 11/17: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 10/16: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 9/15: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 8/14: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 7/12: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 6/11: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 5/9: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 4/8: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 3/6: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 2/3: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 1/1: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 0/0: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 0 allId: 0 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.834857 -0.0836182 0.54408 -0.118652 0.17628 0.976956 -0.120345 0.840888 -0.521479 0.196381 0.830358 0.63788 worldPose: 0.834524 -0.0844358 0.544463 -0.119321 0.178217 0.976432 -0.121735 0.836387 -0.521353 0.198623 0.829904 0.640562 after: 0.834524 -0.0844358 0.544463 -0.119321 0.178217 0.976432 -0.121735 0.836387 -0.521353 0.198623 0.829904 0.640562 worldPose of new: 1 -0.000903488 0.000331438 -0.000119781 0.000904237 0.999997 -0.00226691 -0.00294464 -0.000329388 0.00226721 0.999997 0.000737871 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.834857 -0.0836182 0.54408 -0.118652 0.17628 0.976956 -0.120345 0.840888 -0.521479 0.196381 0.830358 0.63788 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 18 after changeRefFrame: 0.834857 -0.0836182 0.54408 -0.118652 0.17628 0.976956 -0.120345 0.840888 -0.521479 0.196381 0.830358 0.63788 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 12 to normal frame with refFrame: 0 frame id kf: 18 newref id: 0 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 12 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 8304 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x20f1be0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 16 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 1 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 0 with distance 0.158Found rest min at: 1 with distance 4.5566e-41 overall min: 0.158 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 0 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 651 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 16 into DB 0.158 0 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 0 and real id(0) current kf: 16(23) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.731734 -0.0254641 0.681114 0.019902 0.19706 0.964529 -0.175646 0.959642 -0.652482 0.262747 0.710797 0.634548 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 0 currFrame: 16 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00134414 eye: 0.000974582 edge: 16 to 0 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 16 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 23(1311875573.181943) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 25 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 30,0.999376 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1878/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 16 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 23(1311875573.181943) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.996355 0.0038835 -0.0852155 -0.101294 -0.00268279 0.999896 0.0142003 -0.346511 0.0852617 -0.0139199 0.996261 0.692452 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999921 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:321/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 16 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 23(1311875573.181943) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99638 -0.0025534 -0.0849725 -0.111008 0.00206815 0.999981 -0.0057982 -0.241424 0.0849857 0.00560147 0.996366 0.719765 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999202 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:279/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.996274 -0.000885854 -0.0862408 -0.104622 0.000611738 0.999995 -0.00320486 -0.252448 0.0862432 0.00314016 0.996269 0.725343 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 0 end 3 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 7949 o[1]: 1345 o[2]: 156 o[3]: 11 histWeights: 1 1 1.25 1.5overlap: 1556.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 2138 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 0 and 16 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 16 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 16 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 6085 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 24 keyframes 17 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!25 INF|Input.cpp[getImages,132]: mNbReceivedImages!26 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.214836 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999953 -0.00377657 -0.00895888 -0.0487548 0.00377952 0.999993 0.000312442 0.0356437 0.00895764 -0.000346287 0.99996 0.0227399 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 16 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.214836) and 23(1311875573.181943) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999953 -0.00377657 -0.00895888 -0.0487548 0.00377952 0.999993 0.000312442 0.0356437 0.00895764 -0.000346287 0.99996 0.0227399 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999306 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:517/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 16 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.214836) and 23(1311875573.181943) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999781 -0.000645554 -0.0208984 -0.0629923 0.00123198 0.999605 0.0280601 -0.117481 0.0208721 -0.0280797 0.999388 -0.0851805 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.99987 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:409/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 16 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.214836) and 23(1311875573.181943) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999594 0.00289836 -0.0283402 -0.0264958 -0.00216537 0.999663 0.0258605 -0.102593 0.0284056 -0.0257887 0.999264 -0.0532415 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 10,0.999652 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:765/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.986084 resInfo good: 2025, 113 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2080/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999491 0.00492499 -0.0315161 -0.00665624 -0.00431041 0.9998 0.0195388 -0.0673853 0.031606 -0.0193931 0.999312 -0.034297 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!24 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!25 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 26 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!26 INF|Input.cpp[getImages,132]: mNbReceivedImages!27 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.250089 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.997965 0.0104577 -0.0628982 -0.0125601 -0.00800021 0.9992 0.0391962 -0.135398 0.0632577 -0.0386132 0.99725 -0.067474 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 16 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.250089) and 23(1311875573.181943) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.997965 0.0104577 -0.0628982 -0.0125601 -0.00800021 0.9992 0.0391962 -0.135398 0.0632577 -0.0386132 0.99725 -0.067474 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999869 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:342/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 16 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.250089) and 23(1311875573.181943) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997007 0.00506559 -0.0771408 0.00712481 -0.00193009 0.999171 0.0406669 -0.127201 0.0772829 -0.0403963 0.99619 -0.0579042 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999847 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:438/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 16 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.250089) and 23(1311875573.181943) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.997622 0.00560842 -0.0687011 -0.0128806 -0.00261778 0.999048 0.0435442 -0.132127 0.06888 -0.0432608 0.996687 -0.0772052 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.99999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:609/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.33184 resInfo good: 1680, 458 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1753/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.997197 0.0107007 -0.0740464 0.0166602 -0.00816115 0.999371 0.0345148 -0.0878422 0.0743692 -0.0338137 0.996657 -0.0483039 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875573.250089 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875573.250089 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875573.250089 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 479 size: 1004 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875573.250089 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 3 keyframeId: 2 score: -9.90241 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 12 keyframeId: 7 score: -10.6682 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 19 keyframeId: 13 score: -10.6011 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 20 keyframeId: 14 score: -13.9241 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 21 keyframeId: 15 score: -13.3534 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 17 = 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20f6400 fh1 0x18ac360fh->id: 0 17 25goodE: 139 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20f6400 fh1 0x2112300fh->id: 2 17 25goodE: 28 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20f6400 fh1 0x29bcaa0fh->id: 7 17 25goodE: 9 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20f6400 fh1 0x28d1840fh->id: 13 17 25goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20f6400 fh1 0x4a517a0fh->id: 14 17 25goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20f6400 fh1 0x393cca0fh->id: 15 17 25goodE: 10 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20f6400 fh1 0x20f1be0fh->id: 16 17 25goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew17 INF|LocalMapper.cpp[optimize,276]: Start Energy: 521.924 0 0 lastEnergyL: 0 Input.cpp[readImages,206]: Got image from sensor!26 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.30415e-12 1.07782e-12 5.27286e-12 1.55232e-13 0.000242465 0.00588743 -0.00148236 -0.00226704 -0.00033041 -0.000903855 0.00451056 -0.00212686 -0.0060318 -0.003182 -0.00101952 -0.000868463 0.00317495 0.00783224 -0.00739501 -0.00200648 -0.000295397 -0.00172572 0.0123987 0.0210929 0.0144233 0.000721709 -0.00167464 -0.00212845 0.0234002 -0.0078603 -0.00471691 -0.00312134 -0.00265148 -0.00202438 0.00844602 0.000745718 0.00519292 -0.00183287 -0.000866465 -0.00229592 -0.000628099 0.0107115 0.00847102 -5.0904e-05 -0.000130632 -0.0021457 -0.00601465 0.0361776 -0.00918408 0.00175029 -8.08938e-05 0.0021976 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1352 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 478.986 0 0 newEnergyL 0 lastEnergy: 521.924 0 0 lastEnergyL: 0mActiveResiduals: 1352 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.02761e-12 3.25392e-13 -5.32947e-12 -3.784e-12 2.42551e-09 5.8874e-08 -1.48245e-08 -2.26776e-08 -3.30623e-09 -9.03713e-09 0.00197216 0.00178197 -0.000277835 0.000145801 -0.000221487 -0.000112172 0.00156396 -0.00431856 -0.00111869 -0.000657285 -0.000196894 0.000142462 0.00829407 -0.0135728 0.00200524 -0.00109888 -0.000617254 -0.00035399 0.0165543 0.0381587 0.00493075 0.00429096 -0.00179354 0.000242867 0.00993863 0.0194705 0.00680198 0.00263845 -0.000954312 0.00021126 -0.0228084 0.0137996 0.000216786 0.0015085 0.0022321 0.000851954 -0.0285871 0.0285687 -0.0191482 0.00281292 0.00382755 0.0025102 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1352 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 450.153 0 0 newEnergyL 0 lastEnergy: 478.986 0 0 lastEnergyL: 0mActiveResiduals: 1352 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -2.05038e-12 -1.91251e-13 1.60966e-13 -1.66655e-12 0.0029724 -0.000343662 -0.0036065 -0.000829396 0.000403684 -0.00116204 0.0130472 0.00022175 -0.00357422 -0.000763009 -0.00055258 -0.00137079 0.00574361 -0.000602039 -0.00396001 -0.000502713 0.000387039 -0.00161511 -0.0160672 0.00535609 0.00358564 0.000672268 0.00231944 -0.000727494 0.00734403 -0.00573233 -0.00244027 -0.000718121 -6.10193e-05 -0.00116861 0.00351741 0.00305199 0.00366727 0.000444398 0.000587198 -0.00131171 -0.0148222 0.012729 0.00268595 0.00139224 0.00238874 -0.000567727 -0.00231996 -0.013341 -0.0106165 -0.00127985 0.00131183 -0.00135292 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1352 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 433.63 0 0 newEnergyL 0 lastEnergy: 450.153 0 0 lastEnergyL: 0mActiveResiduals: 1352 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.44392e-12 -2.99711e-12 -1.7784e-12 3.72296e-12 0.00186963 -0.00112003 0.00587499 0.000998568 0.000350253 -0.000986615 -0.00184151 -0.0164472 0.00287678 0.000954528 0.000506017 -0.000963285 0.0172057 -0.0114178 0.000412524 0.00161427 -0.00130459 -0.000663049 0.000298053 -0.0192462 -0.0067016 0.00113743 0.00060308 -5.58469e-06 0.00531663 0.00492208 0.0014202 0.00419488 0.00031214 -0.000124541 0.0128619 -0.00997551 -0.0043617 0.00256205 -0.000331739 -0.000461085 -0.0261436 0.0262409 -0.00156305 0.00589298 0.00315502 0.00107778 -0.000165615 0.0254168 -0.00842423 0.00590424 0.00056078 0.00258598 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1352 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 421.593 0 0 newEnergyL 0 lastEnergy: 433.63 0 0 lastEnergyL: 0mActiveResiduals: 1352 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 27 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.91121e-12 3.10123e-12 3.91601e-12 1.62227e-12 0.0042191 -0.00187829 -0.00183 0.000310605 -5.99206e-05 -0.00139103 -0.000402381 0.00599544 -0.000316605 0.000264507 0.000434288 -0.00132829 -0.00284638 -0.000423816 0.000781656 3.74134e-05 0.000775834 -0.00176404 -0.00035097 0.00185686 0.00338418 0.000838163 0.000387403 -0.0017767 0.00578074 -0.00569793 -0.0033 -0.000264473 -0.000339602 -0.000923292 -0.0010616 -0.00624523 0.00164235 -0.000276714 0.000456642 -0.00139877 -0.00671386 0.005891 -0.00165134 0.00108047 0.00128805 -0.00150366 0.00128913 0.000580688 -0.00133106 0.000459066 0.000111757 -0.000872905 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1352 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 414.717 0 0 newEnergyL 0 lastEnergy: 421.593 0 0 lastEnergyL: 0mActiveResiduals: 1352 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.63093e-12 4.82943e-13 4.00834e-12 -6.2154e-12 0.00438866 0.00441189 0.00627464 -0.000826668 0.000617661 -0.00313458 0.00526989 -0.0179471 -0.00185352 -0.000936192 0.000286665 -0.00308178 0.0118309 -0.0134572 -0.00208319 7.7966e-05 0.00020335 -0.00237414 0.0152956 -0.0227588 -0.00548168 0.00019881 -9.45462e-05 -0.00255301 -0.0111083 0.000466003 0.00160875 0.00365553 0.00279934 -0.00214937 0.0121752 0.00575123 -0.000944928 0.00431125 0.000254094 -0.00179554 -0.00946842 0.0264086 0.000648886 0.00612887 0.00213794 -0.000799012 -0.0209952 0.0161827 -0.0153145 0.00546676 0.00388233 0.000270134 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1352 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 414.855 0 0 newEnergyL 0 lastEnergy: 414.717 0 0 lastEnergyL: 0mActiveResiduals: 1352 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 414.855 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1352 INF|LocalMapper.cpp[optimize,345]: End Energy: 414.855 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.577018 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.577018 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 14 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 14 with idx: 4 and allID: 20 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 0<->14 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 2<->14 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->14 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 13<->14 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 14<->14 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 15<->14 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->14 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 17<->14 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 14 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 20: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 13/19: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 12/18: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 11/17: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 10/16: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 9/15: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 8/14: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 7/12: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 6/11: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 5/9: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 4/8: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 3/6: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 2/3: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 1/1: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 0/0: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 0 allId: 0 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.790915 -0.0603915 0.608938 -0.0899487 0.197227 0.967172 -0.160247 1.03265 -0.579271 0.246841 0.776862 0.746615 worldPose: 0.791453 -0.0536112 0.608875 -0.0753457 0.191745 0.967638 -0.164042 1.034 -0.580376 0.24658 0.77612 0.749722 after: 0.791453 -0.0536112 0.608875 -0.0753457 0.191745 0.967638 -0.164042 1.034 -0.580376 0.24658 0.77612 0.749722 worldPose of new: 0.999977 0.00667398 0.00131283 0.00672883 -0.00667443 0.999978 0.000342511 0.000513088 -0.00131051 -0.000351266 0.999999 0.00335207 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.790915 -0.0603915 0.608938 -0.0899487 0.197227 0.967172 -0.160247 1.03265 -0.579271 0.246841 0.776862 0.746615 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 20 after changeRefFrame: 0.790915 -0.0603915 0.608938 -0.0899487 0.197227 0.967172 -0.160247 1.03265 -0.579271 0.246841 0.776862 0.746615 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 14 to normal frame with refFrame: 0 frame id kf: 20 newref id: 0 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 14 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 8780 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x20f6400 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 17 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 2 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 0 with distance 0.138Found rest min at: 1 with distance 0.106 overall min: 0.106 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 0 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 635 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 17 into DB 0.138 0 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 0 and real id(0) current kf: 17(25) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.670806 -0.00788429 0.741591 -0.015287 0.233772 0.951215 -0.201346 1.06993 -0.703825 0.308427 0.639924 0.71683 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 0 currFrame: 17 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00607653 eye: 0.00189977 edge: 17 to 0 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 17 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 25(1311875573.250089) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999867 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:257/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 17 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 25(1311875573.250089) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99602 0.0431158 -0.078009 0.397953 -0.0484506 0.996519 -0.067839 0.162904 0.0748125 0.0713486 0.994642 0.191091 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999784 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:380/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 17 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 25(1311875573.250089) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.994987 0.0644869 -0.0764315 0.419376 -0.0693788 0.995588 -0.0631756 0.121277 0.0720203 0.0681617 0.995071 0.202346 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999356 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:171/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.994787 0.0680727 -0.0759277 0.422069 -0.0726385 0.995607 -0.0590855 0.104926 0.071572 0.0642927 0.995361 0.197228 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 0 end 3 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!27 INF|Input.cpp[getImages,132]: mNbReceivedImages!28 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 6167 o[1]: 1151 o[2]: 188 o[3]: 8 histWeights: 1 1 1.25 1.5overlap: 1398 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 1004 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 0 and 17 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 17 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 17 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 4110 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 26 keyframes 18 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 533 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.284235 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999766 0.00620105 -0.0207381 0.00570577 -0.0060584 0.999958 0.00693439 -0.00946727 0.0207802 -0.00680712 0.999761 0.00920333 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 17 to 59921120 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.284235) and 25(1311875573.250089) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999766 0.00620105 -0.0207381 0.00570577 -0.0060584 0.999958 0.00693439 -0.00946727 0.0207802 -0.00680712 0.999761 0.00920333 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 7): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:575/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 17 to 59921120 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.284235) and 25(1311875573.250089) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999238 0.012757 -0.0368759 -0.0169738 -0.0128532 0.999915 -0.00237338 0.00919063 0.0368424 0.00284554 0.999317 -0.00230173 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 9): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:655/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 17 to 59921120 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.284235) and 25(1311875573.250089) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998978 0.0123104 -0.043489 0.0224448 -0.0123512 0.999923 -0.000669486 0.00879646 0.0434775 0.00120594 0.999054 0.0158618 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999048 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:210/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.812539 resInfo good: 1004, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1648/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99922 0.0123512 -0.0375031 -0.00193052 -0.0123489 0.999924 0.000293798 0.00721693 0.0375038 0.000169552 0.999296 0.00942144 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!26 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 484 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!27 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 28 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!28 INF|Input.cpp[getImages,132]: mNbReceivedImages!29 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.319235 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998246 0.0185217 -0.056236 -0.00299449 -0.0185164 0.999828 0.000614339 0.010835 0.0562378 0.00042803 0.998417 0.0141036 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 17 to 59921120 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.319235) and 25(1311875573.250089) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998246 0.0185217 -0.056236 -0.00299449 -0.0185164 0.999828 0.000614339 0.010835 0.0562378 0.00042803 0.998417 0.0141036 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999342 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:199/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 17 to 59921120 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.319235) and 25(1311875573.250089) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997821 0.0242418 -0.0613605 -0.0210738 -0.0245659 0.999688 -0.00453355 0.0356912 0.0612314 0.00603105 0.998105 -0.0111658 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999196 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:378/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 17 to 59921120 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.319235) and 25(1311875573.250089) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.997725 0.0210988 -0.0640317 -0.00244378 -0.0209842 0.999777 0.00246182 0.0115048 0.0640694 -0.00111256 0.997945 -0.0055677 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999332 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:200/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.07056 resInfo good: 955, 49 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 983/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.997911 0.0217976 -0.0608173 -0.0121344 -0.0216429 0.999761 0.00320062 0.0103223 0.0608725 -0.00187767 0.998144 -0.00995383 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875573.319235 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875573.319235 to keyframe with id: 59921120 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875573.319235 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 531 size: 1279 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId59921120 timestamp: 1311875573.319235 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 3 keyframeId: 2 score: -12.5156 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 12 keyframeId: 7 score: -12.3118 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 19 keyframeId: 13 score: -13.2901 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 21 keyframeId: 15 score: -9.09078 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -10.4607 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 18 = 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28e9000 fh1 0x18ac360fh->id: 0 18 27goodE: 104 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28e9000 fh1 0x2112300fh->id: 2 18 27goodE: 30 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28e9000 fh1 0x29bcaa0fh->id: 7 18 27goodE: 10 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28e9000 fh1 0x28d1840fh->id: 13 18 27goodE: 51 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28e9000 fh1 0x393cca0fh->id: 15 18 27goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28e9000 fh1 0x20f1be0fh->id: 16 18 27goodE: 9 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28e9000 fh1 0x20f6400fh->id: 17 18 27goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew18 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 63 out of 78 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 78 newEdgePixels: 78 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1140 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 164 lastEnergy: 383.483 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 26 INF|LocalMapper.cpp[optimize,276]: Start Energy: 383.483 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.22884e-11 -8.97649e-13 2.79946e-12 6.14279e-12 -0.0134497 -0.0010699 -0.00671307 0.000346888 -0.00131166 0.00667419 -0.0261511 0.00258942 0.00266904 -0.00183973 0.000553245 0.00626547 -0.0258823 0.0213849 -0.00729455 -0.00109974 1.98828e-05 0.00503198 -0.0345608 -0.00102196 -0.0227461 -0.00602373 0.00181655 0.00558094 -0.0394526 -0.0180133 -0.0411894 -0.00894841 0.00297756 0.00475274 -0.0409878 -0.00915783 -0.0355866 -0.0081747 0.00340556 0.00496005 -0.00358589 -0.00890214 -0.0337585 -0.00830632 -0.000208372 0.00411064 -0.013222 -0.00197584 -0.0376712 -0.00717569 0.00130733 0.00181541 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1140 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 361.298 0 0 newEnergyL 0 lastEnergy: 383.483 0 0 lastEnergyL: 0mActiveResiduals: 1140 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -3.39594e-12 -9.89944e-13 -1.50498e-12 6.70041e-13 -1.345e-07 -1.07019e-08 -6.71309e-08 3.45971e-09 -1.31192e-08 6.67522e-08 0.00513178 0.00387273 0.00243264 0.000348601 -0.000593853 0.000224044 0.00473767 0.00633584 0.00106006 0.000536219 -0.000668281 0.000705012 -0.0151317 -0.00842682 0.000482872 -0.00140744 0.0012321 0.000934234 -0.0118759 -0.00428558 0.0069546 -0.000537302 0.000949191 0.000621315 -0.00287046 0.0426606 0.00432261 0.00431642 -2.47545e-05 0.00160559 -0.0129622 0.0138519 0.00820311 0.00111585 0.000519388 0.00181591 -0.0178407 0.0148345 0.0131342 0.00112211 0.000676134 0.0017488 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1140 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 344.159 0 0 newEnergyL 0 lastEnergy: 361.298 0 0 lastEnergyL: 0mActiveResiduals: 1140 Input.cpp[readImages,206]: Got image from sensor!28 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 3.69555e-12 6.32909e-14 -7.78632e-12 -1.71185e-14 -0.00137952 -0.00323789 -0.000350076 0.00226826 -0.000420321 0.00117008 -0.00527368 0.0043024 0.00842182 0.00233094 1.64055e-05 0.00151871 -0.0118111 -7.49669e-05 0.00602513 0.00156107 0.000271724 0.00217023 -0.00242481 0.00558098 0.00152744 0.00131776 -0.00103085 0.00226838 -0.000124072 0.00613002 0.00550338 0.00100887 -0.00144255 0.00277255 -0.00646858 -0.00240094 0.000583253 -0.000477072 -0.000472338 0.00327071 0.0192673 -0.00160458 -0.00360954 -0.000992082 -0.00301822 0.00287752 0.0145301 -0.0112928 -0.000681739 -0.00207581 -0.00249626 0.00292481 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1140 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 337.356 0 0 newEnergyL 0 lastEnergy: 344.159 0 0 lastEnergyL: 0mActiveResiduals: 1140 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.71857e-12 -3.27194e-13 5.06593e-12 -4.86613e-12 0.000118033 0.0036765 0.00331282 -0.0016114 0.000612233 -0.00101772 0.00404937 -0.00173566 -0.00290803 -0.000999077 0.000156866 -0.00136804 0.00985138 -0.00245088 -0.000769157 -0.000812633 -0.000200156 -0.00129446 -0.00277987 -0.0193571 -0.00977627 -0.00252456 0.00150816 -0.00112158 0.00171143 -0.00849885 -0.0125205 -0.000745982 0.00121736 -0.00131976 0.00531041 0.00575869 -0.0015941 0.00107073 0.000228555 -0.00129612 -0.0329281 0.0125369 0.0048694 0.00241728 0.00376562 -0.000217699 0.0131468 0.0115212 0.0087104 0.0023669 -0.000927092 -0.00110629 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1140 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 334.966 0 0 newEnergyL 0 lastEnergy: 337.356 0 0 lastEnergyL: 0mActiveResiduals: 1140 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.39345e-12 1.10774e-12 -1.58828e-11 5.3464e-12 0.000205351 -0.00655414 -0.00264015 0.0020178 -9.6131e-05 0.000499403 0.000397496 0.00468601 0.00444977 0.00190632 7.7431e-06 0.000625822 -0.00334399 0.00289632 0.00519152 0.00178265 -2.7954e-05 0.00052873 -0.0136458 0.0223378 0.00699219 0.00362757 0.000589635 0.00150228 -0.0031383 0.0073778 0.00958088 0.0012492 -0.000855874 0.00221859 0.00677376 0.0017588 -0.00106786 0.000595526 -0.000926749 0.00163702 0.0234843 -0.0106968 -0.00624262 -0.00187226 -0.00304517 0.00208881 -0.0043838 -0.0235413 -0.00776105 -0.00313343 0.00031444 0.00147578 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1140 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 332.309 0 0 newEnergyL 0 lastEnergy: 334.966 0 0 lastEnergyL: 0mActiveResiduals: 1140 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 7.08426e-13 -1.69079e-12 8.04985e-12 -4.6966e-12 -0.00501709 0.00209677 0.00411239 0.000191951 -0.000344364 0.0018933 -0.00515138 -0.000460551 0.00261057 0.000814267 -0.000359795 0.00185633 -0.00649063 -0.00751421 -0.000678313 -0.00059956 -0.000271378 0.00227169 0.00694386 -0.0103131 -0.00294888 -0.0016165 -0.00140673 0.00189137 0.00841111 -0.00372947 -0.0045368 -0.000375735 -0.0014678 0.00120456 0.00587092 -0.00215666 0.00303742 -0.000442543 -0.00161916 0.00125394 -0.0124662 0.0140747 0.000284911 0.00150904 0.000547459 0.00187518 0.00761212 0.00691825 0.00616583 0.00106042 -0.0015851 0.00140849 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1140 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 323.769 0 0 newEnergyL 0 lastEnergy: 332.309 0 0 lastEnergyL: 0mActiveResiduals: 1140 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 323.769 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1140 INF|LocalMapper.cpp[optimize,345]: End Energy: 323.769 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.551111 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.551111 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 13 data: 0 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 29 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 13 with idx: 3 and allID: 19 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 0<->13 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 2<->13 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->13 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 13<->13 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 15<->13 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->13 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 17<->13 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 18<->13 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 13 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 19: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 12/18: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 11/17: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 10/16: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 9/15: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 8/14: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 7/12: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 6/11: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 5/9: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 4/8: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 3/6: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 2/3: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 1/1: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 0/0: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 0 allId: 0 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.804436 -0.0946645 0.586448 -0.044604 0.189261 0.976618 -0.101964 0.807188 -0.563084 0.193015 0.803543 0.644209 worldPose: 0.804089 -0.0971973 0.586509 -0.0498506 0.192921 0.975817 -0.102775 0.803205 -0.562336 0.19579 0.803395 0.648723 after: 0.804089 -0.0971973 0.586509 -0.0498506 0.192921 0.975817 -0.102775 0.803205 -0.562336 0.19579 0.803395 0.648723 worldPose of new: 0.999997 -0.00254541 -0.000244936 -0.00303432 0.0025447 0.999993 -0.00286692 -0.00201642 0.000252231 0.00286629 0.999996 0.00221423 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.804436 -0.0946645 0.586448 -0.044604 0.189261 0.976618 -0.101964 0.807188 -0.563084 0.193015 0.803543 0.644209 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 19 after changeRefFrame: 0.804436 -0.0946645 0.586448 -0.044604 0.189261 0.976618 -0.101964 0.807188 -0.563084 0.193015 0.803543 0.644209 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 13 to normal frame with refFrame: 0 frame id kf: 19 newref id: 0 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 13 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 7868 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x28e9000 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 18 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 3 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 0 with distance 0.152Found rest min at: 2 with distance 0.08 overall min: 0.08 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 0 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 647 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 18 into DB 0.152 0 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 0 and real id(0) current kf: 18(27) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.627385 -0.022087 0.778396 0.0138614 0.265445 0.945795 -0.187111 1.06629 -0.732071 0.324012 0.59924 0.702269 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 0 currFrame: 18 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00471588 eye: 0.00220306 edge: 18 to 0 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 18 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 27(1311875573.319235) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999674 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:355/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 18 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 27(1311875573.319235) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.975366 0.204452 -0.0828339 0.309647 -0.213415 0.969589 -0.119795 0.238269 0.0558224 0.134522 0.989337 0.418216 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999206 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:179/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 18 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 27(1311875573.319235) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.973269 0.212278 -0.0876663 0.333222 -0.222362 0.966469 -0.128424 0.272878 0.0574652 0.144485 0.987837 0.433009 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999392 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:193/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.973059 0.213541 -0.0869223 0.331177 -0.223386 0.966516 -0.126278 0.267925 0.0570461 0.142293 0.988179 0.422687 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 0 end 3 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 8337 o[1]: 1570 o[2]: 242 o[3]: 10 histWeights: 1 1 1.25 1.5overlap: 1887.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 1279 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 0 and 18 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 18 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 18 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 4053 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 28 keyframes 19 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!29 INF|Input.cpp[getImages,132]: mNbReceivedImages!30 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.352392 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999744 0.00555837 -0.0219283 -0.0183367 -0.0055261 0.999984 0.00153195 0.0148642 0.0219365 -0.00141038 0.999758 -0.0257877 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 18 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.352392) and 27(1311875573.319235) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999744 0.00555837 -0.0219283 -0.0183367 -0.0055261 0.999984 0.00153195 0.0148642 0.0219365 -0.00141038 0.999758 -0.0257877 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999942 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:721/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 18 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.352392) and 27(1311875573.319235) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999532 0.0111311 -0.0284942 -0.00315499 -0.0112501 0.999929 -0.00401907 0.0126883 0.0284474 0.00433775 0.999586 1.90983e-05 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999255 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:267/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 18 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.352392) and 27(1311875573.319235) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999658 0.00983509 -0.0242174 -0.0122807 -0.00976945 0.999948 0.002827 -0.00124269 0.024244 -0.00258944 0.999703 -0.0151369 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999072 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:185/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.748905 resInfo good: 1279, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1449/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999677 0.00908005 -0.023741 -0.0115496 -0.00903509 0.999957 0.0020002 0.00298959 0.0237581 -0.00178505 0.999716 -0.0132388 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!28 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 471 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!29 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 30 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!30 INF|Input.cpp[getImages,132]: mNbReceivedImages!31 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.388082 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998708 0.0181991 -0.0474493 -0.0227541 -0.0180194 0.999829 0.00421425 0.00605692 0.0475179 -0.0033538 0.998865 -0.0267536 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 18 to 13590204296459849216 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.388082) and 27(1311875573.319235) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998708 0.0181991 -0.0474493 -0.0227541 -0.0180194 0.999829 0.00421425 0.00605692 0.0475179 -0.0033538 0.998865 -0.0267536 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999919 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:206/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 18 to 13590204296459849216 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.388082) and 27(1311875573.319235) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998675 0.0162126 -0.0488311 -0.0291325 -0.0160934 0.999866 0.00283208 9.09816e-05 0.0488705 -0.00204246 0.998803 -0.037578 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999997 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:323/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 18 to 13590204296459849216 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.388082) and 27(1311875573.319235) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999321 0.0159734 -0.0331938 -0.0818971 -0.0154587 0.999757 0.0157053 -0.0410029 0.0334366 -0.0151815 0.999326 -0.0797773 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999437 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:203/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.16581 resInfo good: 1086, 193 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 999/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999059 0.0199952 -0.0384852 -0.058332 -0.0195849 0.999748 0.0110089 -0.0184712 0.0386956 -0.0102448 0.999199 -0.054212 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875573.388082 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875573.388082 to keyframe with id: 13590204296459849216 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875573.388082 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 495 size: 883 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId13590204296459849216 timestamp: 1311875573.388082 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 3 keyframeId: 2 score: -10.3129 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 12 keyframeId: 7 score: -10.4125 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 21 keyframeId: 15 score: -13.1764 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -12.5442 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 25 keyframeId: 17 score: -11.6227 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 19 = 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x319e880 fh1 0x18ac360fh->id: 0 19 29goodE: 71 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x319e880 fh1 0x2112300fh->id: 2 19 29goodE: 24 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x319e880 fh1 0x29bcaa0fh->id: 7 19 29goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x319e880 fh1 0x393cca0fh->id: 15 19 29goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x319e880 fh1 0x20f1be0fh->id: 16 19 29goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x319e880 fh1 0x20f6400fh->id: 17 19 29goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x319e880 fh1 0x28e9000fh->id: 18 19 29goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew19 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 63 out of 71 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 71 newEdgePixels: 71 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 866 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 121 lastEnergy: 273.503 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 19 INF|LocalMapper.cpp[optimize,276]: Start Energy: 273.503 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -5.22693e-12 -8.81385e-13 -9.78438e-12 8.2457e-12 0.00607316 0.00401873 -0.00443494 -0.00286658 0.000248582 -0.00254503 0.00598899 -0.00685302 -0.013047 -0.00418192 0.000188805 -0.00212501 0.00619327 0.0100292 -0.00383988 -0.00145081 0.000822868 -0.00367291 -0.00189473 0.00361127 0.0061391 -0.0001969 0.00162546 -0.00455461 0.0181812 -0.00900345 -0.00540408 -0.00178239 -0.000230615 -0.00450979 0.0227428 -0.0175397 -0.0125408 -0.00282274 -0.000797786 -0.00549738 0.0148872 -0.0320104 0.000217118 -0.00436052 -0.000114947 -0.00473027 -0.00425707 -0.0351194 -0.00923436 -0.00345578 0.00150024 -0.00525282 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 866 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 252.104 0 0 newEnergyL 0 lastEnergy: 273.503 0 0 lastEnergyL: 0mActiveResiduals: 866 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.72318e-12 5.97346e-14 1.17788e-11 5.43186e-12 6.07319e-08 4.01843e-08 -4.43505e-08 -2.86725e-08 2.48623e-09 -2.5449e-08 0.00354943 0.00382012 -0.000415718 0.000398249 -0.000442183 -1.03536e-05 0.00391279 0.000496403 -0.00151208 -2.15697e-05 -0.000430184 0.000257566 0.0107807 0.011184 -0.00835231 0.00128278 -0.000430721 -0.000801005 0.00587248 0.0300267 -0.003523 0.00273882 -0.000413045 0.000916554 0.00793418 -0.00587548 0.0075674 -0.000526774 -0.000923437 0.000311633 0.00687042 -0.00207163 0.000466422 -0.000523026 -0.000962015 0.0016053 -0.0295915 -0.0113537 -0.0045507 -0.00161044 0.00278313 0.000806898 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 866 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 240.508 0 0 newEnergyL 0 lastEnergy: 252.104 0 0 lastEnergyL: 0mActiveResiduals: 866 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -3.5502e-12 -4.41837e-12 -7.13179e-12 1.62871e-11 0.000314877 0.000479486 -0.000673736 0.000604417 -0.000213407 0.000335478 -0.000914815 -0.000941649 0.00135654 0.000111924 -4.43554e-05 0.000351632 0.0016319 0.00320387 0.000680153 0.000491605 -0.000478703 5.2681e-05 -0.00662219 0.00274886 -0.00116718 0.000152375 0.000751277 -0.000523816 -0.00054837 0.00743325 0.00176768 0.000577993 -0.000423681 0.000822356 -0.0360965 -0.00193826 -0.00803009 -0.000766349 0.00341936 0.000753252 0.0157043 -0.00197114 0.0125975 -0.000217455 -0.0019065 -0.00180365 0.0259452 -0.0108045 -0.00119449 -0.0014118 -0.00304246 -0.000871461 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 866 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 238.853 0 0 newEnergyL 0 lastEnergy: 240.508 0 0 lastEnergyL: 0mActiveResiduals: 866 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 5.38253e-13 4.57536e-12 1.23931e-11 -1.44931e-11 0.0021095 -0.00096012 0.00078553 0.000701132 2.06648e-05 -0.000681055 0.00387259 -0.00366123 0.0021203 0.000725208 -0.000186883 -0.000670233 -6.69976e-05 -0.00292274 0.00415354 0.000899966 7.5856e-05 9.70406e-05 0.00191509 0.00939926 -0.00239314 0.00214819 0.000176333 0.000696631 -0.00752757 0.00891604 -0.00292306 0.0018393 0.00114679 0.000912708 0.00613049 -0.00670107 0.00287327 0.000351501 -0.000876675 0.00129319 -0.00772607 0.0116102 -0.00675784 0.00228603 0.00101867 0.00238701 0.00734422 -0.0166363 0.000433524 -0.000120261 -0.000519646 -0.000306248 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 866 Input.cpp[readImages,206]: Got image from sensor!30 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 232.759 0 0 newEnergyL 0 lastEnergy: 238.853 0 0 lastEnergyL: 0mActiveResiduals: 866 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.28399e-12 -3.2477e-12 -7.05026e-12 1.26339e-11 0.00113055 -0.00300447 -0.00608854 -0.000922342 0.000658295 -0.000826634 0.00424183 0.0123725 -0.00128904 -0.000965667 0.000453979 -0.0010532 0.00783641 0.014059 -0.00199086 -0.000359572 -0.000158397 -0.00165658 -0.0101504 0.0072522 0.00181796 -0.00137639 0.00179172 -0.00143064 0.00712956 0.00479253 0.000120714 -0.00118813 8.90814e-05 -0.00172387 -0.00687547 0.0022508 -0.00253569 -0.00130149 0.00162192 -0.00338724 0.000739502 -0.0147991 -0.00462566 -0.00311728 0.00126194 -0.00415535 -0.0103425 -0.0200446 0.00604276 -0.00382312 0.00188062 -0.00227829 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 866 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 236.552 0 0 newEnergyL 0 lastEnergy: 232.759 0 0 lastEnergyL: 0mActiveResiduals: 866 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -6.04466e-13 3.03118e-12 7.63292e-12 -1.75284e-11 -0.00166531 0.00102299 0.000279903 -0.000204378 -0.000482258 0.000944577 -0.00470818 0.00311375 -2.08922e-05 0.000329743 -0.000216888 0.00103966 -0.00759679 -0.0047954 0.000557156 -0.00085667 4.16056e-05 0.0018942 -0.00531004 0.00926523 0.0025013 0.000348095 -0.000280366 0.00172524 -0.000656921 0.00102259 0.00106702 -0.000656113 -0.000407404 0.000807315 0.0145878 -0.00595163 0.00270894 -0.0016787 -0.00265258 0.0023787 0.000345135 0.00477532 0.00537344 -0.000272335 -0.00100645 0.00246015 0.00209244 -0.00896535 -0.00203999 -0.00143165 -0.000851192 0.000234981 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 866 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 229.391 0 0 newEnergyL 0 lastEnergy: 236.552 0 0 lastEnergyL: 0mActiveResiduals: 866 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 229.391 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 866 INF|LocalMapper.cpp[optimize,345]: End Energy: 229.391 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.539885 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.539885 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 15 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 15 with idx: 3 and allID: 21 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 0<->15 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 2<->15 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->15 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 15<->15 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->15 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 17<->15 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 18<->15 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 19<->15 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 15 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 21: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 14/20: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 13/19: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 12/18: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 11/17: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 10/16: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 9/15: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 8/14: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 7/12: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 6/11: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 5/9: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 4/8: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 3/6: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 2/3: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 1/1: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 0/0: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 0 allId: 0 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.764802 -0.0428993 0.642835 -0.0483419 0.199742 0.964405 -0.173281 1.05181 -0.61252 0.260927 0.746148 0.768817 worldPose: 0.764858 -0.0426841 0.642783 -0.0471706 0.199678 0.964368 -0.173561 1.05045 -0.612471 0.261099 0.746128 0.766156 after: 0.764858 -0.0426841 0.642783 -0.0471706 0.199678 0.964368 -0.173561 1.05045 -0.612471 0.261099 0.746128 0.766156 worldPose of new: 1 0.000227631 -1.67252e-05 0.000944689 -0.000227634 1 -0.000178827 -0.00123091 1.66845e-05 0.000178831 1 -0.00284853 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.764802 -0.0428993 0.642835 -0.0483419 0.199742 0.964405 -0.173281 1.05181 -0.61252 0.260927 0.746148 0.768817 INF|Mapper.cpp[changeRefFrame,578]: Updating: 22 from old kf id: 15/21 with new ref frame: 0/0 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 21 after changeRefFrame: 0.764802 -0.0428993 0.642835 -0.0483419 0.199742 0.964405 -0.173281 1.05181 -0.61252 0.260927 0.746148 0.768817 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 15 to normal frame with refFrame: 0 frame id kf: 21 newref id: 0 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 15 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6721 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x319e880 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 19 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 4 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 0 with distance 0.154Found rest min at: 3 with distance 0.07 overall min: 0.07 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 0 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 647 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 19 into DB 0.154 0 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 0 and real id(0) current kf: 19(29) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.594588 -0.0334346 0.803335 0.0792437 0.288081 0.941659 -0.174031 1.03941 -0.750649 0.334903 0.569531 0.686513 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 0 currFrame: 19 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.017987 eye: 0.00262953 edge: 19 to 0 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 19 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 29(1311875573.388082) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 31 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999842 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:279/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 19 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 29(1311875573.388082) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.994679 0.099633 -0.0261956 0.03736 -0.101229 0.992465 -0.0690338 0.119148 0.0191201 0.0713183 0.99727 0.389569 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999806 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:224/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 19 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 29(1311875573.388082) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.991025 0.131944 -0.0214453 0.0454733 -0.13344 0.98598 -0.100183 0.21359 0.00792606 0.102145 0.994738 0.445233 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999938 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:202/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.990897 0.132958 -0.0210845 0.046904 -0.134415 0.985814 -0.100517 0.21454 0.00742096 0.102436 0.994712 0.449501 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 0 end 3 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 7211 o[1]: 1234 o[2]: 184 o[3]: 8 histWeights: 1 1 1.25 1.5overlap: 1476 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 883 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 0 and 19 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 19 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 19 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 4038 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 30 keyframes 20 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.414950 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!31 INF|Input.cpp[getImages,132]: mNbReceivedImages!32 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999805 0.00771422 -0.0181739 -0.0276147 -0.00766255 0.999966 0.00291079 0.0126853 0.0181957 -0.00277097 0.999831 -0.0312067 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 19 to 42928400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.414950) and 29(1311875573.388082) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999805 0.00771422 -0.0181739 -0.0276147 -0.00766255 0.999966 0.00291079 0.0126853 0.0181957 -0.00277097 0.999831 -0.0312067 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999495 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:422/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 19 to 42928400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.414950) and 29(1311875573.388082) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999667 0.0141727 -0.0215618 -0.0293023 -0.0141806 0.999899 -0.000213536 0.00504761 0.0215566 0.000519224 0.999767 -0.0236638 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999997 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:462/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 19 to 42928400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.414950) and 29(1311875573.388082) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999602 0.0132032 -0.0249401 -0.00907619 -0.0132229 0.999912 -0.000626129 0.0173191 0.0249296 0.000955661 0.999689 -0.0101649 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999681 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:162/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.704427 resInfo good: 883, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1221/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99955 0.0115461 -0.0277008 0.0037025 -0.011449 0.999928 0.00366391 0.00623546 0.0277411 -0.00334511 0.99961 -0.00162764 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!30 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 470 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!31 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 32 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.450627 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!32 INF|Input.cpp[getImages,132]: mNbReceivedImages!33 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998199 0.0231789 -0.0553361 0.00752042 -0.0227903 0.999711 0.00764327 0.0124221 0.0554972 -0.00636837 0.998439 -0.00317279 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 19 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.450627) and 29(1311875573.388082) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998199 0.0231789 -0.0553361 0.00752042 -0.0227903 0.999711 0.00764327 0.0124221 0.0554972 -0.00636837 0.998439 -0.00317279 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999726 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:229/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 19 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.450627) and 29(1311875573.388082) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998281 0.0212878 -0.0546021 0.0178425 -0.0210203 0.999764 0.00546959 0.00999878 0.0547057 -0.00431243 0.998493 -0.0155672 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999519 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:350/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 19 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.450627) and 29(1311875573.388082) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998372 0.0208746 -0.0530877 0.0222168 -0.0206837 0.999777 0.00414367 0.0233763 0.0531624 -0.00303887 0.998581 0.000206331 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999466 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:288/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.0385 resInfo good: 871, 12 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1047/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998378 0.0197503 -0.0533966 0.0266249 -0.019567 0.999801 0.0039534 0.029581 0.053464 -0.00290217 0.998566 0.00153644 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875573.450627 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875573.450627 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875573.450627 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 523 size: 1359 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875573.450627 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 3 keyframeId: 2 score: -10.079 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 12 keyframeId: 7 score: -10.5107 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -19.3692 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 25 keyframeId: 17 score: -19.8531 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 27 keyframeId: 18 score: -16.0055 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 20 = 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb0420 fh1 0x18ac360fh->id: 0 20 31goodE: 37 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb0420 fh1 0x2112300fh->id: 2 20 31goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb0420 fh1 0x29bcaa0fh->id: 7 20 31goodE: 10 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb0420 fh1 0x20f1be0fh->id: 16 20 31goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb0420 fh1 0x20f6400fh->id: 17 20 31goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb0420 fh1 0x28e9000fh->id: 18 20 31goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb0420 fh1 0x319e880fh->id: 19 20 31goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew20 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 74 out of 86 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 86 newEdgePixels: 86 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 667 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 102 lastEnergy: 195.563 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 16 INF|LocalMapper.cpp[optimize,276]: Start Energy: 195.563 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 3.91102e-12 1.13135e-12 4.65238e-12 4.02801e-13 -0.00188959 0.00246209 0.00569679 -0.000178827 1.67047e-05 0.000227631 -0.00248121 -0.00976744 0.00120633 -3.96516e-05 -4.72645e-05 0.000684199 -0.000129964 -0.0032107 0.00306846 0.000484988 -0.000167552 0.000226954 -0.0174312 -0.020104 -0.0020356 -0.000990799 0.00157304 -7.21378e-05 0.00229733 0.00204881 0.00564032 0.00184245 -0.00016463 -0.00213619 0.0223243 -0.0134917 0.0229696 0.000390675 -0.00267881 -0.00357523 0.0119629 -0.0201909 0.0148619 -0.0010478 -0.00206838 -0.000275012 0.0157025 -0.0151734 0.0207878 -0.000139642 -0.00217614 -0.00210505 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 667 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 177.574 0 0 newEnergyL 0 lastEnergy: 195.563 0 0 lastEnergyL: 0mActiveResiduals: 667 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 4.46198e-13 1.59407e-12 4.30722e-14 -8.02146e-12 -1.88955e-08 2.46171e-08 5.69664e-08 -1.7892e-09 1.66344e-10 2.27675e-09 -0.00302997 0.0042434 -0.000674636 0.000415302 0.000329609 5.66676e-05 -0.00350845 -0.00380247 0.00147549 -0.000435591 0.000280427 0.000281233 0.0054124 0.00805728 -0.00109919 0.00096299 -0.00032768 0.000393708 -0.0126822 0.0109859 -0.0132719 0.000805337 0.00188844 0.00148674 -0.00214773 0.0145558 -0.00317306 0.00149407 0.000180026 0.00176131 0.00300041 0.0142904 -0.00608708 0.00172404 0.000117447 -0.000382736 0.0132298 0.0211739 0.00174476 0.00209754 -0.00142129 0.00138078 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 667 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 163.921 0 0 newEnergyL 0 lastEnergy: 177.574 0 0 lastEnergyL: 0mActiveResiduals: 667 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.43538e-12 -1.84991e-12 1.42585e-12 5.41332e-12 -0.000926311 -0.00341674 -0.00277349 0.000473791 0.000239756 0.000295865 0.00267585 0.0109717 0.00270952 0.000755962 -1.74666e-05 9.42985e-05 0.000739519 0.0109349 0.00146622 0.000706799 -0.00017098 0.00030131 -0.00101808 -0.0082127 -0.00403593 -0.00212008 0.00040675 1.83071e-05 0.0129737 0.00525779 0.00539895 -0.000308913 -0.00150912 -0.000575206 -0.000627678 -0.000378866 -0.00435538 -0.00165946 0.000322234 -5.6657e-05 -0.0114254 -0.000703171 -0.00279968 -0.00127545 0.00153169 0.000351798 -0.00265562 -0.0131958 0.00217912 -0.0026042 0.0004852 -0.000720795 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 667 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 159.828 0 0 newEnergyL 0 lastEnergy: 163.921 0 0 lastEnergyL: 0mActiveResiduals: 667 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.42345e-12 -1.86333e-12 -6.8605e-12 1.14193e-12 0.000888311 0.00259937 0.0042109 0.00058306 -0.000559898 0.00050799 -0.0123562 -0.00964874 0.000583997 0.000818266 0.000703396 0.000912161 -0.00275003 -0.0163675 0.0022089 -0.000148975 -0.000157932 0.000880711 0.000520373 0.00143917 0.00489293 0.00208192 -0.000886951 0.00141526 0.00558235 -0.00252307 -0.00283533 0.000963357 -0.000979555 0.00180196 0.00230321 0.00597257 0.00642516 0.0028615 -0.00117415 0.00106022 0.00873901 0.00305094 0.00170251 0.00183499 -0.0016848 0.00136119 0.000645247 0.0129773 -0.00607632 0.00286811 -0.000901188 0.00200996 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 667 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 154.294 0 0 newEnergyL 0 lastEnergy: 159.828 0 0 lastEnergyL: 0mActiveResiduals: 667 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 2.76494e-12 2.65426e-13 -5.11141e-13 5.91977e-12 -0.00196288 -0.00275067 -0.00157675 0.00154001 -8.64855e-05 0.00132037 0.00318172 0.00544062 0.00594156 0.00107336 -0.000497926 0.00120839 -0.00762976 0.0131341 0.00237163 0.00157845 0.00016336 0.00189147 0.00042545 -0.00781464 -0.0021927 -0.00217638 -0.000307846 0.000814764 0.00787788 0.00538509 0.00819016 0.000108479 -0.00147786 3.45044e-05 -0.00227525 -0.00349276 -0.00830815 -0.00247669 -5.53495e-05 0.00133899 -0.00541846 -0.000902386 -0.00444338 -0.00156251 0.000343211 0.00046449 0.00813638 -0.00941132 0.00634058 -0.00235319 -0.00127681 8.87974e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 667 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 155.528 0 0 newEnergyL 0 lastEnergy: 154.294 0 0 lastEnergyL: 0mActiveResiduals: 667 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.08356e-12 -2.14526e-14 7.02863e-13 -5.51754e-12 0.00272684 0.00224014 0.00310346 -0.000683021 -0.000163085 -0.00101555 -0.00724017 -0.00566005 -0.00334477 -8.91826e-05 0.00075185 -0.000733599 0.00419173 -0.0144475 -0.00137516 -0.000877434 -7.64879e-05 -0.00107483 -0.00378701 0.00562008 -0.000540045 0.00240918 0.000439616 -0.00015312 -0.00640755 -0.00225777 -0.00679998 0.000611705 0.00109911 0.000909167 0.00695751 0.00203291 0.00703513 0.00297892 -0.000710248 -0.0009329 0.00468516 -0.00110131 0.00276532 0.00134232 -0.00078814 0.000960946 -0.00202922 0.0126689 -0.000323022 0.00327689 0.000197571 0.000246392 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 667 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 153.937 0 0 newEnergyL 0 lastEnergy: 155.528 0 0 lastEnergyL: 0mActiveResiduals: 667 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 153.937 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 667 INF|LocalMapper.cpp[optimize,345]: End Energy: 153.937 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.499089 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.499089 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 17 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 17 with idx: 4 and allID: 25 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 0<->17 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 17->0 INF|LocalMapper.cpp[marginalizeFrame,772]: 2<->17 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->17 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->17 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 17->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 17<->17 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 18<->17 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 17->18 INF|LocalMapper.cpp[marginalizeFrame,801]: 17 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 17 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6006 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1cb0420 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 20 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 5 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 0 with distance 0.158Found rest min at: 4 with distance 0.064 overall min: 0.064 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 0 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 674 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 20 into DB 0.158 0 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 0 and real id(0) current kf: 20(31) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.554266 -0.0383196 0.831457 0.0860667 0.313436 0.935014 -0.16585 1.01153 -0.771069 0.352534 0.530257 0.685124 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 0 currFrame: 20 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.0220064 eye: 0.00205468 edge: 20 to 0 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 20 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 31(1311875573.450627) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:514/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 20 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 31(1311875573.450627) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.987766 0.144139 -0.0595101 0.223758 -0.148707 0.985542 -0.0811943 0.00820368 0.0469464 0.0890506 0.99492 0.427165 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999495 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:272/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 20 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 31(1311875573.450627) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.984344 0.167587 -0.0546093 0.202677 -0.170711 0.983572 -0.0586878 -0.122493 0.0438768 0.0670914 0.996782 0.409405 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999232 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:287/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.984056 0.170398 -0.0509688 0.18171 -0.173035 0.983501 -0.0527668 -0.149049 0.0411366 0.0607449 0.997305 0.405257 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 0 end 3 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!32 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 8572 o[1]: 1568 o[2]: 221 o[3]: 8 histWeights: 1 1 1.25 1.5overlap: 1856.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 1359 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 0 and 20 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 20 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 20 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 4507 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 32 keyframes 21 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 525 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 33 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.487874 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!33 INF|Input.cpp[getImages,132]: mNbReceivedImages!34 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999927 0.00323351 -0.011608 0.00591553 -0.0032204 0.999994 0.00114774 0.00798853 0.0116116 -0.00111028 0.999932 -0.00308796 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 20 to 4291455553502457917 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.487874) and 31(1311875573.450627) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999927 0.00323351 -0.011608 0.00591553 -0.0032204 0.999994 0.00114774 0.00798853 0.0116116 -0.00111028 0.999932 -0.00308796 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 4): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:553/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 20 to 4291455553502457917 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.487874) and 31(1311875573.450627) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999924 0.00983554 -0.00739411 -0.0329061 -0.00985771 0.999947 -0.00296788 0.0146166 0.00736453 0.00304054 0.999968 -0.0421079 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999926 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:503/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 20 to 4291455553502457917 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.487874) and 31(1311875573.450627) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999903 0.0110235 -0.00856024 -0.0223663 -0.0109962 0.999934 0.00323832 -0.00317175 0.00859537 -0.00314388 0.999958 -0.0285701 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999955 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:537/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.591861 resInfo good: 1312, 47 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1857/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999876 0.0124422 -0.00968717 -0.0149955 -0.0124038 0.999915 0.00401349 -0.00116737 0.00973628 -0.00389283 0.999945 -0.0192311 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!32 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!33 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 34 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.519404 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!34 INF|Input.cpp[getImages,132]: mNbReceivedImages!35 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999503 0.0249195 -0.0193227 -0.0298173 -0.0247659 0.99966 0.00814657 -0.00222583 0.0195191 -0.00766397 0.99978 -0.0386025 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 20 to 4291455553502457917 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.519404) and 31(1311875573.450627) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999503 0.0249195 -0.0193227 -0.0298173 -0.0247659 0.99966 0.00814657 -0.00222583 0.0195191 -0.00766397 0.99978 -0.0386025 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.99915 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:634/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 20 to 4291455553502457917 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.519404) and 31(1311875573.450627) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999489 0.0251443 -0.0197312 -0.0337875 -0.0250365 0.99967 0.00569042 -0.00908582 0.0198678 -0.00519351 0.999789 -0.0369785 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999776 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:441/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 20 to 4291455553502457917 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.519404) and 31(1311875573.450627) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999402 0.0257703 -0.0230535 -0.0159486 -0.0256471 0.999655 0.00562365 0.00214255 0.0231905 -0.00502903 0.999718 -0.0226619 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:616/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.771246 resInfo good: 1353, 6 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1954/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999383 0.0264456 -0.023127 -0.0137353 -0.0262812 0.999627 0.00738536 -0.00168831 0.0233136 -0.00677299 0.999705 -0.0198653 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!33 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 471 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!34 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 35 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.550202 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!35 INF|Input.cpp[getImages,132]: mNbReceivedImages!36 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998513 0.0404813 -0.0365139 -0.012474 -0.0401064 0.999135 0.0109431 -0.00222878 0.0369253 -0.00946237 0.999273 -0.0204807 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 20 to 4291455553502457917 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.550202) and 31(1311875573.450627) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998513 0.0404813 -0.0365139 -0.012474 -0.0401064 0.999135 0.0109431 -0.00222878 0.0369253 -0.00946237 0.999273 -0.0204807 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999842 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:540/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 20 to 4291455553502457917 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.550202) and 31(1311875573.450627) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998749 0.0356171 -0.0350956 -0.0153445 -0.0353326 0.999338 0.00869252 -0.00695616 0.035382 -0.00744163 0.999346 -0.0313185 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 6): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:644/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 20 to 4291455553502457917 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.550202) and 31(1311875573.450627) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998845 0.037115 -0.0305124 -0.0252206 -0.0368469 0.999278 0.00930187 0.00223149 0.0308356 -0.00816684 0.999491 -0.0396896 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999291 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:368/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.904749 resInfo good: 1316, 43 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1822/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998772 0.0379321 -0.0318622 -0.0179464 -0.0375951 0.999231 0.011111 -0.000519243 0.0322592 -0.00989949 0.999431 -0.0295105 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!34 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1177 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!35 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 36 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.588579 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!36 INF|Input.cpp[getImages,132]: mNbReceivedImages!37 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.997954 0.0494405 -0.0405515 -0.0220585 -0.0488702 0.998693 0.014935 0.000664357 0.0412369 -0.0129227 0.999066 -0.0391965 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 20 to 4291455553502457917 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.588579) and 31(1311875573.450627) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.997954 0.0494405 -0.0405515 -0.0220585 -0.0488702 0.998693 0.014935 0.000664357 0.0412369 -0.0129227 0.999066 -0.0391965 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999255 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:411/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 20 to 4291455553502457917 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.588579) and 31(1311875573.450627) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998158 0.0443577 -0.0413791 -0.0284412 -0.0437948 0.998937 0.0144118 0.000902907 0.0419744 -0.0125731 0.99904 -0.0448876 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 6): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1332/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 20 to 4291455553502457917 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.588579) and 31(1311875573.450627) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998322 0.0450731 -0.0363602 -0.0399141 -0.0445295 0.998886 0.0156242 0.00750127 0.0370239 -0.0139788 0.999217 -0.0552161 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:525/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.08252 resInfo good: 1307, 52 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2537/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998243 0.0460119 -0.0373293 -0.0332611 -0.0455209 0.998867 0.0138983 0.0224063 0.0379265 -0.0121746 0.999206 -0.0444491 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875573.588579 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875573.588579 to keyframe with id: 4291455553502457917 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875573.588579 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 552 size: 1467 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId4291455553502457917 timestamp: 1311875573.588579 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 3 keyframeId: 2 score: -10.2954 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 12 keyframeId: 7 score: -10.3972 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -12.8083 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 27 keyframeId: 18 score: -13.7506 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 29 keyframeId: 19 score: -11.6978 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 21 = 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20e22c0 fh1 0x18ac360fh->id: 0 21 35goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20e22c0 fh1 0x2112300fh->id: 2 21 35goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20e22c0 fh1 0x29bcaa0fh->id: 7 21 35goodE: 10 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20e22c0 fh1 0x20f1be0fh->id: 16 21 35goodE: 46 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20e22c0 fh1 0x28e9000fh->id: 18 21 35goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20e22c0 fh1 0x319e880fh->id: 19 21 35goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20e22c0 fh1 0x1cb0420fh->id: 20 21 35goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew21 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 54 out of 56 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 56 newEdgePixels: 56 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 554 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 82 lastEnergy: 142.623 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 13 INF|LocalMapper.cpp[optimize,276]: Start Energy: 142.623 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -6.64281e-12 5.8323e-12 9.83052e-12 -5.99147e-12 -0.000725951 0.00132789 -0.0029641 -0.00191382 0.000569706 -0.00110866 0.0179121 1.52935e-05 -0.00719643 -0.00245581 -0.00126776 -0.00171979 0.00265677 0.00607437 -0.00381845 -0.00123241 0.000691363 -0.00249316 0.0205493 -0.0136882 -0.00277235 -0.00235645 -0.000848361 -0.00350559 0.00505135 -0.00850366 -0.014322 -0.00224194 0.00062447 -0.00329499 0.0195791 -0.00755143 -0.000232162 -0.000487194 -0.00087404 -0.00456525 0.0150237 -0.0129526 -0.00159749 -0.00163023 -0.00019866 -0.00308845 0.0155059 0.000558297 0.00343273 0.000579816 -0.00118506 -0.00389083 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 554 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 131.335 0 0 newEnergyL 0 lastEnergy: 142.623 0 0 lastEnergyL: 0mActiveResiduals: 554 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -7.55359e-13 6.4106e-13 -1.81926e-12 -1.35404e-11 -7.25726e-09 1.32768e-08 -2.96435e-08 -1.91427e-08 5.69589e-09 -1.10859e-08 -0.00160178 0.00168616 -0.000261849 0.000143355 0.000197878 8.76613e-05 -0.00194911 -0.00277592 0.00116046 -0.000315634 0.000112777 0.000424137 -0.00183764 0.0149278 -0.00364295 0.00153486 0.000191811 0.000498868 0.00776512 0.021573 0.00654028 0.00282515 -0.00092683 0.00114967 -0.0062361 0.00618107 -0.00403616 -3.29805e-05 0.00068745 0.00144336 -0.00512687 0.00813399 -0.00358161 0.000856799 0.00044465 0.00107281 -0.00654473 0.0225978 -0.00932961 0.0019531 0.00101003 0.00144772 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 554 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 128.59 0 0 newEnergyL 0 lastEnergy: 131.335 0 0 lastEnergyL: 0mActiveResiduals: 554 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -9.90383e-13 -1.21193e-12 5.76783e-12 9.84916e-12 -0.00295087 -0.0042531 -0.00308654 0.00094589 -0.000112106 0.000604771 -0.000415576 0.0175172 0.00617828 0.00174154 -0.00027278 0.000226656 -0.00337211 0.0113748 0.00303456 0.00102975 -0.000451515 0.00035429 0.000240021 -0.0103701 0.00410911 -0.00229698 -0.000543491 7.17232e-05 -0.00419649 -0.00953773 -0.00476285 -0.00333533 -0.000151153 0.000222648 0.00183793 -0.00376757 -0.00158842 -0.00147558 -0.00053885 -0.000549237 0.00546311 -0.00790965 0.00213803 -0.00255518 -0.000907499 0.000143815 0.00477651 0.00592546 0.00206961 -0.000939746 -0.000863093 0.000307501 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 554 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 130.874 0 0 newEnergyL 0 lastEnergy: 128.59 0 0 lastEnergyL: 0mActiveResiduals: 554 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 6.58691e-13 3.19593e-13 -6.01312e-12 -9.33331e-12 0.0034616 0.00232837 0.00295367 -0.000642233 0.000103591 -0.000899207 -0.00319581 -0.0129677 -0.00547499 -0.00101602 0.000673992 -0.000438556 0.00523582 -0.0121103 -0.00188121 -0.000809919 0.000114588 -0.000515869 -0.000603459 0.00807365 -0.00410307 0.00211395 0.00052579 6.01256e-07 0.00840115 0.0138967 0.0109218 0.00411917 -0.000510724 -0.000694563 0.000701975 -0.00173198 0.0027377 0.000880173 -9.38397e-05 0.00121979 -0.00771728 0.000252779 -0.0048218 0.00180434 0.0010792 -3.56181e-05 -0.0059542 0.00298565 -0.0073976 0.00195719 0.0010505 1.69226e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 554 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 128.564 0 0 newEnergyL 0 lastEnergy: 130.874 0 0 lastEnergyL: 0mActiveResiduals: 554 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.36686e-12 -1.37814e-12 -1.09184e-12 6.77167e-12 -0.0044807 -0.00267591 -0.00103649 0.00138104 -1.87282e-05 0.000773193 0.00104706 0.00813222 0.00778162 0.00126691 -0.000493213 0.000464185 -0.00711009 0.0093304 0.0035465 0.00131648 -2.38871e-05 0.000320708 0.00677247 -0.000673573 0.00288179 -0.00104832 -0.00163829 0.00145565 -0.0137253 -0.0141017 -0.0123006 -0.00394966 0.000847747 0.0017579 0.00738626 -0.000368491 -0.000415859 -0.00119597 -0.00130338 -0.000232419 0.0106625 -0.00280229 0.00614404 -0.00201789 -0.00172974 0.00135415 0.002475 0.00146965 0.00481077 -0.00157618 -0.0008123 0.00134903 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 554 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 130.134 0 0 newEnergyL 0 lastEnergy: 128.564 0 0 lastEnergyL: 0mActiveResiduals: 554 Input.cpp[readImages,206]: Got image from sensor!36 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.62943e-12 -8.2823e-13 -1.61313e-12 -5.94817e-12 0.00308489 0.00215056 0.00196901 -0.000562335 -0.000256074 -0.000213418 -0.00384603 -0.00551006 -0.00389316 -0.000216613 0.000407821 8.19916e-05 0.00374507 -0.0099907 -0.00157981 -0.000795829 -0.000189953 0.000309632 -0.0088691 -0.00121404 -0.00433326 0.000656633 0.00116373 -0.000126561 0.0128886 0.00971455 0.00742875 0.00306638 -0.00115309 -0.000457272 -0.00390817 0.0064912 0.0053 0.00214003 0.000175354 0.000401704 -0.00480259 -0.0010866 -0.00170074 0.00138763 0.00067594 -0.000788757 0.000748843 -0.000642826 -0.00599433 0.00138402 0.000197765 -0.00062904 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 554 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 126.027 0 0 newEnergyL 0 lastEnergy: 130.134 0 0 lastEnergyL: 0mActiveResiduals: 554 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 126.027 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 554 INF|LocalMapper.cpp[optimize,345]: End Energy: 126.027 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.494684 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.494684 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 18 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 18 with idx: 4 and allID: 27 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 0<->18 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 18->0 INF|LocalMapper.cpp[marginalizeFrame,772]: 2<->18 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->18 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->18 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 18->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 18<->18 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 19<->18 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 18->19 INF|LocalMapper.cpp[marginalizeFrame,801]: 18 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 18 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 5894 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x20e22c0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 21 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 6 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 0 with distance 0.166Found rest min at: 5 with distance 0.096 overall min: 0.096 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 0 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 651 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 21 into DB 0.166 0 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 0 and real id(0) current kf: 21(35) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.520991 -0.0492474 0.85214 0.138939 0.361766 0.916972 -0.168187 1.01393 -0.773106 0.395899 0.495551 0.673707 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 0 currFrame: 21 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.0639307 eye: 0.0025002 edge: 21 to 0 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 21 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 35(1311875573.588579) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999991 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:645/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 21 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 35(1311875573.588579) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.995911 0.0673078 -0.0602606 0.34398 -0.0712926 0.995228 -0.0666178 -0.091914 0.0554892 0.0706415 0.995957 0.490169 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999816 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:301/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 21 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 35(1311875573.588579) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.995274 0.077505 -0.0584998 0.339579 -0.0813851 0.994418 -0.0671468 -0.10263 0.0529691 0.0715905 0.996027 0.510357 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 37 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:535/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.993967 0.0957752 -0.0534482 0.319972 -0.0982192 0.994141 -0.045139 -0.234821 0.0488118 0.0501163 0.99755 0.502026 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 0 end 3 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 8366 o[1]: 1647 o[2]: 233 o[3]: 10 histWeights: 1 1 1.25 1.5overlap: 1953.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 1467 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 0 and 21 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 21 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 21 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 4781 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 36 keyframes 22 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 526 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.614605 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!37 INF|Input.cpp[getImages,132]: mNbReceivedImages!38 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999952 0.00804718 -0.00551862 -0.0145903 -0.00800278 0.999936 0.00802167 -0.00212323 0.00558282 -0.00797713 0.999953 -0.00998252 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 21 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.614605) and 35(1311875573.588579) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999952 0.00804718 -0.00551862 -0.0145903 -0.00800278 0.999936 0.00802167 -0.00212323 0.00558282 -0.00797713 0.999953 -0.00998252 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:553/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 21 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.614605) and 35(1311875573.588579) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999841 0.00944628 -0.0151089 -0.0061179 -0.00933539 0.999929 0.00739373 -0.0386609 0.0151777 -0.00725151 0.999859 0.038214 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999218 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:382/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 21 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.614605) and 35(1311875573.588579) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999873 0.00774442 -0.0139507 -0.0108293 -0.00739181 0.999656 0.0251524 -0.103304 0.0141407 -0.025046 0.999586 0.00966156 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999989 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:449/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.844213 resInfo good: 1467, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2403/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999903 0.00720985 -0.0118788 -0.0154283 -0.00689153 0.999622 0.0266231 -0.103858 0.0120663 -0.0265387 0.999575 0.00677687 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!36 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 466 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!37 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 38 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.652043 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!38 INF|Input.cpp[getImages,132]: mNbReceivedImages!39 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999614 0.0147315 -0.0235595 -0.0316845 -0.0134586 0.998487 0.0533068 -0.20739 0.0243091 -0.0529691 0.9983 0.016121 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 21 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.652043) and 35(1311875573.588579) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999614 0.0147315 -0.0235595 -0.0316845 -0.0134586 0.998487 0.0533068 -0.20739 0.0243091 -0.0529691 0.9983 0.016121 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999843 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:224/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 21 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.652043) and 35(1311875573.588579) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999541 0.0159933 -0.025742 -0.0418453 -0.0149961 0.999147 0.0384763 -0.174349 0.0263354 -0.0380726 0.998928 0.0353747 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999972 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:333/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 21 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.652043) and 35(1311875573.588579) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999516 0.020351 -0.0235316 -0.0470283 -0.0191168 0.998488 0.0515355 -0.226028 0.0245448 -0.0510607 0.998394 0.0160483 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999624 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:253/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.26245 resInfo good: 1399, 68 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1109/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.9995 0.0217261 -0.0229668 -0.0459885 -0.0204239 0.99825 0.0554882 -0.241237 0.0241322 -0.0549914 0.998195 0.00015562 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875573.652043 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875573.652043 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875573.652043 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 570 size: 1101 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875573.652043 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 3 keyframeId: 2 score: -10.6263 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 12 keyframeId: 7 score: -10.6768 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -12.3507 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 29 keyframeId: 19 score: -14.3183 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 31 keyframeId: 20 score: -14.4375 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 22 = 22 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28f8c80 fh1 0x18ac360fh->id: 0 22 37goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28f8c80 fh1 0x2112300fh->id: 2 22 37goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28f8c80 fh1 0x29bcaa0fh->id: 7 22 37goodE: 10 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28f8c80 fh1 0x20f1be0fh->id: 16 22 37goodE: 47 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28f8c80 fh1 0x319e880fh->id: 19 22 37goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28f8c80 fh1 0x1cb0420fh->id: 20 22 37goodE: 42 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28f8c80 fh1 0x20e22c0fh->id: 21 22 37goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew22 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 30 out of 36 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 36 newEdgePixels: 36 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 458 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 66 lastEnergy: 131.843 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 9 INF|LocalMapper.cpp[optimize,276]: Start Energy: 131.843 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -4.08017e-12 -1.05357e-12 3.75616e-12 4.84565e-12 0.00088508 0.00245005 -0.00079964 -0.00112235 0.000283315 -0.000265336 0.00414435 0.0016397 -0.00484614 -0.00081836 -0.000109042 -0.000560588 0.0111821 0.00689303 -0.00248209 -0.000118188 -0.00070165 -0.000546642 0.0057315 -0.0151519 0.00194725 -0.00187087 -0.000185783 -0.00129063 -0.000971888 -0.0211131 -0.0123613 -0.00329737 0.00151232 -0.00183533 -0.00970189 -0.00745949 -0.00416332 -0.00147256 0.00172863 -0.000596781 -0.0174664 -0.00754499 -0.00490838 -0.00149752 0.00269348 -0.000343221 -0.0420751 -0.0714744 -0.0567777 -0.00775509 0.00728729 0.00218579 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 458 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 113.479 0 0 newEnergyL 0 lastEnergy: 131.843 0 0 lastEnergyL: 0mActiveResiduals: 458 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.40089e-13 -8.00156e-14 3.0346e-12 -4.85566e-12 8.85017e-09 2.44978e-08 -7.99602e-09 -1.12254e-08 2.83384e-09 -2.65098e-09 0.00131324 0.0036532 0.00111159 0.000409422 -0.00011448 -9.26895e-05 -0.00180306 -0.00424942 0.00116102 -0.000453728 0.000170084 6.80509e-05 -0.00158431 0.0023154 -0.00199399 0.000133233 0.000141533 -8.90536e-06 0.0155742 0.0136738 0.00708867 0.0023204 -0.00192397 0.00101063 0.00390512 0.0121797 0.00275916 0.00135035 -0.000377824 0.000517566 0.00991617 0.00947279 -0.000771602 0.000996385 -0.000892897 0.000625122 0.0016522 -0.00740094 0.00408795 -0.00162754 -0.000384433 0.00270052 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 458 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 106.853 0 0 newEnergyL 0 lastEnergy: 113.479 0 0 lastEnergyL: 0mActiveResiduals: 458 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -6.13503e-13 1.0744e-12 -2.30786e-12 2.5596e-12 5.55002e-05 -0.00183679 -0.00175952 0.000130154 0.000346949 -0.00100811 0.00219434 -0.000431958 -5.53918e-05 -0.00021476 0.000120292 -0.000917446 0.00153892 0.00590619 0.00238049 0.000892771 0.00020422 -0.00136951 0.00367436 -0.000549131 0.00234333 0.00040634 -0.000282013 -0.000573845 0.00151764 -0.00976828 -0.00134647 -0.00185365 -9.46164e-05 -0.00069324 0.00126475 -0.00518524 -0.000149897 -0.000161465 0.000119161 -0.000377777 -0.00560343 0.0115753 0.00113864 0.00153359 0.000629577 0.000142411 -0.00169306 0.000736056 -0.00691484 0.000965032 0.000529143 9.24293e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 458 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 104.88 0 0 newEnergyL 0 lastEnergy: 106.853 0 0 lastEnergyL: 0mActiveResiduals: 458 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.83526e-12 -1.35329e-12 1.12011e-12 1.72334e-13 -0.000710859 0.00105194 0.00241074 0.000383821 -0.00046001 0.000572806 -0.00196587 -0.00186694 0.00161606 0.000550661 -0.000355422 0.000525302 -0.00312868 -0.00737095 -0.00209364 -0.00045263 -0.000298416 0.00127521 -0.00855632 0.000460809 -0.000719408 0.000272195 0.000384411 0.000723921 -0.000378848 0.0121122 7.88691e-05 0.00270931 -0.000376058 0.000728149 0.000976892 0.00477165 0.000447692 0.000630752 -0.000657338 0.00125891 0.0147609 -0.00473066 0.00619418 -0.000385227 -0.00205929 0.000567011 -0.00152825 -0.00656719 4.24418e-05 -0.000995214 -0.000258127 0.00113498 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 458 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 100.607 0 0 newEnergyL 0 lastEnergy: 104.88 0 0 lastEnergyL: 0mActiveResiduals: 458 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -8.81646e-13 -4.93619e-13 5.37082e-13 6.52515e-12 -5.29128e-05 0.00282734 3.73352e-05 -0.000188665 0.000162476 -2.43678e-05 -0.000474539 -0.000448167 -0.00185437 -0.000445822 0.000221184 2.98083e-05 -0.00106448 0.0033821 5.17154e-05 0.000151383 0.000533808 -0.00082104 0.00621464 -0.0072203 0.00281669 -0.000911128 -0.000620724 -0.000477933 0.00307724 -0.0108196 0.00316955 -0.00240651 -0.000157799 -0.000451161 -0.000901487 -0.00196238 -0.00206388 -0.000353681 0.000333196 -0.000538042 -0.0106499 -0.000155275 -0.00205657 -0.000206096 0.00102947 -0.000508007 0.00352973 0.0152178 -0.00213438 0.00220959 -0.00036469 -0.000405506 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 458 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 99.9408 0 0 newEnergyL 0 lastEnergy: 100.607 0 0 lastEnergyL: 0mActiveResiduals: 458 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.13041e-12 5.6257e-12 1.72008e-12 -1.42037e-11 -0.00192334 -0.00289414 0.000380287 0.000836652 -0.000566127 0.00133386 -0.00213497 0.0028679 0.00451013 0.0011404 -0.000528062 0.00142939 -0.00706937 0.000416605 0.00265793 0.000414168 -0.000311901 0.00237379 -0.00601463 -0.00142683 -0.00199645 -0.000698284 -0.000280185 0.00147392 0.00495363 0.0126188 -0.00140728 0.00151016 -0.00157758 0.00177175 0.000507234 0.000239277 0.000312902 -0.000922226 -0.000917599 0.00163619 0.0134906 0.00263604 0.00234245 -0.000769136 -0.00205396 0.00169012 -0.00138029 -0.0166881 0.00631245 -0.00406909 -0.000223918 0.00223865 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 458 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 99.1112 0 0 newEnergyL 0 lastEnergy: 99.9408 0 0 lastEnergyL: 0mActiveResiduals: 458 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 99.1112 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 458 INF|LocalMapper.cpp[optimize,345]: End Energy: 99.1112 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.484051 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.484051 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 20 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 20 with idx: 5 and allID: 31 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 0<->20 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 20->0 INF|LocalMapper.cpp[marginalizeFrame,772]: 2<->20 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->20 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->20 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 20->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 19<->20 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 20->19 INF|LocalMapper.cpp[marginalizeFrame,801]: 20 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 20 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 5180 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x28f8c80 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 22 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 7 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 0 with distance 0.18Found rest min at: 6 with distance 0.07 overall min: 0.07 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 0 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 657 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 22 into DB 0.18 0 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 0 and real id(0) current kf: 22(37) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.494283 -0.0255978 0.868924 0.12706 0.393515 0.897875 -0.197398 1.20647 -0.775132 0.439506 0.453877 0.728134 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 0 currFrame: 22 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.103751 eye: 0.00343042 edge: 22 to 0 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 22 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 37(1311875573.652043) on lvl: 2 Input.cpp[readImages,206]: Got image from sensor!38 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 23): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:974/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 22 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 37(1311875573.652043) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.966287 0.251817 0.0536468 -1.13703 -0.230547 0.939021 -0.255124 0.82623 -0.11462 0.234155 0.965419 2.95699 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999616 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:178/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 22 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 37(1311875573.652043) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.965713 0.25361 0.0555025 -1.14219 -0.232227 0.939443 -0.252026 0.820994 -0.116058 0.230495 0.966128 2.95931 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999448 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:187/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.965423 0.255226 0.0530906 -1.12497 -0.234934 0.940072 -0.247123 0.801231 -0.112981 0.226105 0.967529 2.94891 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 0 end 3 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 39 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 8288 o[1]: 540 o[2]: 16 o[3]: 1 histWeights: 1 1 1.25 1.5overlap: 561.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 1101 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 0 and 22 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 22 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 22 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 4562 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 38 keyframes 23 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 524 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.687261 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999627 0.0201338 -0.0184576 -0.00707409 -0.0198028 0.999643 0.0179452 -0.0890054 0.0188123 -0.017573 0.999669 0.0176123 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 22 to 43694320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.687261) and 37(1311875573.652043) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999627 0.0201338 -0.0184576 -0.00707409 -0.0198028 0.999643 0.0179452 -0.0890054 0.0188123 -0.017573 0.999669 0.0176123 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!39 INF|Input.cpp[getImages,132]: mNbReceivedImages!40 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999061 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:383/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 22 to 43694320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.687261) and 37(1311875573.652043) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999833 -0.00492388 -0.0175901 -0.0192038 0.00532208 0.999729 0.0226633 -0.0679301 0.0174738 -0.0227531 0.999588 -0.0273138 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999749 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:256/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 22 to 43694320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.687261) and 37(1311875573.652043) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999798 -0.00386691 -0.0197366 -0.00127018 0.00423247 0.99982 0.0185139 -0.0372412 0.0196614 -0.0185937 0.999634 -0.00790477 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:343/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.738476 resInfo good: 1052, 49 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1221/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999844 -0.00100362 -0.0176414 -0.00892623 0.00131725 0.999841 0.0177755 -0.0279759 0.0176207 -0.017796 0.999686 -0.0118716 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!38 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!39 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 40 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!40 INF|Input.cpp[getImages,132]: mNbReceivedImages!41 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.718930 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999376 -0.00169298 -0.0352923 -0.0176136 0.00294731 0.999365 0.0355194 -0.0561701 0.0352098 -0.0356012 0.998746 -0.0233989 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 22 to 43694320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.718930) and 37(1311875573.652043) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999376 -0.00169298 -0.0352923 -0.0176136 0.00294731 0.999365 0.0355194 -0.0561701 0.0352098 -0.0356012 0.998746 -0.0233989 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999932 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:372/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 22 to 43694320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.718930) and 37(1311875573.652043) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999272 -0.00913122 -0.0370328 -0.0239262 0.009974 0.999694 0.0226371 -0.0243671 0.0368147 -0.02299 0.999058 -0.00437498 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999993 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:377/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 22 to 43694320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.718930) and 37(1311875573.652043) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999413 -0.00794389 -0.0333318 -0.0315272 0.00888981 0.999559 0.0283274 -0.0356475 0.033092 -0.0286071 0.999043 -0.0333539 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 9,0.999896 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:368/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.0105 resInfo good: 1016, 85 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1353/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999354 -0.00557256 -0.0354961 -0.025923 0.00662259 0.999542 0.0295331 -0.0305397 0.0353152 -0.0297491 0.998933 -0.0166793 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875573.718930 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875573.718930 to keyframe with id: 43694320 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875573.718930 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 476 size: 775 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId43694320 timestamp: 1311875573.718930 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 3 keyframeId: 2 score: -12.8072 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 12 keyframeId: 7 score: -11.8529 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -12.8415 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 29 keyframeId: 19 score: -17.1789 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 35 keyframeId: 21 score: -16.9394 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 23 = 23 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ae6dc0 fh1 0x18ac360fh->id: 0 23 39goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ae6dc0 fh1 0x2112300fh->id: 2 23 39goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ae6dc0 fh1 0x29bcaa0fh->id: 7 23 39goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ae6dc0 fh1 0x20f1be0fh->id: 16 23 39goodE: 49 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ae6dc0 fh1 0x319e880fh->id: 19 23 39goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ae6dc0 fh1 0x20e22c0fh->id: 21 23 39goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ae6dc0 fh1 0x28f8c80fh->id: 22 23 39goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew23 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 29 out of 37 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 37 newEdgePixels: 37 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 335 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 49 lastEnergy: 87.0821 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 7 INF|LocalMapper.cpp[optimize,276]: Start Energy: 87.0821 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 8.93623e-12 -7.14269e-12 1.94869e-13 1.70852e-11 0.00263158 0.000851642 -0.00106883 -0.00116195 0.000516707 -0.000874183 0.00233291 -0.00601737 -0.00525922 -0.0016479 0.000549735 -0.00104151 0.00755326 0.00222901 -0.00268518 -0.00046769 0.00027513 -0.00137687 0.00988137 0.00207611 0.00550577 0.000533564 -0.000198512 -0.00159103 0.00268655 -0.0157299 0.00348829 -0.00212446 0.000846842 -0.0022893 -0.0141388 -0.0146692 0.00846901 -0.00116849 0.00194327 -0.00105688 0.00773374 0.0197939 0.00488029 0.00336851 -0.000936068 -0.000681102 0.014389 -9.07037e-05 0.0147582 0.00158696 -0.0017655 -0.00100398 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 335 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 75.7734 0 0 newEnergyL 0 lastEnergy: 87.0821 0 0 lastEnergyL: 0mActiveResiduals: 335 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -5.86716e-12 3.40507e-12 -5.91737e-13 -5.42853e-12 2.63162e-08 8.51621e-09 -1.06883e-08 -1.16201e-08 5.16762e-09 -8.7426e-09 -0.00231569 0.00322036 0.000211136 0.000351597 0.000224312 -1.08591e-05 -0.00025772 -0.00187746 0.000621563 -0.000202326 -2.6949e-05 -4.54686e-05 -0.00346181 0.000926037 -0.00180671 -0.000443796 0.000333401 0.000594413 -0.00097185 0.0113764 -0.00436084 0.00168172 0.000129923 0.00153268 0.00810042 0.0044732 -0.000463263 0.000196828 -0.000538877 0.000191516 -0.00151853 -0.0180106 -0.00258052 -0.00276831 0.000721827 -0.000107744 0.00114886 -0.0107873 -0.0186615 -0.00198009 0.000200252 0.000772557 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 335 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 71.9507 0 0 newEnergyL 0 lastEnergy: 75.7734 0 0 lastEnergyL: 0mActiveResiduals: 335 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 2.77064e-12 -5.23935e-12 1.97315e-12 5.15346e-12 0.00125351 -0.000345618 -0.00017834 -0.00015831 0.000642865 -0.00133589 0.00540542 -0.00293108 -0.000781489 -0.000474724 0.000211338 -0.00141167 0.0013542 -0.000443235 0.00071077 0.000226461 0.000753955 -0.0015351 0.0176046 -0.00251289 0.00334579 0.00110353 -0.00106908 -0.00186713 0.00376074 -0.00801298 0.00433013 -0.000461568 0.00021016 -0.00215079 -0.010329 0.00281762 -0.0092635 0.00152952 0.00156038 -0.000593669 -0.000683757 0.0271208 -0.00609587 0.00501513 0.000568482 -0.00153927 -0.0105481 -0.0138532 -0.00527176 0.00148686 0.0015502 -0.0018695 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 335 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 71.8939 0 0 newEnergyL 0 lastEnergy: 71.9507 0 0 lastEnergyL: 0mActiveResiduals: 335 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -8.71699e-12 6.42827e-12 3.49309e-12 -5.98101e-12 -0.00210541 -0.00270108 -0.00359116 0.000313137 -0.000858731 0.00215094 -0.00692169 0.0085027 0.00113588 0.000535952 -0.00027195 0.00224671 -0.00942365 0.00560837 0.0009367 -0.000279262 -0.000293575 0.00229511 -0.00675081 0.00112384 -0.00037425 -0.00235396 -0.000447696 0.00182202 0.000219605 0.014835 -0.000668706 -0.000270005 -0.000823998 0.00230369 0.0112339 -0.00161637 0.00974776 -0.00270448 -0.00167943 0.000660338 -0.00383839 -0.00118066 0.00559622 -0.00413139 -9.50622e-05 0.000600966 0.0052701 -0.0247801 0.0050695 -0.00697158 -0.00121207 0.00031718 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 335 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 74.9469 0 0 newEnergyL 0 lastEnergy: 71.8939 0 0 lastEnergyL: 0mActiveResiduals: 335 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 4.01175e-12 -1.49787e-12 -2.86583e-12 -3.14981e-12 0.001481 0.00260776 0.00208604 -0.00119281 0.000948622 -0.00192885 0.00619689 -0.0060689 -0.00335334 -0.00130017 0.000395422 -0.00207485 0.0110583 -0.00357218 -0.00482544 -0.000627359 0.000242668 -0.00228788 0.00219119 -0.00199951 0.000426605 0.00132122 0.000898625 -0.00204217 -0.00155035 -0.0137683 0.00450008 -0.00034959 0.00122756 -0.00299246 -0.00773028 0.00180584 -0.0032285 0.00189644 0.0015666 -0.000995916 -0.000241404 0.0133493 -0.0133237 0.00508763 0.000577756 -0.00124823 -0.00549346 0.00920509 -0.000783278 0.00513158 0.00123999 -0.00122111 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 335 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 74.7092 0 0 newEnergyL 0 lastEnergy: 74.9469 0 0 lastEnergyL: 0mActiveResiduals: 335 Input.cpp[readImages,206]: Got image from sensor!40 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -5.35486e-12 1.86769e-12 2.92782e-12 7.5144e-13 -0.000868954 -0.00308088 -0.00300279 0.000919317 -0.000890015 0.00143295 -0.00460486 0.00643734 0.00256857 0.00100845 -0.000452177 0.00158384 -0.00911076 0.00312506 0.00337724 0.000374267 -0.000272036 0.00157153 -0.00765749 0.00355343 -0.00137458 -0.0011793 -0.000250723 0.00174175 -0.000236246 0.0152644 -0.00231883 0.000409089 -0.000807256 0.00295535 0.0108895 0.00236892 0.00313114 -0.00157558 -0.00178433 0.000903902 -0.000346702 -0.0211028 0.0092542 -0.00581343 -3.61203e-05 0.000230365 0.00458398 -0.00766811 0.00421561 -0.00470481 -0.00107119 0.000804799 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 335 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 72.2124 0 0 newEnergyL 0 lastEnergy: 74.7092 0 0 lastEnergyL: 0mActiveResiduals: 335 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 72.2124 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 335 INF|LocalMapper.cpp[optimize,345]: End Energy: 72.2124 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.472099 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.472099 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 19 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 19 with idx: 4 and allID: 29 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 0<->19 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 19->0 INF|LocalMapper.cpp[marginalizeFrame,772]: 2<->19 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->19 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->19 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 19->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 19<->19 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 21<->19 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 19->21 INF|LocalMapper.cpp[marginalizeFrame,801]: 19 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 19 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 4857 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2ae6dc0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 23 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 8 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 0 with distance 0.178Found rest min at: 7 with distance 0.056 overall min: 0.056 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 0 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 656 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 23 into DB 0.178 0 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 0 and real id(0) current kf: 23(39) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.464264 -0.00111685 0.885696 0.153658 0.394349 0.895671 -0.20558 1.22146 -0.793062 0.444717 0.416268 0.718087 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 0 currFrame: 23 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 8.64463 eye: 0.00544158 edge: 23 to 0 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 23 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 39(1311875573.718930) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999973 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:151/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 23 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 39(1311875573.718930) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 1 1.27903e-06 -7.4479e-07 -3.68356e-06 -1.27903e-06 1 -2.41618e-06 -9.76157e-06 7.44787e-07 2.41618e-06 1 -3.23838e-06 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.99918 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:140/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 23 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 39(1311875573.718930) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 1 5.02032e-06 -1.40223e-05 -7.127e-05 -5.02137e-06 1 -7.53038e-05 -0.000319088 1.40219e-05 7.53039e-05 1 -7.37368e-05 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 0,0.999886 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:75/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.999796 0.00519019 0.01953 -0.11309 -0.0047909 0.99978 -0.0204365 0.0736521 -0.0196318 0.0203388 0.9996 0.0327917 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 0 end 3 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 41 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 7089 o[1]: 1813 o[2]: 329 o[3]: 21 histWeights: 1 1 1.25 1.5overlap: 2255.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 775 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 0 and 23 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 23 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 23 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 3659 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 40 keyframes 24 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 530 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.749885 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!41 INF|Input.cpp[getImages,132]: mNbReceivedImages!42 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999966 -0.00219349 -0.00798769 -0.010712 0.00221584 0.999994 0.00279066 0.0157738 0.00798152 -0.00280826 0.999964 -0.0028913 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 23 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.749885) and 39(1311875573.718930) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999966 -0.00219349 -0.00798769 -0.010712 0.00221584 0.999994 0.00279066 0.0157738 0.00798152 -0.00280826 0.999964 -0.0028913 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999033 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:355/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 23 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.749885) and 39(1311875573.718930) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999642 -0.0016525 -0.0267049 -0.00266462 0.00159946 0.999997 -0.00200739 0.00422499 0.0267081 0.00196396 0.999641 0.0184486 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999482 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:425/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 23 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.749885) and 39(1311875573.718930) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999634 -0.00275538 -0.0269281 0.00125142 0.00281824 0.999993 0.00229665 -0.00449728 0.0269216 -0.0023717 0.999635 0.0151005 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999337 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:207/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.703849 resInfo good: 774, 1 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1158/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999621 -0.00251395 -0.0274263 0.00474579 0.00260691 0.999991 0.003354 -0.00328909 0.0274176 -0.00342423 0.999618 0.0218095 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!40 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 451 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!41 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 42 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.784015 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998483 -0.00493302 -0.0548401 0.00889989 0.00530476 0.999964 0.0066352 -0.00649264 0.0548054 -0.00691604 0.998473 0.0437521 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 23 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.784015) and 39(1311875573.718930) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998483 -0.00493302 -0.0548401 0.00889989 0.00530476 0.999964 0.0066352 -0.00649264 0.0548054 -0.00691604 0.998473 0.0437521 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 7): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:403/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 23 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.784015) and 39(1311875573.718930) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998653 -0.00233661 -0.0518313 0.000387879 0.00244362 0.999995 0.00200139 -0.00453627 0.0518264 -0.00212535 0.998654 -0.00152216 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999863 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:210/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 23 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.784015) and 39(1311875573.718930) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998804 -0.00425536 -0.0487083 -0.00282245 0.00462305 0.999962 0.0074385 -0.0142188 0.0486748 -0.00765478 0.998785 -0.0145417 Input.cpp[readImages,192]: readImages loop! INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999389 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:314/0 INF|Input.cpp[getImages,128]: getimages!42 INF|Input.cpp[getImages,132]: mNbReceivedImages!43 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.961494 resInfo good: 760, 15 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1100/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998911 -0.00194369 -0.0466132 -0.00786723 0.00226837 0.999974 0.00691354 -0.0118133 0.0465986 -0.00701175 0.998889 -0.018009 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!41 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1283 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!42 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 43 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.818145 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.997833 -0.00130466 -0.0657809 -0.0197177 0.00199822 0.999943 0.0104788 -0.0204733 0.0657635 -0.0105876 0.997779 -0.0580319 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 23 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.818145) and 39(1311875573.718930) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.997833 -0.00130466 -0.0657809 -0.0197177 0.00199822 0.999943 0.0104788 -0.0204733 0.0657635 -0.0105876 0.997779 -0.0580319 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999089 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:222/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 23 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.818145) and 39(1311875573.718930) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997799 0.00319295 -0.0662276 -0.017893 -0.00256462 0.999951 0.00957038 -0.0244712 0.0662549 -0.00937947 0.997759 -0.036969 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999729 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:221/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 23 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.818145) and 39(1311875573.718930) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.997599 0.006176 -0.0689733 -0.00300497 -0.00558146 0.999946 0.0088092 -0.0126009 0.069024 -0.00840308 0.99758 -0.0161915 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999309 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:252/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.10814 resInfo good: 726, 49 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 860/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.997642 0.00751875 -0.0682168 -0.00393816 -0.00689673 0.999933 0.00934916 -0.0117244 0.0682824 -0.00885664 0.997627 -0.0158645 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875573.818145 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875573.818145 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875573.818145 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!43 INF|Input.cpp[getImages,132]: mNbReceivedImages!44 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 588 size: 1795 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875573.818145 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 24 = 24 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20b9160 fh1 0x18ac360fh->id: 0 24 42goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20b9160 fh1 0x2112300fh->id: 2 24 42goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20b9160 fh1 0x29bcaa0fh->id: 7 24 42goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20b9160 fh1 0x20f1be0fh->id: 16 24 42goodE: 45 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20b9160 fh1 0x20e22c0fh->id: 21 24 42goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20b9160 fh1 0x28f8c80fh->id: 22 24 42goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20b9160 fh1 0x2ae6dc0fh->id: 23 24 42goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew24 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 34 out of 41 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 41 newEdgePixels: 41 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 355 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 53 lastEnergy: 87.8825 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 7 INF|LocalMapper.cpp[optimize,276]: Start Energy: 87.8825 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 7.04714e-13 -3.22977e-12 -1.19875e-12 -2.13244e-12 0.000239845 0.00351978 0.0046862 0.00011866 0.000157257 -0.000319142 0.00233598 -0.00869076 0.000461757 -6.30446e-05 -0.000123597 -0.000350378 0.0048822 -0.00181004 -0.000100604 0.000633249 -0.000264146 0.00019092 -0.000157699 -0.0184741 0.0027055 -0.000341289 0.000152119 -0.000870439 -0.00228299 -0.0143585 0.00756207 9.82878e-05 -3.86471e-05 0.000397859 0.00636295 0.0091424 0.015882 0.00351392 -0.00184432 0.000316917 -0.00218943 -0.0129276 0.00650986 0.00154924 -0.00080304 -0.000738221 0.0034005 0.00145555 0.0377057 0.00236008 -0.000884124 -0.00107765 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 355 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 81.1832 0 0 newEnergyL 0 lastEnergy: 87.8825 0 0 lastEnergyL: 0mActiveResiduals: 355 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 7.09212e-12 -2.20896e-12 -8.20996e-12 9.60608e-12 2.39865e-09 3.51973e-08 4.68615e-08 1.18761e-09 1.57324e-09 -3.19291e-09 0.00174624 -0.00110516 0.000351347 -0.000107954 -0.000174753 -2.94202e-05 -0.00437213 -0.0027824 -0.000353693 -0.000228328 0.000612419 -0.000590658 0.00734759 -0.000154173 0.00347271 -0.000189345 -0.00106915 0.000347475 -0.00317053 -0.00484136 0.00334477 -0.000745191 -0.000203927 -0.000928902 -0.0114571 -0.0254993 -0.00300957 -0.00371855 0.0013384 -0.000700212 0.0102185 -0.00959457 0.0219704 -0.00260607 -0.00126185 -0.000106416 -0.00744131 -0.0231456 0.00520249 -0.00252599 0.00079574 -0.00034647 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 355 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 77.6409 0 0 newEnergyL 0 lastEnergy: 81.1832 0 0 lastEnergyL: 0mActiveResiduals: 355 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -3.56479e-12 9.83127e-13 2.38347e-12 -3.13198e-12 -3.23018e-05 0.00478659 0.00555816 -0.000168473 -8.57481e-05 -6.271e-05 -0.0011561 -0.00816778 -0.000767719 -8.64043e-05 -5.63173e-05 -5.60404e-05 0.00315788 -0.00773813 -0.0020695 -0.000211815 -0.000211394 0.000179487 -0.000159813 -0.0131921 -0.00178675 -0.000250056 -2.0711e-06 -0.000246405 0.00703565 -0.00241338 0.00367648 0.00122436 -0.000910155 0.000203202 0.0142119 0.0180182 0.0117967 0.00491264 -0.00238608 -0.00034263 -0.0181623 0.00792689 -0.0202074 0.00439067 0.00159115 6.62471e-05 0.00162597 -0.0013597 0.00155413 0.00194283 -0.000304661 1.18296e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 355 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 85.9605 0 0 newEnergyL 0 lastEnergy: 77.6409 0 0 lastEnergyL: 0mActiveResiduals: 355 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 2.5512e-12 -2.11652e-12 -3.36831e-12 4.27986e-12 -0.000203906 -0.00454729 -0.00676048 2.93689e-05 4.0121e-05 -7.18286e-05 0.00169586 0.00926028 -4.30238e-05 -0.000173211 -7.24336e-05 -3.63415e-05 -0.00212916 0.0123443 0.00159984 0.00035464 4.38406e-05 -0.000362581 -0.00226938 0.00621399 0.00238091 -0.00079663 0.000110237 2.66713e-05 -0.00295966 -0.00151022 0.0029232 -0.00176425 0.000450654 -0.000781224 -0.0062259 -0.0126333 -0.000495155 -0.00460901 0.00124659 -0.000523232 0.00456113 0.00591778 0.00186073 -0.00255216 0.000247155 -0.00140191 9.27627e-05 -0.0129871 -0.000899755 -0.00346115 -0.000151437 -0.00139289 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 355 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 75.1835 0 0 newEnergyL 0 lastEnergy: 85.9605 0 0 lastEnergyL: 0mActiveResiduals: 355 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.99083e-13 1.2341e-12 3.20797e-12 -2.53996e-12 -0.00144078 0.00337261 0.00302043 -0.000404448 -0.000608534 0.00270894 -0.00696636 -0.00152331 -0.000639843 -0.000344816 7.54926e-06 0.00274984 -0.004599 -0.00269022 -0.00316863 -0.0012601 -0.000164129 0.00265224 -0.0040824 -0.00317784 -0.00716118 -0.00219964 0.000142215 0.0017477 0.00159279 0.0027127 0.00179613 -0.00179394 -0.000435611 0.00114487 0.00208466 0.0155122 0.00363792 0.000940825 -0.000616002 0.000968325 -0.00394167 -0.0308926 -0.00186043 -0.00402613 0.00024168 0.000593038 0.00797307 0.0168504 0.0169775 0.000349404 -0.00132059 0.00245652 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 355 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 78.1804 0 0 newEnergyL 0 lastEnergy: 75.1835 0 0 lastEnergyL: 0mActiveResiduals: 355 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 6.14618e-13 -2.58504e-12 -4.65019e-12 4.79177e-12 0.000871164 -0.00401293 -0.00472656 0.000383792 0.000773305 -0.00291459 0.00801858 0.00392028 0.000441261 0.000285779 1.60078e-05 -0.00300481 0.00322734 0.00485444 0.00207528 0.00124202 0.000431983 -0.00299387 0.0040991 0.00150612 0.00965029 0.00185358 -0.000166995 -0.00203791 0.00271562 0.000114127 0.00718372 0.00192454 -0.000299056 -0.0016736 -0.000553977 -0.00999909 -0.00597485 -0.000499456 3.57631e-05 -0.00122636 -0.00179829 0.0180174 -0.00442274 0.00252918 0.00068803 -0.00210854 -0.00880127 -0.0143087 -0.0173417 -3.07563e-05 0.00128359 -0.00270649 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 355 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 74.6982 0 0 newEnergyL 0 lastEnergy: 78.1804 0 0 lastEnergyL: 0mActiveResiduals: 355 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 74.6982 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 355 INF|LocalMapper.cpp[optimize,345]: End Energy: 74.6982 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.469413 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.469413 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 0 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 0 with idx: 0 and allID: 0 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 0<->0 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 2<->0 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->0 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->0 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 0->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 21<->0 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 0->21 INF|LocalMapper.cpp[marginalizeFrame,772]: 22<->0 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 0->22 INF|LocalMapper.cpp[marginalizeFrame,801]: 0 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 0 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 5397 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x20b9160 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 24 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 9 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 0 with distance 0.198Found rest min at: 8 with distance 0.086 overall min: 0.086 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 0 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 649 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 24 into DB 0.198 0 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 0 and real id(0) current kf: 24(42) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.403217 0.00323018 0.915099 0.188162 0.411645 0.892467 -0.184532 1.20953 -0.817291 0.451102 0.358528 0.72651 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 0 currFrame: 24 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00197731 edge: 24 to 0 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 24 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 42(1311875573.818145) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 11,0.999874 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:835/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 24 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 42(1311875573.818145) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.967739 0.0426819 0.248314 -1.08205 -0.0462892 0.99889 0.0087039 -0.206898 -0.247667 -0.0199174 0.968641 1.11959 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999763 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:274/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 24 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 42(1311875573.818145) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.967735 0.0427251 0.248323 -1.08198 -0.0463289 0.998888 0.00868422 -0.206916 -0.247676 -0.0199085 0.968638 1.11961 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 9,0.999594 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:549/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.967768 0.0588885 0.24486 -1.05454 -0.0600997 0.998189 -0.00252891 -0.170563 -0.244566 -0.0122686 0.969555 1.14293 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 0 end 3 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!43 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 8315 o[1]: 1720 o[2]: 106 o[3]: 2 histWeights: 1 1 1.25 1.5overlap: 1855.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 1795 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 0 and 24 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 24 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 24 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 5225 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 43 keyframes 25 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 527 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 44 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!44 INF|Input.cpp[getImages,132]: mNbReceivedImages!45 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.847096 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999741 0.00999456 -0.0204474 -0.000594151 -0.00997387 0.99995 0.00111352 0.00607689 0.0204575 -0.000909293 0.99979 -0.017688 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 24 to 13812555342429523867 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.847096) and 42(1311875573.818145) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999741 0.00999456 -0.0204474 -0.000594151 -0.00997387 0.99995 0.00111352 0.00607689 0.0204575 -0.000909293 0.99979 -0.017688 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999904 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:697/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 24 to 13812555342429523867 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.847096) and 42(1311875573.818145) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999828 0.0096361 -0.0158424 -0.00751942 -0.00960674 0.999952 0.00192825 -0.023487 0.0158602 -0.00177572 0.999873 -0.0195536 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.99993 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:707/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 24 to 13812555342429523867 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.847096) and 42(1311875573.818145) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999831 0.0097229 -0.0156133 -0.00364015 -0.0096729 0.999948 0.0032749 -0.0177514 0.0156443 -0.00312332 0.999873 -0.0141866 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 9,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1034/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.549399 resInfo good: 1795, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2748/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999836 0.0102504 -0.0149141 -0.00307387 -0.010228 0.999946 0.00158072 -0.00392366 0.0149295 -0.00142792 0.999888 -0.0119933 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!43 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!44 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 45 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!45 INF|Input.cpp[getImages,132]: mNbReceivedImages!46 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.886797 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999345 0.0205199 -0.0298078 -0.00600858 -0.0204301 0.999786 0.00331372 -0.00783462 0.0298694 -0.00270257 0.99955 -0.0240254 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 24 to 13812555342429523867 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.886797) and 42(1311875573.818145) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999345 0.0205199 -0.0298078 -0.00600858 -0.0204301 0.999786 0.00331372 -0.00783462 0.0298694 -0.00270257 0.99955 -0.0240254 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 4): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:789/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 24 to 13812555342429523867 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.886797) and 42(1311875573.818145) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999452 0.0201136 -0.0262915 -0.0164861 -0.0202139 0.999789 -0.00355783 -0.00409015 0.0262144 0.00408734 0.999648 -0.0260934 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 6): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:900/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 24 to 13812555342429523867 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.886797) and 42(1311875573.818145) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999428 0.0207553 -0.0267076 -0.00923686 -0.0207536 0.999785 0.000339547 -0.00997255 0.0267089 0.000214927 0.999643 -0.02176 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999344 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:574/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.733765 resInfo good: 1795, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2584/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999429 0.0213351 -0.0261922 -0.00819049 -0.0213284 0.999772 0.000534476 -0.00480554 0.0261976 2.44652e-05 0.999657 -0.0188735 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!44 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!45 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 46 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!46 INF|Input.cpp[getImages,132]: mNbReceivedImages!47 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.917831 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998772 0.0324 -0.0374778 -0.0132385 -0.0324372 0.999474 -0.000386407 -0.00562231 0.0374456 0.00160161 0.999297 -0.0258123 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 24 to 13812555342429523867 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.917831) and 42(1311875573.818145) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998772 0.0324 -0.0374778 -0.0132385 -0.0324372 0.999474 -0.000386407 -0.00562231 0.0374456 0.00160161 0.999297 -0.0258123 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999931 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:388/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 24 to 13812555342429523867 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.917831) and 42(1311875573.818145) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998911 0.029432 -0.0361892 -0.0270831 -0.0297488 0.999523 -0.00824741 0.0400636 0.0359292 0.00931501 0.999311 -0.0257338 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999154 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:522/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 24 to 13812555342429523867 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.917831) and 42(1311875573.818145) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998847 0.0296925 -0.0377138 -0.0144496 -0.0296998 0.999559 0.00036636 0.0158408 0.0377081 0.000754154 0.999289 -0.0282683 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999572 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:230/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.923855 resInfo good: 1792, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1447/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998863 0.0295509 -0.0373976 -0.0161857 -0.029504 0.999563 0.00180555 0.0129933 0.0374346 -0.000700121 0.999299 -0.0247895 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!45 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!46 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 47 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.950625 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!47 INF|Input.cpp[getImages,132]: mNbReceivedImages!48 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998104 0.0377723 -0.0485875 -0.0239675 -0.0376627 0.999285 0.00316819 0.0308508 0.0486725 -0.00133224 0.998814 -0.030812 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 24 to 13812555342429523867 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.950625) and 42(1311875573.818145) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998104 0.0377723 -0.0485875 -0.0239675 -0.0376627 0.999285 0.00316819 0.0308508 0.0486725 -0.00133224 0.998814 -0.030812 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999656 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:508/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 24 to 13812555342429523867 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.950625) and 42(1311875573.818145) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998219 0.0337639 -0.049183 -0.0279394 -0.0333246 0.999397 0.00972481 0.0368519 0.0494817 -0.00806849 0.998742 -0.0274215 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999951 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:502/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 24 to 13812555342429523867 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.950625) and 42(1311875573.818145) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998219 0.0340927 -0.0489541 -0.0241294 -0.0333026 0.999303 0.0168663 0.0184365 0.049495 -0.015206 0.998659 -0.0271466 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.99952 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:224/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.05627 resInfo good: 1771, 24 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1539/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998218 0.0345851 -0.0486232 -0.0226407 -0.0336825 0.999247 0.019263 0.0123259 0.0492528 -0.0175909 0.998631 -0.02712 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875573.950625 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875573.950625 to keyframe with id: 13812555342429523867 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875573.950625 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 552 size: 1842 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId13812555342429523867 timestamp: 1311875573.950625 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 25 = 25 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x48db180 fh1 0x2112300fh->id: 2 25 46goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x48db180 fh1 0x29bcaa0fh->id: 7 25 46goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x48db180 fh1 0x20f1be0fh->id: 16 25 46goodE: 42 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x48db180 fh1 0x20e22c0fh->id: 21 25 46goodE: 35 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x48db180 fh1 0x28f8c80fh->id: 22 25 46goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x48db180 fh1 0x2ae6dc0fh->id: 23 25 46goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x48db180 fh1 0x20b9160fh->id: 24 25 46goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew25 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 62 out of 70 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 70 newEdgePixels: 70 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 510 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 76 lastEnergy: 130.537 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 12 INF|LocalMapper.cpp[optimize,276]: Start Energy: 130.537 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 3.74804e-12 3.96365e-13 3.23743e-12 1.44795e-12 -0.0013771 -0.00303609 0.00401629 0.00042273 5.37567e-05 0.000723486 0.00226312 -0.00373106 0.00411373 0.000145815 -0.000445885 0.000954735 -0.00549789 -0.00133308 -0.00165857 0.000105597 0.000499154 0.000628612 -0.0038707 0.000656154 0.00100341 -0.000163591 0.000202835 0.00161324 -0.00390464 0.004207 0.013179 0.00142187 0.000427707 0.0016934 -0.00713829 0.0181467 -0.00487051 0.00306308 0.00056556 0.00176356 -0.00188629 0.00818552 0.0127163 0.000930089 -0.000160406 0.000969172 -0.00433995 -0.0071993 0.0048264 -0.000401582 -6.16731e-05 -0.00025674 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 510 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 122.331 0 0 newEnergyL 0 lastEnergy: 130.537 0 0 lastEnergyL: 0mActiveResiduals: 510 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.74604e-12 3.62054e-13 -3.18786e-12 -3.4911e-12 0.000663012 -0.000897933 3.66098e-05 -9.59129e-05 -7.26102e-05 2.05203e-05 -0.00159587 0.000844823 0.000960719 0.0001212 0.000205616 -6.78282e-05 0.00319014 -0.00590641 0.000933581 -0.00062299 -0.000414243 -0.000102158 0.00447062 -0.00472741 0.00507076 -0.000173113 -0.000497231 -0.000744791 0.0065251 0.00420965 -0.000815651 -0.000406297 -0.00105871 -0.000584209 0.00254492 -0.036693 0.00640712 -0.00511763 -0.000289969 -0.00134063 0.00573263 -0.00883975 -3.25031e-05 -0.0013277 -0.00109616 -0.000607937 0.00233821 -0.00868117 0.0114229 -0.00139394 -0.000723693 -0.000315654 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 510 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 121.89 0 0 newEnergyL 0 lastEnergy: 122.331 0 0 lastEnergyL: 0mActiveResiduals: 510 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 3.46503e-12 -3.21178e-13 7.16157e-12 1.68407e-12 0.00350417 -0.00255743 0.00141221 -0.000794835 9.47922e-05 -0.000456788 0.0112062 -0.00047771 0.00242216 -0.000658424 -0.000116625 -0.000481264 0.00830959 -0.0103572 0.00209374 -0.000488813 -0.000208403 -0.0012339 -0.00685039 -0.00325708 -0.01082 0.000418099 0.00111464 -0.00104272 -0.00118794 -0.00479133 0.00186564 0.00245832 0.0007379 -0.00127964 0.00216015 0.0221565 -0.0109371 0.00564497 -0.000175819 -0.000373197 -0.00134954 0.00238178 0.00143247 0.00319618 -3.20866e-05 -0.000965172 -0.00476548 -0.00257825 -0.00168865 0.0026532 -7.74447e-05 -0.00174915 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 510 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 131.472 0 0 newEnergyL 0 lastEnergy: 121.89 0 0 lastEnergyL: 0mActiveResiduals: 510 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.14258e-12 3.5223e-13 -8.53461e-12 -5.45895e-12 -0.00137361 0.00226678 -0.0017326 0.000403661 1.55714e-05 0.000782653 -0.00608539 0.00291954 -0.00181374 0.000386117 4.95464e-05 0.00114653 -0.00234238 0.00780359 -0.000261925 0.000127514 4.42782e-05 0.000720798 0.000941279 -0.00246742 0.00338882 -0.00104617 -7.38471e-05 0.000772834 -0.00867848 -0.00320277 -0.00773023 -0.00240158 0.00097991 5.1806e-05 0.00211583 0.00825125 0.00563531 -0.00156949 -7.26847e-05 0.000440901 0.00340141 -0.000376924 2.29459e-05 -0.00229212 -0.00030948 0.000156169 0.00241614 -0.0142738 0.00989455 -0.00346978 2.09884e-05 -3.96703e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 510 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 116.157 0 0 newEnergyL 0 lastEnergy: 131.472 0 0 lastEnergyL: 0mActiveResiduals: 510 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.38105e-12 9.69359e-13 4.7678e-12 1.12764e-12 -0.0047511 0.0018056 -0.000895309 -0.000717417 0.000340906 0.00171423 -0.00115133 0.00292276 -0.00180761 -0.00105752 0.000133104 0.00140143 -0.00291087 -0.00355106 -0.00612315 -0.00217748 0.000584533 0.000697283 0.00110944 0.00190043 0.00086642 -0.00162815 0.000216233 -0.000189679 0.0096219 0.012804 0.00519766 0.000653005 -0.000731571 0.00105319 -0.00807769 -0.0159728 0.00424081 -0.00208629 0.000612264 7.3343e-05 0.000438946 -0.00936637 0.00566687 -0.00164518 0.000188108 1.38584e-05 -0.00123701 0.0106258 -0.00263891 0.000375599 -0.000208949 -0.000563106 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 510 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 122.911 0 0 newEnergyL 0 lastEnergy: 116.157 0 0 lastEnergyL: 0mActiveResiduals: 510 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.82144e-12 -2.73319e-12 -5.18327e-12 7.87992e-13 0.00569473 -0.00393851 0.000693755 0.00101635 -0.000218073 -0.00174164 0.00301132 -0.00705129 0.0013859 0.00116202 -0.000218461 -0.00141914 0.00216065 0.00440349 0.00467687 0.00266573 -0.000242387 -0.000303005 0.00160046 0.00924357 0.00141258 0.00323726 -0.000577299 -0.000457441 -0.00916585 -0.00648617 -0.00738992 0.000643637 0.000731203 -0.00135138 0.00369797 0.00745457 -0.005721 0.00167118 -0.00035158 -0.000820827 -0.00227108 0.0087265 -0.0063152 0.00229785 -0.000117778 -0.000152222 0.00318027 -0.0133946 0.00459025 9.02005e-05 -0.000190212 0.000108831 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 510 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 116.901 0 0 newEnergyL 0 lastEnergy: 122.911 0 0 lastEnergyL: 0mActiveResiduals: 510 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 116.901 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 510 INF|LocalMapper.cpp[optimize,345]: End Energy: 116.901 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.48944 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.48944 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 2 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 2 with idx: 0 and allID: 3 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 2<->2 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->2 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->2 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 21<->2 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 22<->2 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 23<->2 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 24<->2 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 25<->2 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 2 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 3: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 1/1: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 0/0: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 0 allId: 0 Input.cpp[readImages,206]: Got image from sensor!47 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.99998 -0.00158441 -0.00612317 0.0759409 0.000251651 0.977315 -0.211789 0.812099 0.00631983 0.211783 0.977296 0.519702 worldPose: 0.999981 -0.00122671 -0.00607875 0.075876 -8.75309e-05 0.97735 -0.211631 0.811955 0.00620067 0.211627 0.977331 0.518109 after: 0.999981 -0.00122671 -0.00607875 0.075876 -8.75309e-05 0.97735 -0.211631 0.811955 0.00620067 0.211627 0.977331 0.518109 worldPose of new: 1 0.000340179 0.000119172 -0.000403033 -0.000340198 1 0.00015974 -0.000200559 -0.000119118 -0.00015978 1 -0.00145419 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.99998 -0.00158441 -0.00612317 0.0759409 0.000251651 0.977315 -0.211789 0.812099 0.00631983 0.211783 0.977296 0.519702 INF|Mapper.cpp[changeRefFrame,578]: Updating: 4 from old kf id: 2/3 with new ref frame: 0/0 INF|Mapper.cpp[changeRefFrame,578]: Updating: 5 from old kf id: 2/3 with new ref frame: 0/0 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 3 after changeRefFrame: 0.99998 -0.00158441 -0.00612317 0.0759409 0.000251651 0.977315 -0.211789 0.812099 0.00631983 0.211783 0.977296 0.519702 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 2 to normal frame with refFrame: 0 frame id kf: 3 newref id: 0 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 2 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6067 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x48db180 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 25 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 10 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 0 with distance 0.212Found rest min at: 9 with distance 0.098 overall min: 0.098 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 0 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 661 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 25 into DB 0.212 0 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 0 and real id(0) current kf: 25(46) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.359254 0.00628041 0.933219 0.233273 0.448063 0.876024 -0.178383 1.18565 -0.818643 0.482226 0.311901 0.706923 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 0 currFrame: 25 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00194628 edge: 25 to 0 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 25 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 46(1311875573.950625) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999696 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:371/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 25 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 46(1311875573.950625) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997423 0.054473 0.0466992 -0.279775 -0.0571681 0.996651 0.0584626 -0.206218 -0.0433581 -0.0609816 0.997197 -0.107047 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999403 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:323/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 25 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 46(1311875573.950625) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.996651 0.0561582 0.0594465 -0.349844 -0.0597561 0.996373 0.0605817 -0.213951 -0.0558287 -0.0639311 0.996391 -0.102487 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999918 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:253/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.99623 0.0580661 0.0644599 -0.375539 -0.0619663 0.996258 0.0602521 -0.213589 -0.0607201 -0.0640193 0.9961 -0.0973148 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 0 end 3 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 48 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 7519 o[1]: 1206 o[2]: 164 o[3]: 5 histWeights: 1 1 1.25 1.5overlap: 1418.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 1842 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 0 and 25 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 25 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 25 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 4265 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 47 keyframes 26 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 559 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875573.983667 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!48 INF|Input.cpp[getImages,132]: mNbReceivedImages!49 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999929 0.00272461 -0.0116153 -0.00396127 -0.00256211 0.999899 0.0139823 0.0178024 0.0116522 -0.0139515 0.999835 -0.00826468 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 25 to 30107376 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.983667) and 46(1311875573.950625) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999929 0.00272461 -0.0116153 -0.00396127 -0.00256211 0.999899 0.0139823 0.0178024 0.0116522 -0.0139515 0.999835 -0.00826468 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 6): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:961/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 25 to 30107376 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.983667) and 46(1311875573.950625) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999886 0.0023269 -0.0149502 0.000152873 -0.0021689 0.999942 0.010576 -0.0114969 0.014974 -0.0105424 0.999832 -0.0107445 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 11,0.999975 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1298/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 25 to 30107376 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875573.983667) and 46(1311875573.950625) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99992 0.00204772 -0.0124627 -0.00315044 -0.00190427 0.999932 0.0115118 -0.00439173 0.0124854 -0.0114871 0.999856 -0.00457215 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:683/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.561921 resInfo good: 1842, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3288/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999931 0.00261881 -0.0114683 -0.0027615 -0.00246428 0.999906 0.0134687 -0.00793869 0.0115025 -0.0134395 0.999844 -0.00355608 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!47 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!48 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 49 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.019919 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!49 INF|Input.cpp[getImages,132]: mNbReceivedImages!50 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999723 0.00539133 -0.0228987 -0.00550283 -0.00477323 0.999625 0.0269623 -0.0159177 0.0230354 -0.0268455 0.999374 -0.00703667 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 25 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.019919) and 46(1311875573.950625) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999723 0.00539133 -0.0228987 -0.00550283 -0.00477323 0.999625 0.0269623 -0.0159177 0.0230354 -0.0268455 0.999374 -0.00703667 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999828 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1236/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 25 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.019919) and 46(1311875573.950625) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99968 0.00914112 -0.0235884 -0.00111054 -0.00853452 0.999634 0.02569 -0.0438416 0.0238146 -0.0254804 0.999392 -0.0160877 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999949 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1016/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 25 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.019919) and 46(1311875573.950625) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999751 0.0100042 -0.0199566 -0.00712127 -0.00948781 0.999622 0.0258054 -0.0314889 0.0202072 -0.0256096 0.999468 -0.00739744 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:663/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.798845 resInfo good: 1841, 1 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3275/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999763 0.0103849 -0.0191583 -0.00597297 -0.00985803 0.999576 0.0273932 -0.0333282 0.0194347 -0.0271979 0.999441 -0.00786009 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!48 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!49 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 50 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.049515 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!50 INF|Input.cpp[getImages,132]: mNbReceivedImages!51 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999634 0.0143072 -0.0229622 -0.00763883 -0.0135131 0.999318 0.0343748 -0.0460354 0.0234383 -0.0340519 0.999145 -0.00989013 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 25 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.049515) and 46(1311875573.950625) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999634 0.0143072 -0.0229622 -0.00763883 -0.0135131 0.999318 0.0343748 -0.0460354 0.0234383 -0.0340519 0.999145 -0.00989013 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999997 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:681/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 25 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.049515) and 46(1311875573.950625) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999557 0.0169204 -0.0244766 -0.00511228 -0.0160801 0.999288 0.03413 -0.0406342 0.0250367 -0.0337213 0.999118 -0.0157009 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1222/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 25 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.049515) and 46(1311875573.950625) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999625 0.0176989 -0.0208898 -0.0100701 -0.0169579 0.999239 0.03513 -0.0328473 0.0214956 -0.0347625 0.999164 -0.00825884 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999824 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:397/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.855851 resInfo good: 1835, 7 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2647/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999624 0.0179163 -0.0207636 -0.00679279 -0.0171702 0.99922 0.0355698 -0.0300537 0.0213846 -0.0351999 0.999151 -0.0101948 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!49 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 526 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!50 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 51 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.087990 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!51 INF|Input.cpp[getImages,132]: mNbReceivedImages!52 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999533 0.0216864 -0.021543 -0.00719191 -0.0208199 0.998996 0.0396616 -0.0284212 0.0223815 -0.0391946 0.998981 -0.0113726 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 25 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.087990) and 46(1311875573.950625) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999533 0.0216864 -0.021543 -0.00719191 -0.0208199 0.998996 0.0396616 -0.0284212 0.0223815 -0.0391946 0.998981 -0.0113726 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1096/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 25 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.087990) and 46(1311875573.950625) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999453 0.0230404 -0.0237256 -0.0113337 -0.0221378 0.999047 0.0376259 -0.0338527 0.0245699 -0.0370801 0.99901 -0.0175148 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1046/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 25 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.087990) and 46(1311875573.950625) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999502 0.0242997 -0.0201149 -0.0169435 -0.0234505 0.998866 0.0414253 -0.039129 0.0210987 -0.040933 0.998939 -0.0087444 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999732 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:313/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.914073 resInfo good: 1832, 10 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2811/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999492 0.0248063 -0.0200061 -0.0138393 -0.0239447 0.998822 0.0422126 -0.0361026 0.0210296 -0.0417121 0.998908 -0.0093103 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!50 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!51 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 52 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!52 INF|Input.cpp[getImages,132]: mNbReceivedImages!53 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.118404 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 7 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999492 0.0248063 -0.0200061 -0.0138393 -0.0239447 0.998822 0.0422126 -0.0361026 0.0210296 -0.0417121 0.998908 -0.0093103 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 25 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.118404) and 46(1311875573.950625) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999492 0.0248063 -0.0200061 -0.0138393 -0.0239447 0.998822 0.0422126 -0.0361026 0.0210296 -0.0417121 0.998908 -0.0093103 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999742 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2038/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 25 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.118404) and 46(1311875573.950625) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999274 0.0284455 -0.0253459 -0.010998 -0.0273599 0.998735 0.0421952 -0.035931 0.0265141 -0.0414711 0.998788 -0.0214837 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999917 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1937/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 25 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.118404) and 46(1311875573.950625) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999339 0.0298113 -0.0207825 -0.0196568 -0.028824 0.998512 0.0462904 -0.0435484 0.0221315 -0.0456608 0.998712 -0.00892817 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1555/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.975855 resInfo good: 1831, 11 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6385/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999322 0.0309108 -0.0200076 -0.0196249 -0.0299093 0.998373 0.0485552 -0.0479877 0.0214759 -0.0479239 0.99862 -0.00931705 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!51 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1152 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!52 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 53 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.149437 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!53 INF|Input.cpp[getImages,132]: mNbReceivedImages!54 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999223 0.0339626 -0.0199938 -0.0225449 -0.0328901 0.99812 0.0517257 -0.0539169 0.0217129 -0.051028 0.998461 -0.00929329 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 25 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.149437) and 46(1311875573.950625) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999223 0.0339626 -0.0199938 -0.0225449 -0.0328901 0.99812 0.0517257 -0.0539169 0.0217129 -0.051028 0.998461 -0.00929329 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:994/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 25 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.149437) and 46(1311875573.950625) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999136 0.0331258 -0.0251059 -0.0230102 -0.0319806 0.998488 0.0447193 -0.0335652 0.0265493 -0.0438778 0.998684 -0.0148976 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 7): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1403/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 25 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.149437) and 46(1311875573.950625) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999194 0.0332535 -0.0225049 -0.0259769 -0.0320415 0.998121 0.0522305 -0.0554319 0.0241994 -0.0514673 0.998381 -0.00640307 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999213 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:418/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.04682 resInfo good: 1831, 11 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3308/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999179 0.0344104 -0.0213857 -0.027825 -0.0331961 0.997948 0.0547525 -0.0612373 0.0232259 -0.0539976 0.998271 -0.00632708 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875574.149437 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875574.149437 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875574.149437 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 773 size: 1849 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875574.149437 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 12 keyframeId: 7 score: -10.0444 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -12.9847 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 35 keyframeId: 21 score: -12.2233 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 37 keyframeId: 22 score: -23.5669 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 39 keyframeId: 23 score: -23.541 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 42 keyframeId: 24 score: -14.8795 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 26 = 26 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x31a4760 fh1 0x29bcaa0fh->id: 7 26 52goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x31a4760 fh1 0x20f1be0fh->id: 16 26 52goodE: 36 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x31a4760 fh1 0x20e22c0fh->id: 21 26 52goodE: 42 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x31a4760 fh1 0x28f8c80fh->id: 22 26 52goodE: 10 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x31a4760 fh1 0x2ae6dc0fh->id: 23 26 52goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x31a4760 fh1 0x20b9160fh->id: 24 26 52goodE: 42 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x31a4760 fh1 0x48db180fh->id: 25 26 52goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew26 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 48 out of 50 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 50 newEdgePixels: 50 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 655 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 106 lastEnergy: 175.104 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 19 INF|LocalMapper.cpp[optimize,276]: Start Energy: 175.104 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 3.21043e-12 2.21368e-12 1.11712e-12 -1.51244e-12 -0.00740254 0.00288984 -0.000611286 0.000230401 9.25018e-05 -2.78124e-05 0.000508736 0.00510202 0.00153515 0.000494008 -0.000746957 -0.000380769 -0.000667041 -0.00839886 0.00583243 -0.00126714 -0.00037988 0.00108815 0.0103578 0.00893515 0.0119975 0.0012988 -0.00221113 0.00123453 0.0115971 0.0223098 0.00980553 0.00323458 -0.00195999 0.00123417 0.00297438 0.00608072 0.017279 0.00071254 -0.00107443 0.000272799 -0.00261514 0.0157294 0.00443988 0.00165354 -0.000943338 0.000534636 0.00285738 -0.00658973 0.00957161 -0.00137563 -0.00172194 0.00110799 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 655 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 168.949 0 0 newEnergyL 0 lastEnergy: 175.104 0 0 lastEnergyL: 0mActiveResiduals: 655 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.43695e-12 -3.34455e-12 -7.37396e-12 -1.0407e-12 0.00184429 -0.00112582 -0.000514489 -0.000139825 -0.000193857 -9.36476e-05 -0.00161227 0.0047742 -0.00283582 0.000469262 0.000325838 0.000176257 -0.00395823 0.0100945 -0.00903056 0.00114811 0.000593478 5.29696e-05 -0.00792093 0.00315042 -0.00687114 -0.000378344 0.00136115 -0.000281101 -0.0197085 -0.0249963 -0.00712519 -0.00390561 0.00248455 -0.000611664 -0.00563652 -0.0034945 -0.0120155 -0.000997116 0.000895054 0.000969542 0.00478669 -0.00715121 -0.00672951 -0.00166426 0.000264811 0.000781579 -0.00268752 -0.00554607 -0.00878482 -0.00127837 0.000874068 0.000820552 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 655 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 165.855 0 0 newEnergyL 0 lastEnergy: 168.949 0 0 lastEnergyL: 0mActiveResiduals: 655 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 9.60912e-13 3.48218e-12 1.02367e-11 5.14278e-13 -0.000491415 0.00155461 0.00522872 -0.000539567 0.00047076 0.00163388 -0.00474837 -0.00251807 -0.00126998 -0.000936681 0.00043077 0.00134188 0.00150723 -0.00787138 0.00205313 -0.00162846 -0.000299813 0.000885021 0.0047555 -0.00354248 0.00125045 0.000455679 -0.000940798 0.00127534 0.00999853 0.0157967 0.00081829 0.00300364 -0.00147613 0.00122534 0.00353935 -0.00149858 0.000970547 0.000449601 -0.000815324 0.000266014 -0.00866629 0.00376042 -0.00480944 0.00100631 -2.30672e-06 0.000541883 -0.00242834 -0.00751516 -0.00215798 -0.000191614 -0.000538866 0.000354781 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 655 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 173.091 0 0 newEnergyL 0 lastEnergy: 165.855 0 0 lastEnergyL: 0mActiveResiduals: 655 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.48074e-13 -3.64287e-12 -1.20912e-11 -2.10745e-12 0.000154171 -0.00420512 -0.0025756 0.000271446 -0.00023406 -0.000662769 0.00725491 0.00366411 0.00282883 0.000856769 -0.000563063 -0.000762635 -0.00645807 0.00454195 -0.00773634 0.000701992 0.000802351 -0.000362054 -0.00154258 -0.000104609 0.00187548 -0.000797906 0.000459213 -0.000644552 0.000931962 0.00936439 0.00434256 -0.000160811 0.000248525 -0.00052812 -0.00362334 -0.00233775 -0.00161623 -0.000838539 0.000579968 0.000105455 0.00104788 -0.00760479 0.00270608 -0.00132681 0.000553348 -5.66621e-05 0.00142871 -0.002191 -0.0021062 -0.000536336 0.000355806 7.52344e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 655 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 160.526 0 0 newEnergyL 0 lastEnergy: 173.091 0 0 lastEnergyL: 0mActiveResiduals: 655 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -7.63392e-13 4.27866e-12 1.38457e-11 2.06656e-12 0.00118161 0.00277019 -0.00191472 -0.000309779 -8.47678e-05 0.000530263 -0.00552619 -0.000935948 -0.00255369 -0.00100614 0.000560364 0.000868544 0.00435575 -0.00404689 0.00509142 -0.00108799 -0.000179321 0.000180228 0.00202032 0.00986833 -0.00274978 0.00132648 -0.000192071 -0.000290377 -0.0100312 -0.0201568 0.00179242 -0.00138699 0.000977597 -0.000480909 0.0038695 0.00609129 0.002605 0.00105921 -0.000285618 -0.000389477 0.00307546 0.00839873 -0.0032293 0.00107894 -0.000675738 -0.000722469 -0.000923732 -0.00175617 0.00153917 -0.000122495 -0.00012334 -0.000383986 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 655 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 163.726 0 0 newEnergyL 0 lastEnergy: 160.526 0 0 lastEnergyL: 0mActiveResiduals: 655 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.35133e-12 -4.44743e-12 -1.26018e-11 1.0341e-12 -0.000961256 -0.00434055 -0.000597856 0.000159877 8.19179e-05 -0.000361486 0.00750681 0.00211688 0.00292184 0.000987717 -0.000604016 -0.00082205 -0.00585835 0.00466614 -0.00857567 0.000892421 0.000515075 -0.000313045 -0.000371191 -0.00386513 0.00372406 -0.000904268 0.000316581 -0.000181564 0.00742942 0.011178 0.00418222 0.000158943 -0.000367945 -0.000247934 -0.0054758 -0.000955307 -0.00302508 -0.000597863 0.00059931 0.000320125 -0.00258761 -0.00641589 0.00268537 -0.00110564 0.000727483 0.000282805 0.00111669 -0.00179567 -0.00326946 -0.000351262 0.000239471 0.000244105 Input.cpp[readImages,206]: Got image from sensor!53 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 655 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 160.674 0 0 newEnergyL 0 lastEnergy: 163.726 0 0 lastEnergyL: 0mActiveResiduals: 655 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 160.674 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 655 INF|LocalMapper.cpp[optimize,345]: End Energy: 160.674 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.498719 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.498719 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 22 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 22 with idx: 3 and allID: 37 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->22 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->22 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 22->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 21<->22 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 22->21 INF|LocalMapper.cpp[marginalizeFrame,772]: 22<->22 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 23<->22 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 22->23 INF|LocalMapper.cpp[marginalizeFrame,801]: 22 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 22 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 7193 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x31a4760 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 26 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 11 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 0 with distance 0.212Found rest min at: 10 with distance 0.08 overall min: 0.08 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 0 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 708 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 26 into DB 0.212 0 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 0 and real id(0) current kf: 26(52) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.340173 0.0410615 0.939466 0.248336 0.483344 0.849339 -0.212137 1.23933 -0.806635 0.526249 0.269076 0.711187 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 0 currFrame: 26 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00261664 edge: 26 to 0 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 0 < 1849 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 26 and 0 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 26 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 26 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 918 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 53 keyframes 27 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 495 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 54 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!54 INF|Input.cpp[getImages,132]: mNbReceivedImages!55 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.185083 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999962 0.00858251 -0.00122803 -0.0202188 -0.00857583 0.999949 0.00534763 0.00561159 0.00127386 -0.0053369 0.999985 0.00519225 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 26 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.185083) and 52(1311875574.149437) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999962 0.00858251 -0.00122803 -0.0202188 -0.00857583 0.999949 0.00534763 0.00561159 0.00127386 -0.0053369 0.999985 0.00519225 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999621 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:732/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 26 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.185083) and 52(1311875574.149437) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999978 -0.00281455 -0.00592533 -0.0134875 0.00281542 0.999996 0.000138617 -0.00355375 0.00592492 -0.000155297 0.999982 0.00801237 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 6): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:922/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 26 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.185083) and 52(1311875574.149437) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999984 -0.00202305 -0.00524266 -0.0103467 0.00203307 0.999996 0.00190769 0.000762813 0.00523878 -0.00191832 0.999984 0.00218677 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 5): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:779/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.432977 resInfo good: 1849, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2793/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999987 -0.00102038 -0.00505521 -0.0083437 0.00103402 0.999996 0.00269691 0.00405932 0.00505244 -0.00270211 0.999984 -0.000745361 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!53 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 472 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!54 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 55 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!55 INF|Input.cpp[getImages,132]: mNbReceivedImages!56 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.218831 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99988 -0.00302006 -0.0151733 -0.0250316 0.00314284 0.999962 0.0080748 0.0121459 0.0151483 -0.00812152 0.999852 -0.00239539 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 26 to 4734778677324152832 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.218831) and 52(1311875574.149437) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99988 -0.00302006 -0.0151733 -0.0250316 0.00314284 0.999962 0.0080748 0.0121459 0.0151483 -0.00812152 0.999852 -0.00239539 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999892 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:413/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 26 to 4734778677324152832 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.218831) and 52(1311875574.149437) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99986 -0.00953939 -0.0137142 -0.0275246 0.00985617 0.999682 0.0232199 -0.095834 0.0134884 -0.0233518 0.999636 0.0152482 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999703 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:360/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 26 to 4734778677324152832 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.218831) and 52(1311875574.149437) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99985 -0.0105769 -0.0137314 -0.0231439 0.011007 0.999439 0.0316367 -0.123846 0.0133891 -0.0317831 0.999405 0.00697743 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999536 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:450/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.91181 resInfo good: 1833, 16 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1567/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999849 -0.0106629 -0.0136967 -0.0203601 0.0110614 0.999508 0.0293613 -0.106375 0.0133769 -0.0295083 0.999475 0.00449524 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!54 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!55 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 56 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.250220 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!56 INF|Input.cpp[getImages,132]: mNbReceivedImages!57 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999543 -0.0200689 -0.0225908 -0.0313531 0.0213058 0.998208 0.0559157 -0.216743 0.0214281 -0.0563715 0.99818 0.0125929 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 26 to 4467613600676062950 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.250220) and 52(1311875574.149437) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999543 -0.0200689 -0.0225908 -0.0313531 0.0213058 0.998208 0.0559157 -0.216743 0.0214281 -0.0563715 0.99818 0.0125929 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999144 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:503/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 26 to 4467613600676062950 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.250220) and 52(1311875574.149437) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999527 -0.0157978 -0.0263799 -0.0346821 0.0166452 0.999342 0.0322173 -0.104172 0.0258536 -0.0326412 0.999133 0.0183681 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 10,0.99928 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:637/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 26 to 4467613600676062950 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.250220) and 52(1311875574.149437) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999588 -0.013996 -0.0250546 -0.0314114 0.0144679 0.999719 0.018754 -0.0230596 0.0247851 -0.0191088 0.99951 0.00724368 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999127 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:242/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.905747 resInfo good: 1812, 37 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1730/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999559 -0.0144698 -0.0259368 -0.0263794 0.0149515 0.999718 0.0184748 -0.0173196 0.0256621 -0.0188544 0.999493 -0.000491427 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!55 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!56 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 57 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.282187 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!57 INF|Input.cpp[getImages,132]: mNbReceivedImages!58 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999103 -0.0184065 -0.0381308 -0.0327089 0.018707 0.999797 0.0075394 0.0717595 0.0379842 -0.00824595 0.999244 -0.00459022 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 26 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.282187) and 52(1311875574.149437) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999103 -0.0184065 -0.0381308 -0.0327089 0.018707 0.999797 0.0075394 0.0717595 0.0379842 -0.00824595 0.999244 -0.00459022 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999908 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:806/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 26 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.282187) and 52(1311875574.149437) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999026 -0.0175037 -0.0405138 -0.0312849 0.018363 0.999612 0.0209374 -0.00820644 0.0401317 -0.0216609 0.99896 0.00613059 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999993 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:412/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 26 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.282187) and 52(1311875574.149437) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999085 -0.0163019 -0.0395275 -0.0279787 0.0171212 0.999644 0.0204768 0.00964546 0.0391796 -0.0211349 0.999009 -0.00412616 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 6): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:733/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.04641 resInfo good: 1751, 98 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2295/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999105 -0.0148664 -0.0396036 -0.0276104 0.0157324 0.999642 0.0216456 0.0139001 0.0392676 -0.0222493 0.998981 -0.00705936 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875574.282187 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875574.282187 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875574.282187 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 629 size: 1625 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875574.282187 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 12 keyframeId: 7 score: -10.2027 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -13.4682 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 35 keyframeId: 21 score: -13.5521 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 39 keyframeId: 23 score: -17.6672 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 42 keyframeId: 24 score: -17.886 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 46 keyframeId: 25 score: -14.5904 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 27 = 27 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x290fc60 fh1 0x29bcaa0fh->id: 7 27 56goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x290fc60 fh1 0x20f1be0fh->id: 16 27 56goodE: 36 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x290fc60 fh1 0x20e22c0fh->id: 21 27 56goodE: 52 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x290fc60 fh1 0x2ae6dc0fh->id: 23 27 56goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x290fc60 fh1 0x20b9160fh->id: 24 27 56goodE: 46 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x290fc60 fh1 0x48db180fh->id: 25 27 56goodE: 25 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x290fc60 fh1 0x31a4760fh->id: 26 27 56goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew27 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 29 out of 33 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 33 newEdgePixels: 33 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 749 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 121 lastEnergy: 194.6 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 21 INF|LocalMapper.cpp[optimize,276]: Start Energy: 194.6 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -2.07292e-12 1.5106e-12 7.04728e-12 -5.17109e-12 0.00212033 0.0048182 -0.00112595 0.000461337 -0.000446962 -0.00122943 -0.0124845 -0.00186537 -0.000437756 5.95433e-05 0.000879476 -0.000288911 0.00184614 -0.00200918 0.000621019 0.000488203 -0.000319086 -0.000292825 -0.00530959 -0.0061449 -0.00174463 0.0010211 0.000207349 0.000612098 0.00310758 -7.38273e-06 -0.00291223 0.00129878 -0.000493858 -0.000613843 0.0036979 0.00821777 -0.00811733 0.00224857 -0.000823446 8.9699e-05 -0.00618819 -0.00566988 -0.00941032 0.000516004 5.88818e-05 -0.000967643 -0.00216685 -0.00206645 -0.0169018 0.0012396 -0.00051988 -0.00047902 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 749 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 186.108 0 0 newEnergyL 0 lastEnergy: 194.6 0 0 lastEnergyL: 0mActiveResiduals: 749 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -7.10543e-13 2.93338e-13 -5.43969e-12 2.96193e-12 -0.00204855 -0.000895672 -0.000765199 -0.000129661 0.000234765 0.000186259 0.00593422 -0.0011427 0.00310831 6.66446e-05 -0.00071388 -0.000492596 -0.00390262 0.00117692 -0.00528072 0.000186746 0.00013976 0.00044734 0.00456396 -0.000751849 0.00787416 -0.000816343 -0.000578322 2.52219e-05 -0.00533039 -0.0020177 0.00312586 -0.00101776 0.000193407 -0.000343491 -0.00430899 0.0111326 0.00773548 0.000371046 0.000439525 0.000585038 0.0064268 -0.00241933 0.00577722 -0.000887498 -0.000513659 -8.56992e-05 0.00625063 -0.00770622 -0.00142635 -0.00128225 -0.000835488 0.000381036 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 749 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 180.584 0 0 newEnergyL 0 lastEnergy: 186.108 0 0 lastEnergyL: 0mActiveResiduals: 749 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -2.88095e-12 1.31039e-12 3.45375e-12 -4.70643e-12 0.00466157 -0.00168051 0.000787933 3.58365e-05 -0.000683167 -0.000460147 -0.00787736 -0.000498473 -0.000565395 -3.70397e-05 0.00076044 0.000149709 0.00188609 -0.00584095 0.00112479 -0.000773709 -4.58391e-05 0.000118142 0.00323924 0.00410219 0.00817145 0.0010093 -0.000258264 -1.32149e-05 0.0056741 0.00628437 0.000412517 0.00134713 -0.000720792 -8.32399e-06 0.0054581 -0.00106313 -0.00546188 0.000436939 -0.000860235 3.08571e-05 -0.00468224 -0.00603101 -0.00680706 -5.02483e-05 -8.22658e-05 -5.80438e-05 -0.00526612 0.00363073 0.000467805 0.00103927 0.000240939 -0.000118454 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 749 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 179.401 0 0 newEnergyL 0 lastEnergy: 180.584 0 0 lastEnergyL: 0mActiveResiduals: 749 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.72846e-12 9.74872e-13 -2.36442e-13 1.39957e-12 -0.00825746 0.00496474 -0.0029468 -0.000111069 0.00079522 0.00136569 0.00537303 0.0018692 -0.00361359 -0.000781464 -0.000506423 0.000615824 -0.00213332 0.00614573 -0.00243426 -0.000322921 0.000449378 0.00055119 -0.000212975 -0.00280637 0.00131914 -0.00214357 0.000343266 0.00055808 -0.00503825 -0.00301816 0.000388563 -0.00225301 0.000919534 -0.000143816 -0.00547174 -0.00339621 0.00685047 -0.00238599 0.00126706 0.000305112 0.00113675 -0.00419594 0.00836398 -0.00241307 0.000775942 -0.000342977 0.00587967 0.00273218 -0.00293568 -0.00170612 -2.56453e-05 -0.000456917 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 749 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 175.159 0 0 newEnergyL 0 lastEnergy: 179.401 0 0 lastEnergyL: 0mActiveResiduals: 749 Input.cpp[readImages,206]: Got image from sensor!57 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.59896e-13 1.21201e-12 4.65877e-12 4.49296e-13 0.00890635 -0.00392169 0.00176223 9.49974e-05 -0.00100898 -0.00170995 -0.00420836 -0.00145484 0.00381815 0.000676 0.000332034 -0.000950394 -0.0030774 -0.00845408 -0.00185807 -0.000328762 0.000279193 -0.000453872 -0.000833863 0.00414644 0.00436187 0.00183863 -0.000208241 -0.000217462 0.00466876 0.00652874 0.000382312 0.0021962 -0.000737617 -3.36537e-05 0.007783 0.00218327 -0.00615405 0.00162581 -0.00129456 -0.00011311 -0.000530042 -0.00240892 -0.00605936 0.0012699 -0.000566782 0.000199895 -0.00486682 0.00136032 -0.00151259 0.00178838 -3.05677e-05 0.000429924 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 749 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 175.038 0 0 newEnergyL 0 lastEnergy: 175.159 0 0 lastEnergyL: 0mActiveResiduals: 749 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 5.11399e-13 -5.40958e-13 -4.12326e-12 2.38325e-12 -0.0081266 0.00122159 -0.00176566 0.000690397 0.000366385 0.000635568 0.00264285 0.00310128 0.000330531 0.000499918 -0.000670549 0.000497337 0.00446317 0.00705344 0.00333358 0.000728124 -0.000860404 0.000928455 0.00198843 -0.00145139 -0.00341832 -0.00162375 -0.000203909 0.000273034 -0.00678656 -0.00161157 -0.00130759 -0.00148948 0.000672881 8.9141e-05 -0.00878522 0.00140419 0.00941008 -0.00107836 0.00139018 0.00047407 0.00148118 -0.00229566 0.00495468 -0.0015612 0.000388477 0.000262293 0.00792481 -0.00726097 -0.00538117 -0.00206961 -0.000567203 -0.000112837 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 749 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 176.831 0 0 newEnergyL 0 lastEnergy: 175.038 0 0 lastEnergyL: 0mActiveResiduals: 749 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 176.831 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 749 INF|LocalMapper.cpp[optimize,345]: End Energy: 176.831 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.499761 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.499761 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 24 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 24 with idx: 4 and allID: 42 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->24 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->24 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 24->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 21<->24 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 24->21 INF|LocalMapper.cpp[marginalizeFrame,772]: 23<->24 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 24->23 INF|LocalMapper.cpp[marginalizeFrame,801]: 24 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 24 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6443 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x290fc60 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 27 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 12 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 0 with distance 0.218Found rest min at: 11 with distance 0.064 overall min: 0.064 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 0 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 661 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 27 into DB 0.218 0 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 0 and real id(0) current kf: 27(56) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.303681 0.0658998 0.950492 0.250164 0.478014 0.852427 -0.211826 1.24003 -0.824185 0.518676 0.227365 0.674053 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 0 currFrame: 27 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00469292 edge: 27 to 0 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 0 < 1625 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 27 and 0 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 27 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 27 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 831 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 57 keyframes 28 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 525 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 58 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!58 INF|Input.cpp[getImages,132]: mNbReceivedImages!59 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.319169 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999929 9.32298e-05 -0.0119332 -0.00606818 -3.00399e-05 0.999986 0.00529535 0.0243062 0.0119336 -0.00529461 0.999915 0.00619652 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.319169) and 56(1311875574.282187) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999929 9.32298e-05 -0.0119332 -0.00606818 -3.00399e-05 0.999986 0.00529535 0.0243062 0.0119336 -0.00529461 0.999915 0.00619652 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999374 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:629/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.319169) and 56(1311875574.282187) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999925 -0.00294024 -0.0118573 -0.00159087 0.002976 0.999991 0.00299968 0.0124812 0.0118483 -0.00303475 0.999925 -0.00341751 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:861/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.319169) and 56(1311875574.282187) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99993 -0.00238984 -0.0115574 0.0028383 0.00251653 0.999937 0.0109604 -0.0145263 0.0115304 -0.0109887 0.999873 -0.0141499 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999408 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:535/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.476544 resInfo good: 1625, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2355/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999954 -0.00177405 -0.0094145 -0.00082495 0.00186596 0.999951 0.00976277 -0.00290875 0.00939672 -0.00977989 0.999908 -0.00448534 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!57 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!58 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 59 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!59 INF|Input.cpp[getImages,132]: mNbReceivedImages!60 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.357311 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 8 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999816 -0.00345586 -0.018845 -0.00160247 0.00382348 0.999802 0.0195066 -0.00586269 0.0187739 -0.0195751 0.999632 -0.00894957 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.357311) and 56(1311875574.282187) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999816 -0.00345586 -0.018845 -0.00160247 0.00382348 0.999802 0.0195066 -0.00586269 0.0187739 -0.0195751 0.999632 -0.00894957 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999651 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1972/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.357311) and 56(1311875574.282187) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999703 -0.000719771 -0.0243796 -0.0172124 0.00101468 0.999926 0.0120864 0.00843729 0.0243691 -0.0121076 0.99963 0.0110189 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.99925 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2223/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.357311) and 56(1311875574.282187) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999727 0.000368374 -0.0233483 -0.0128076 -2.21993e-05 0.99989 0.0148251 0.00690531 0.0233512 -0.0148205 0.999617 0.00185669 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999008 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:769/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.784309 resInfo good: 1623, 2 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5916/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999757 0.000867449 -0.022038 -0.0166858 -0.000510273 0.999869 0.0162077 0.00398209 0.0220491 -0.0161926 0.999626 0.00599343 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!58 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1430 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!59 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 60 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.417565 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!60 INF|Input.cpp[getImages,132]: mNbReceivedImages!61 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999596 0.00221849 -0.028342 -0.0246591 -0.00166774 0.99981 0.0194411 0.00746726 0.0283798 -0.019386 0.999409 0.0111407 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.417565) and 56(1311875574.282187) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999596 0.00221849 -0.028342 -0.0246591 -0.00166774 0.99981 0.0194411 0.00746726 0.0283798 -0.019386 0.999409 0.0111407 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999981 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:793/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.417565) and 56(1311875574.282187) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999464 0.00672779 -0.0320407 -0.0129426 -0.00622134 0.999855 0.0158799 0.00847573 0.0321429 -0.0156721 0.99936 -0.00474641 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1245/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.417565) and 56(1311875574.282187) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999564 0.00823316 -0.028365 -0.0188576 -0.00771807 0.999804 0.0182211 0.00910966 0.0285095 -0.0179942 0.999432 0.0022366 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:712/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.848426 resInfo good: 1619, 6 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3196/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99958 0.00806345 -0.0278403 -0.0171174 -0.00753758 0.999792 0.0189422 0.00924946 0.0279872 -0.0187244 0.999433 0.00189528 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!59 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 575 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!60 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 61 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.452777 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!61 INF|Input.cpp[getImages,132]: mNbReceivedImages!62 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99946 0.0116668 -0.0307336 -0.0173101 -0.011045 0.999732 0.0203246 0.0118803 0.0309625 -0.0199742 0.999321 -0.000159754 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.452777) and 56(1311875574.282187) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99946 0.0116668 -0.0307336 -0.0173101 -0.011045 0.999732 0.0203246 0.0118803 0.0309625 -0.0199742 0.999321 -0.000159754 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:601/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.452777) and 56(1311875574.282187) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999397 0.0139616 -0.0317853 -0.0186992 -0.013377 0.999739 0.0185299 0.00805409 0.0320357 -0.0180935 0.999323 0.00194194 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999507 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:550/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.452777) and 56(1311875574.282187) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999438 0.0149447 -0.030017 -0.0189659 -0.0143166 0.999676 0.0210323 0.00621077 0.0303216 -0.0205908 0.999328 -0.000994102 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999847 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:448/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.89299 resInfo good: 1617, 8 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1942/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999504 0.015451 -0.0274238 -0.0238312 -0.0149051 0.999689 0.0200004 0.0161772 0.0277243 -0.0195817 0.999424 0.00585 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!60 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!61 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 62 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.488691 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999504 0.015451 -0.0274238 -0.0238312 -0.0149051 0.999689 0.0200004 0.0161772 0.0277243 -0.0195817 0.999424 0.00585 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.488691) and 56(1311875574.282187) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999504 0.015451 -0.0274238 -0.0238312 -0.0149051 0.999689 0.0200004 0.0161772 0.0277243 -0.0195817 0.999424 0.00585 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!62 INF|Input.cpp[getImages,132]: mNbReceivedImages!63 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999388 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:618/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.488691) and 56(1311875574.282187) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999328 0.0197627 -0.030866 -0.0172314 -0.0196182 0.999795 0.00497861 0.0717887 0.0309581 -0.00436974 0.999511 0.00192216 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999029 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:500/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.488691) and 56(1311875574.282187) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999402 0.0209153 -0.0275511 -0.021769 -0.020606 0.999722 0.0114629 0.0514344 0.0277832 -0.0108883 0.999555 0.0012446 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 11,0.999118 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:657/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.960432 resInfo good: 1616, 9 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2100/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999551 0.0215765 -0.0207912 -0.039864 -0.0213195 0.999695 0.0125016 0.0508632 0.0210546 -0.0120527 0.999706 0.032644 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!61 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!62 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 63 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.519237 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999543 0.0246575 -0.0174919 -0.0477335 -0.0245076 0.999661 0.00873597 0.0681661 0.0177014 -0.00830329 0.999809 0.0461794 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.519237) and 56(1311875574.282187) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999543 0.0246575 -0.0174919 -0.0477335 -0.0245076 0.999661 0.00873597 0.0681661 0.0177014 -0.00830329 0.999809 0.0461794 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999351 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:745/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.519237) and 56(1311875574.282187) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999382 0.027851 -0.0214517 -0.0463671 -0.027716 0.999594 0.00656691 0.0633989 0.0216259 -0.0059683 0.999748 0.033411 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!63 INF|Input.cpp[getImages,132]: mNbReceivedImages!64 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999057 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:635/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.519237) and 56(1311875574.282187) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999321 0.0281379 -0.0238005 -0.0319623 -0.0278398 0.999531 0.0127663 0.0426937 0.0241485 -0.012095 0.999635 0.00502891 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999848 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:403/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.903372 resInfo good: 1616, 9 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2111/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999344 0.0284314 -0.0224223 -0.0332293 -0.028088 0.999486 0.0154842 0.0333932 0.022851 -0.0148443 0.999629 0.00779014 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!62 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 476 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!63 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 64 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!64 INF|Input.cpp[getImages,132]: mNbReceivedImages!65 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.556679 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 6 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999344 0.0284314 -0.0224223 -0.0332293 -0.028088 0.999486 0.0154842 0.0333932 0.022851 -0.0148443 0.999629 0.00779014 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.556679) and 56(1311875574.282187) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999344 0.0284314 -0.0224223 -0.0332293 -0.028088 0.999486 0.0154842 0.0333932 0.022851 -0.0148443 0.999629 0.00779014 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.99981 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1684/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.556679) and 56(1311875574.282187) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999147 0.0312269 -0.0270163 -0.013096 -0.0304524 0.999126 0.0286213 0.00607428 0.0278865 -0.0277742 0.999225 -0.0409554 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.99996 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1108/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.556679) and 56(1311875574.282187) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999236 0.0326877 -0.0214417 -0.0244931 -0.0320248 0.99902 0.0305614 0.00955392 0.0224196 -0.0298514 0.999303 -0.0261023 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.9994 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:933/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.905881 resInfo good: 1605, 20 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4490/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999286 0.0331989 -0.0180456 -0.0318282 -0.0327077 0.999104 0.0268647 0.0313032 0.0189213 -0.0262552 0.999476 -0.0130569 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!63 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 937 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!64 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 65 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.617833 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!65 INF|Input.cpp[getImages,132]: mNbReceivedImages!66 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999286 0.0331989 -0.0180456 -0.0318282 -0.0327077 0.999104 0.0268647 0.0313032 0.0189213 -0.0262552 0.999476 -0.0130569 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.617833) and 56(1311875574.282187) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999286 0.0331989 -0.0180456 -0.0318282 -0.0327077 0.999104 0.0268647 0.0313032 0.0189213 -0.0262552 0.999476 -0.0130569 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1210/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.617833) and 56(1311875574.282187) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999363 0.0302519 -0.018917 -0.0354844 -0.0297745 0.999243 0.0250268 0.0312096 0.0196598 -0.0244476 0.999508 -0.00599733 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2292/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.617833) and 56(1311875574.282187) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999367 0.0311414 -0.0172265 -0.0345564 -0.0306326 0.999109 0.0290485 0.0229033 0.0181158 -0.0285024 0.99943 -0.0108152 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999567 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:643/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.950266 resInfo good: 1605, 20 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4605/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999403 0.0318709 -0.0133072 -0.0441379 -0.0315204 0.999171 0.0257661 0.0440686 0.0141174 -0.0253313 0.999579 0.00572859 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!64 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 598 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!65 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 66 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.652328 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!66 INF|Input.cpp[getImages,132]: mNbReceivedImages!67 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999403 0.0318709 -0.0133072 -0.0441379 -0.0315204 0.999171 0.0257661 0.0440686 0.0141174 -0.0253313 0.999579 0.00572859 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.652328) and 56(1311875574.282187) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999403 0.0318709 -0.0133072 -0.0441379 -0.0315204 0.999171 0.0257661 0.0440686 0.0141174 -0.0253313 0.999579 0.00572859 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999556 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1046/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.652328) and 56(1311875574.282187) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999456 0.0292848 -0.0151465 -0.0472658 -0.0289201 0.999299 0.0237608 0.0381735 0.0158317 -0.0233099 0.999603 0.0085666 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999498 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:828/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.652328) and 56(1311875574.282187) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999416 0.0298123 -0.0167233 -0.038233 -0.0293443 0.999189 0.027562 0.029688 0.0175315 -0.0270552 0.99948 -0.0128258 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:536/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.92911 resInfo good: 1605, 20 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2786/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999414 0.0307083 -0.0151067 -0.0404951 -0.0302673 0.999133 0.0285995 0.0310759 0.0159718 -0.0281255 0.999477 -0.00863585 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!65 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 526 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!66 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 67 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!67 INF|Input.cpp[getImages,132]: mNbReceivedImages!68 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.685611 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999421 0.0283979 -0.0187153 -0.0330863 -0.0277452 0.999028 0.0342588 0.00498126 0.01967 -0.0337197 0.999238 -0.0372338 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.685611) and 56(1311875574.282187) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999421 0.0283979 -0.0187153 -0.0330863 -0.0277452 0.999028 0.0342588 0.00498126 0.01967 -0.0337197 0.999238 -0.0372338 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999981 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1099/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.685611) and 56(1311875574.282187) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999414 0.0279992 -0.0196863 -0.0409204 -0.0273826 0.999147 0.0309225 0.0120218 0.0205353 -0.0303653 0.999328 -0.0166925 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 7): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1186/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.685611) and 56(1311875574.282187) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999421 0.0288961 -0.0179779 -0.0403825 -0.0282648 0.999007 0.0344336 0.00594066 0.0189551 -0.0339055 0.999245 -0.0186264 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999423 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:509/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.915503 resInfo good: 1605, 20 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3174/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999411 0.0294561 -0.0175817 -0.0389357 -0.0288192 0.998956 0.0354404 0.00692126 0.0186073 -0.0349128 0.999217 -0.0208735 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!66 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 537 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!67 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 68 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!68 INF|Input.cpp[getImages,132]: mNbReceivedImages!69 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.718114 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.9994 0.0282207 -0.0200651 -0.0373146 -0.0273531 0.998731 0.042276 -0.0173147 0.0212327 -0.0417018 0.998904 -0.032941 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.718114) and 56(1311875574.282187) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.9994 0.0282207 -0.0200651 -0.0373146 -0.0273531 0.998731 0.042276 -0.0173147 0.0212327 -0.0417018 0.998904 -0.032941 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999662 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:449/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.718114) and 56(1311875574.282187) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999438 0.0266501 -0.0203111 -0.0347473 -0.0257839 0.998794 0.0417749 -0.0112123 0.0213999 -0.0412277 0.998921 -0.0328699 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999792 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1076/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.718114) and 56(1311875574.282187) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99947 0.0278248 -0.0168684 -0.0391354 -0.0270621 0.998671 0.0438719 -0.0099324 0.0180667 -0.0433922 0.998895 -0.0281127 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999113 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:451/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.938907 resInfo good: 1602, 23 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2359/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999468 0.0282104 -0.0163541 -0.0381337 -0.0274866 0.998701 0.0429106 -0.00153516 0.0175434 -0.0424383 0.998945 -0.0290975 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!67 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 532 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!68 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 69 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.759049 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!69 INF|Input.cpp[getImages,132]: mNbReceivedImages!70 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999495 0.0275841 -0.0157438 -0.0377328 -0.0268232 0.998551 0.0466454 -0.00578607 0.0170077 -0.0461996 0.998787 -0.0331861 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.759049) and 56(1311875574.282187) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999495 0.0275841 -0.0157438 -0.0377328 -0.0268232 0.998551 0.0466454 -0.00578607 0.0170077 -0.0461996 0.998787 -0.0331861 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999901 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:626/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.759049) and 56(1311875574.282187) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999722 0.0225147 -0.00700191 -0.0416082 -0.0222379 0.999054 0.03737 0.0247077 0.00783666 -0.0372039 0.999277 -0.0168716 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 7): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:936/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.759049) and 56(1311875574.282187) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999716 0.0231331 -0.00576548 -0.039388 -0.0228484 0.998711 0.045333 -0.0048601 0.00680674 -0.0451884 0.998955 -0.0248414 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999016 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:387/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.952803 resInfo good: 1603, 22 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2294/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99971 0.0238978 -0.00290243 -0.0456555 -0.0237349 0.99861 0.0470548 -0.00801612 0.0040229 -0.0469723 0.998888 -0.0136835 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!68 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 475 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!69 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 70 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.818903 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!70 INF|Input.cpp[getImages,132]: mNbReceivedImages!71 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999757 0.0217186 0.003817 -0.0493283 -0.02188 0.998552 0.0491454 -0.0112427 -0.0027441 -0.049217 0.998784 -0.00592836 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.818903) and 56(1311875574.282187) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999757 0.0217186 0.003817 -0.0493283 -0.02188 0.998552 0.0491454 -0.0112427 -0.0027441 -0.049217 0.998784 -0.00592836 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.99925 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:499/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.818903) and 56(1311875574.282187) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999723 0.0233987 0.00252283 -0.0482103 -0.0234936 0.998544 0.048555 -0.00996458 -0.00138303 -0.0486008 0.998817 -0.0208849 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999311 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:642/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.818903) and 56(1311875574.282187) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999716 0.0238145 0.00103916 -0.037561 -0.0238353 0.998144 0.056034 -0.0365188 0.000297187 -0.0560429 0.998428 -0.0393696 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999044 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:385/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.970677 resInfo good: 1600, 25 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1859/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999708 0.0240554 0.00249939 -0.0392889 -0.0241559 0.998224 0.0544461 -0.0249415 -0.00118523 -0.0544905 0.998514 -0.0355872 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!69 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!70 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 71 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.856405 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999677 0.0241724 0.00790216 -0.0330474 -0.0246153 0.997783 0.061832 -0.0420314 -0.00639002 -0.0620065 0.998055 -0.0573989 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.856405) and 56(1311875574.282187) on lvl: 2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!71 INF|Input.cpp[getImages,132]: mNbReceivedImages!72 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999677 0.0241724 0.00790216 -0.0330474 -0.0246153 0.997783 0.061832 -0.0420314 -0.00639002 -0.0620065 0.998055 -0.0573989 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999971 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:527/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.856405) and 56(1311875574.282187) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999687 0.0230092 0.00983066 -0.0302158 -0.0235684 0.997849 0.0611652 -0.0402225 -0.00840215 -0.0613778 0.998079 -0.0441211 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999235 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:902/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 27 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.856405) and 56(1311875574.282187) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999544 0.0248771 0.0170867 -0.0468601 -0.0258311 0.997977 0.0580873 -0.012019 -0.0156071 -0.0585022 0.998165 -0.0203746 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 8,0.999145 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:524/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.07047 resInfo good: 1594, 31 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2285/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999483 0.0253658 0.0197645 -0.0520294 -0.026411 0.998162 0.0545503 0.0105208 -0.0183444 -0.0550441 0.998315 -0.0106801 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875574.856405 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875574.856405 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875574.856405 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 726 size: 2422 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875574.856405 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 28 = 28 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2902d00 fh1 0x29bcaa0fh->id: 7 28 70goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2902d00 fh1 0x20f1be0fh->id: 16 28 70goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2902d00 fh1 0x20e22c0fh->id: 21 28 70goodE: 34 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2902d00 fh1 0x2ae6dc0fh->id: 23 28 70goodE: 10 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2902d00 fh1 0x48db180fh->id: 25 28 70goodE: 26 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2902d00 fh1 0x31a4760fh->id: 26 28 70goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2902d00 fh1 0x290fc60fh->id: 27 28 70goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew28 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 80 out of 81 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 81 newEdgePixels: 81 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 664 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 94 lastEnergy: 176.606 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 16 INF|LocalMapper.cpp[optimize,276]: Start Energy: 176.606 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -6.94086e-12 1.27716e-11 1.84261e-11 -1.77973e-12 0.00382902 -0.000574817 0.00315941 -0.000644504 0.000435353 -0.000173444 0.0013921 -0.0068235 5.46494e-05 -0.000905199 0.000350653 -0.000155557 -0.0102494 -0.00550375 -0.0176519 -0.000731349 0.0022914 0.000281235 -0.0181168 -0.00498457 -0.0227863 0.000232457 0.0032539 0.000104181 -0.00699952 -0.0086766 -0.0207032 -7.91819e-05 0.00210225 0.000684464 -0.00666711 -0.00721741 -0.0253672 0.000407421 0.00176477 0.00028634 -0.0149583 -0.00232708 -0.0111315 0.000487691 0.00318637 0.00109989 -0.0118741 -0.0134836 -0.0120688 -0.000653922 0.00315604 -0.000126647 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 664 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 163.646 0 0 newEnergyL 0 lastEnergy: 176.606 0 0 lastEnergyL: 0mActiveResiduals: 664 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 6.04697e-12 -6.59956e-12 -7.36573e-12 5.83114e-12 4.41006e-05 0.000260491 3.98597e-05 2.13228e-05 -9.5598e-06 6.74638e-05 -0.00102235 -0.00132106 -0.00113212 -9.91189e-05 0.00018318 -0.000159964 0.00314596 0.00110566 0.00743806 0.000178134 -0.000672694 3.97831e-05 0.00732159 0.00498349 0.00422686 5.29893e-05 -0.00068669 -0.000107424 0.00360493 0.000950003 0.00527551 -0.00040225 -0.000665166 -0.000782808 0.00179983 -0.00615229 0.00716399 -0.00106288 -0.000465229 -0.000521758 0.00362027 0.00191289 0.00846952 -0.000296901 -0.000673699 -0.000457284 0.00162756 0.00330569 0.00842345 0.000170565 -0.000292408 -3.31895e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 664 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 155.825 0 0 newEnergyL 0 lastEnergy: 163.646 0 0 lastEnergyL: 0mActiveResiduals: 664 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.21965e-12 3.97903e-12 2.10272e-12 -9.31884e-12 0.00272122 -0.00400497 0.000303024 -0.000119466 -0.00042534 -0.00109408 0.0044566 -0.00161583 0.0040526 0.000332385 -0.000722932 -0.000711286 0.00136679 0.00235673 -0.000319246 0.000904806 -0.000242689 -0.00103351 -0.00793965 -0.00289272 0.000615349 0.000910255 0.000407032 -0.000673697 -0.00168493 0.000891677 -0.00160044 0.0012452 -0.000308832 -0.000658925 0.00107139 0.0042925 -0.00447076 0.00175774 -0.000616622 -0.000140667 0.00187457 -0.000828619 0.00211095 0.00123678 -0.000408594 -0.000360781 0.00332801 0.000377895 -0.00426185 0.0015015 -0.000738653 0.000253665 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 664 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 152.71 0 0 newEnergyL 0 lastEnergy: 155.825 0 0 lastEnergyL: 0mActiveResiduals: 664 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 2.47726e-12 -1.83905e-12 1.09269e-12 7.56848e-12 -0.00434413 0.00407575 8.52742e-06 0.000151904 0.000370751 0.000736689 -0.00743588 0.000627192 -0.0034013 -0.000349407 0.00081467 0.000362086 0.00201174 0.00149573 0.00389069 -0.000489714 -0.000413301 0.00107428 0.00699284 0.00107004 -0.00253647 -0.00115199 -0.000321108 0.000857401 0.00433387 -0.00774779 -0.00166702 -0.0021887 -8.77127e-05 0.000711792 0.000609071 -0.00476301 -0.000301688 -0.00174682 0.000373081 0.000689694 -0.00474989 0.00117138 0.00332577 -0.00133589 0.000941102 0.000359247 -0.00272648 0.0050265 0.00604358 -0.00111469 0.000896546 0.000274649 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 664 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 151.086 0 0 newEnergyL 0 lastEnergy: 152.71 0 0 lastEnergyL: 0mActiveResiduals: 664 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -4.59463e-12 2.90341e-12 4.37869e-13 -1.05588e-11 0.00715424 -0.00279143 0.000444699 -0.00122128 -9.26682e-05 -0.000512919 0.00814729 -0.00688598 0.000870586 -0.00100378 -0.000529595 -0.000721835 4.46598e-06 -0.00335594 -0.00319947 3.08708e-05 0.000619156 -0.00154385 -0.00573501 0.0130272 0.000139477 0.00316136 0.000469236 -0.00132511 -0.00290401 0.000902962 -0.00219726 0.00194463 3.46173e-05 -0.00107576 -0.000208653 -0.000260154 -0.00271929 0.00183165 -0.00033917 -0.00113573 0.00271749 0.0018784 0.000129355 0.00231012 -0.000475623 -0.00065604 -0.00325146 -0.00205347 -0.00296741 0.00198606 -0.000250914 -0.000683282 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 664 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 152.773 0 0 newEnergyL 0 lastEnergy: 151.086 0 0 lastEnergyL: 0mActiveResiduals: 664 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 5.16587e-12 -4.38477e-12 1.63323e-13 1.09397e-11 -0.00449909 0.00109128 0.000658318 0.00104023 7.48588e-05 0.000769471 -0.00608473 0.0035624 -0.00100814 0.000723491 0.000427074 0.00102858 -0.000634118 0.00418166 0.00372848 0.000228234 -0.000376099 0.00141297 0.00356763 -0.00605662 -0.00172807 -0.00156773 -0.000381891 0.00099554 0.002852 -0.00161935 -0.00056512 -0.0012373 -0.000471801 0.000730969 0.00361181 -0.00131851 0.00183575 -0.00113212 -0.000282632 0.000914007 -0.000477149 0.000726614 0.000290837 -0.00108161 1.86849e-05 0.000662249 -0.0016717 -0.00110296 0.00396848 -0.0014422 0.000469368 0.000622814 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 664 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 144.363 0 0 newEnergyL 0 lastEnergy: 152.773 0 0 lastEnergyL: 0mActiveResiduals: 664 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 144.363 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 664 INF|LocalMapper.cpp[optimize,345]: End Energy: 144.363 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.470548 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.470548 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 7 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 7 with idx: 0 and allID: 12 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 7<->7 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->7 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 21<->7 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 23<->7 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 25<->7 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 26<->7 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 27<->7 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 28<->7 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 7 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 12: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 6/11: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 5/9: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 4/8: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 3/6: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 2/3: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 1/1: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 0/0: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 0 allId: 0 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.959925 -0.0483047 0.276064 -0.139419 0.094412 0.983195 -0.156252 0.793135 -0.263877 0.176054 0.948353 0.52005 worldPose: 0.959925 -0.0479492 0.276124 -0.13949 0.0940433 0.983239 -0.156194 0.793065 -0.264007 0.175902 0.948345 0.518485 after: 0.959925 -0.0479492 0.276124 -0.13949 0.0940433 0.983239 -0.156194 0.793065 -0.264007 0.175902 0.948345 0.518485 worldPose of new: 1 0.000340179 0.000119172 -0.000403033 -0.000340198 1 0.00015974 -0.000200559 -0.000119118 -0.00015978 1 -0.00145419 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.959925 -0.0483047 0.276064 -0.139419 0.094412 0.983195 -0.156252 0.793135 -0.263877 0.176054 0.948353 0.52005 INF|Mapper.cpp[changeRefFrame,578]: Updating: 13 from old kf id: 7/12 with new ref frame: 0/0 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 12 after changeRefFrame: 0.959925 -0.0483047 0.276064 -0.139419 0.094412 0.983195 -0.156252 0.793135 -0.263877 0.176054 0.948353 0.52005 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 7 to normal frame with refFrame: 0 frame id kf: 12 newref id: 0 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 7 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6040 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2902d00 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 28 Input.cpp[readImages,206]: Got image from sensor!71 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 13 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 0 with distance 0.272Found rest min at: 12 with distance 0.144 overall min: 0.144 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 670 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 28 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 678 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 71 keyframes 29 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 525 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 72 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.918020 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!72 INF|Input.cpp[getImages,132]: mNbReceivedImages!73 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.918020) and 70(1311875574.856405) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.99922 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:924/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.918020) and 70(1311875574.856405) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999996 -0.00130424 0.00245001 0.00339724 0.00131586 0.999988 -0.00474714 0.00470324 -0.00244379 0.00475035 0.999986 0.00044032 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 7): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1447/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.918020) and 70(1311875574.856405) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999986 0.000312517 0.00532402 -0.00123802 -0.000301195 0.999998 -0.00212732 0.00173241 -0.00532467 0.00212568 0.999984 0.00251822 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999947 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:525/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.335227 resInfo good: 2421, 1 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3379/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999981 0.00103877 0.00612981 -0.00119901 -0.00103552 0.999999 -0.000532628 0.000762466 -0.00613036 0.00052627 0.999981 0.00265214 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!71 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!72 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 73 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875574.954404 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!73 INF|Input.cpp[getImages,132]: mNbReceivedImages!74 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999923 0.00208074 0.0122588 -0.00238095 -0.00206776 0.999997 -0.00107159 0.00152476 -0.012261 0.00104616 0.999924 0.00531197 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.954404) and 70(1311875574.856405) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999923 0.00208074 0.0122588 -0.00238095 -0.00206776 0.999997 -0.00107159 0.00152476 -0.012261 0.00104616 0.999924 0.00531197 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999661 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:757/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.954404) and 70(1311875574.856405) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999918 0.00232905 0.0126236 -0.0101398 -0.002188 0.999935 -0.0111761 0.011388 -0.0126488 0.0111476 0.999858 0.0112061 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 10,0.999896 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1518/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875574.954404) and 70(1311875574.856405) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999918 0.00304363 0.0124783 -0.00437661 -0.00295573 0.999971 -0.00705637 0.00188253 -0.0124994 0.00701891 0.999897 0.00340366 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 4): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1053/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.53304 resInfo good: 2419, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3799/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999901 0.00415963 0.0134316 -0.00442157 -0.00407364 0.999971 -0.00642302 0.0049697 -0.0134579 0.00636767 0.999889 0.00326184 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!72 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!73 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 74 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.018803 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!74 INF|Input.cpp[getImages,132]: mNbReceivedImages!75 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999901 0.00415963 0.0134316 -0.00442157 -0.00407364 0.999971 -0.00642302 0.0049697 -0.0134579 0.00636767 0.999889 0.00326184 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.018803) and 70(1311875574.856405) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999901 0.00415963 0.0134316 -0.00442157 -0.00407364 0.999971 -0.00642302 0.0049697 -0.0134579 0.00636767 0.999889 0.00326184 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999471 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:920/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.018803) and 70(1311875574.856405) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999921 0.00434942 0.0117611 -0.0116743 -0.0041746 0.999881 -0.0148487 0.0153631 -0.0118243 0.0147984 0.999821 0.003286 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 9): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1631/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.018803) and 70(1311875574.856405) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999909 0.00487655 0.0125968 -0.00853261 -0.0047262 0.999918 -0.0119378 0.00980294 -0.012654 0.0118772 0.999849 -0.000645559 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999037 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:459/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.589268 resInfo good: 2422, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3472/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999891 0.0054001 0.0137531 -0.0105357 -0.00525201 0.999928 -0.0107811 0.010193 -0.0138104 0.0107077 0.999847 5.49112e-05 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!73 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 468 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!74 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 75 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!75 INF|Input.cpp[getImages,132]: mNbReceivedImages!76 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.053350 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999879 0.00664194 0.0140693 -0.0166445 -0.00642882 0.999865 -0.0151393 0.0154377 -0.0141679 0.0150471 0.999786 -0.00312726 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.053350) and 70(1311875574.856405) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999879 0.00664194 0.0140693 -0.0166445 -0.00642882 0.999865 -0.0151393 0.0154377 -0.0141679 0.0150471 0.999786 -0.00312726 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 6): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1290/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.053350) and 70(1311875574.856405) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99996 0.00287136 0.00841611 -0.0119739 -0.00274274 0.99988 -0.0152538 0.0123876 -0.0084589 0.0152301 0.999848 -0.00706023 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999167 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1197/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.053350) and 70(1311875574.856405) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99994 0.00393662 0.010216 -0.0130248 -0.00378844 0.999888 -0.0144846 0.0183814 -0.0102719 0.0144451 0.999843 -0.00604781 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999812 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:582/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.593532 resInfo good: 2422, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3532/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999921 0.00479615 0.0115939 -0.0160103 -0.00464165 0.999901 -0.0133169 0.0190265 -0.0116566 0.013262 0.999844 -0.00460512 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!74 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!75 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 76 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!76 INF|Input.cpp[getImages,132]: mNbReceivedImages!77 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.081938 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999967 0.00357172 0.00727991 -0.0269446 -0.00343732 0.999825 -0.018392 0.0367195 -0.00734433 0.0183664 0.999804 -0.0138933 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.081938) and 70(1311875574.856405) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999967 0.00357172 0.00727991 -0.0269446 -0.00343732 0.999825 -0.018392 0.0367195 -0.00734433 0.0183664 0.999804 -0.0138933 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999823 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:913/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.081938) and 70(1311875574.856405) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999986 0.00199838 0.00497192 -0.0216362 -0.00191533 0.999859 -0.0166528 0.0296044 -0.0050045 0.0166431 0.999849 -0.00633333 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.99928 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1066/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.081938) and 70(1311875574.856405) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999984 0.00221228 0.00513541 -0.0179813 -0.00214551 0.999914 -0.0129714 0.021841 -0.00516366 0.0129601 0.999903 -0.0099336 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999896 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:633/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.509426 resInfo good: 2356, 66 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3088/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99997 0.00354451 0.00686331 -0.0215973 -0.00346648 0.99993 -0.0113481 0.0212804 -0.00690305 0.011324 0.999912 -0.00443118 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!75 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 514 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!76 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 77 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.117001 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999995 0.00230205 0.0021301 -0.0271877 -0.00228196 0.999953 -0.00938489 0.023528 -0.0021516 0.00937998 0.999954 -0.00428818 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.117001) and 70(1311875574.856405) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999995 0.00230205 0.0021301 -0.0271877 -0.00228196 0.999953 -0.00938489 0.023528 -0.0021516 0.00937998 0.999954 -0.00428818 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!77 INF|Input.cpp[getImages,132]: mNbReceivedImages!78 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.9999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:917/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.117001) and 70(1311875574.856405) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999999 0.000863771 0.000520489 -0.0283332 -0.000857922 0.999938 -0.0111337 0.0206194 -0.000530074 0.0111332 0.999938 -0.00144632 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 6): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1380/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.117001) and 70(1311875574.856405) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999999 0.00122671 0.000943206 -0.0249134 -0.00121539 0.999928 -0.011911 0.0332126 -0.00095775 0.0119098 0.999929 -0.00444127 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:715/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.483305 resInfo good: 2422, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3481/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999997 0.00222023 0.000998999 -0.0240397 -0.00221054 0.999951 -0.00960267 0.0276916 -0.00102027 0.00960044 0.999953 -0.00595366 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!76 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!77 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 78 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!78 INF|Input.cpp[getImages,132]: mNbReceivedImages!79 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.153226 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 10 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999988 0.000906087 -0.00486764 -0.0264812 -0.000944352 0.999969 -0.00786461 0.034097 0.00486036 0.00786911 0.999957 -0.00750164 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.153226) and 70(1311875574.856405) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999988 0.000906087 -0.00486764 -0.0264812 -0.000944352 0.999969 -0.00786461 0.034097 0.00486036 0.00786911 0.999957 -0.00750164 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 5): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:6017/6 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.153226) and 70(1311875574.856405) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999976 -0.000708475 -0.00690672 -0.0260114 0.000601902 0.999881 -0.0154203 0.0369486 0.00691682 0.0154158 0.999857 -0.00660755 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5813/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.153226) and 70(1311875574.856405) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999983 0.000635199 -0.00573614 -0.0230616 -0.000702119 0.999932 -0.0116719 0.0300749 0.00572833 0.0116757 0.999915 -0.00735392 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999297 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2573/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.590876 resInfo good: 2421, 1 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 16254/16 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999985 0.00156637 -0.00524765 -0.0235774 -0.00161744 0.999951 -0.00974227 0.0274058 0.00523214 0.00975061 0.999939 -0.00589573 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!77 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1391 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!78 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 79 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.185508 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!79 INF|Input.cpp[getImages,132]: mNbReceivedImages!80 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999934 0.00091158 -0.011494 -0.0231153 -0.00102523 0.999951 -0.00988557 0.0271203 0.0114844 0.00989669 0.999885 -0.00583494 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.185508) and 70(1311875574.856405) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999934 0.00091158 -0.011494 -0.0231153 -0.00102523 0.999951 -0.00988557 0.0271203 0.0114844 0.00989669 0.999885 -0.00583494 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.99912 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1143/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.185508) and 70(1311875574.856405) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999932 0.000792651 -0.0116556 -0.026192 -0.00094897 0.99991 -0.013412 0.0228865 0.011644 0.0134222 0.999842 -0.00387718 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999131 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1351/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.185508) and 70(1311875574.856405) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999947 0.00153141 -0.0101507 -0.0266618 -0.00167335 0.999901 -0.0139895 0.0357648 0.0101282 0.0140058 0.999851 -0.00473982 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999263 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:705/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.681994 resInfo good: 2422, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3782/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999949 0.0029008 -0.00964814 -0.0265228 -0.00300877 0.999933 -0.0111957 0.0286138 0.00961501 0.0112241 0.999891 -0.0041626 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!78 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 578 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!79 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 80 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.216916 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!80 INF|Input.cpp[getImages,132]: mNbReceivedImages!81 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999923 0.00356558 -0.011849 -0.0279977 -0.00370682 0.999922 -0.0119201 0.0292183 0.0118056 0.0119631 0.999859 -0.00330022 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.216916) and 70(1311875574.856405) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999923 0.00356558 -0.011849 -0.0279977 -0.00370682 0.999922 -0.0119201 0.0292183 0.0118056 0.0119631 0.999859 -0.00330022 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999086 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1826/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.216916) and 70(1311875574.856405) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999915 0.00267039 -0.012732 -0.0281088 -0.00283694 0.99991 -0.0130806 0.0257572 0.0126959 0.0131157 0.999833 -0.00888441 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999668 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2198/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.216916) and 70(1311875574.856405) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999918 0.00291291 -0.0124529 -0.0228701 -0.00306921 0.999917 -0.0125503 0.032373 0.0124153 0.0125875 0.999844 -0.0130399 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999992 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1182/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.691014 resInfo good: 2422, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5805/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999932 0.00374783 -0.01103 -0.024378 -0.00386869 0.999932 -0.0109566 0.0303201 0.0109882 0.0109985 0.999879 -0.00971497 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!79 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 581 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!80 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 81 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.253920 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!81 INF|Input.cpp[getImages,132]: mNbReceivedImages!82 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999932 0.00374783 -0.01103 -0.024378 -0.00386869 0.999932 -0.0109566 0.0303201 0.0109882 0.0109985 0.999879 -0.00971497 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.253920) and 70(1311875574.856405) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999932 0.00374783 -0.01103 -0.024378 -0.00386869 0.999932 -0.0109566 0.0303201 0.0109882 0.0109985 0.999879 -0.00971497 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999915 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:861/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.253920) and 70(1311875574.856405) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999933 0.00156586 -0.011505 -0.0276243 -0.00170748 0.999923 -0.0123105 0.0272968 0.0114848 0.0123294 0.999858 -0.00860579 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.9999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1479/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.253920) and 70(1311875574.856405) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99994 0.00256938 -0.0106761 -0.0253734 -0.00270176 0.999919 -0.0124033 0.036992 0.0106433 0.0124313 0.999866 -0.0101751 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999543 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:950/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.685934 resInfo good: 2422, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3862/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99995 0.00346329 -0.00933673 -0.0278107 -0.00356057 0.999939 -0.0104223 0.0334742 0.00930007 0.0104551 0.999902 -0.00868415 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!80 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 573 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!81 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 82 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.281807 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!82 INF|Input.cpp[getImages,132]: mNbReceivedImages!83 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99995 0.00346329 -0.00933673 -0.0278107 -0.00356057 0.999939 -0.0104223 0.0334742 0.00930007 0.0104551 0.999902 -0.00868415 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.281807) and 70(1311875574.856405) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99995 0.00346329 -0.00933673 -0.0278107 -0.00356057 0.999939 -0.0104223 0.0334742 0.00930007 0.0104551 0.999902 -0.00868415 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.9998 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1076/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.281807) and 70(1311875574.856405) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999925 0.000818806 -0.0122106 -0.028931 -0.000950641 0.999941 -0.0107949 0.0197218 0.012201 0.0108057 0.999867 -0.00873296 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999116 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1354/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.281807) and 70(1311875574.856405) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999945 0.00160862 -0.0103424 -0.0296342 -0.00172004 0.99994 -0.0107738 0.0290131 0.0103244 0.010791 0.999888 -0.00910106 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999717 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:789/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.70372 resInfo good: 2422, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3707/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999957 0.00239106 -0.00900768 -0.0319614 -0.00248807 0.999939 -0.010774 0.0346959 0.00898137 0.0107959 0.999901 -0.00713691 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!81 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 476 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!82 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 83 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.319892 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!83 INF|Input.cpp[getImages,132]: mNbReceivedImages!84 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999965 0.000246941 -0.00834844 -0.0402654 -0.000342744 0.999934 -0.0114762 0.0371243 0.00834505 0.0114787 0.999899 -0.00403721 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.319892) and 70(1311875574.856405) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999965 0.000246941 -0.00834844 -0.0402654 -0.000342744 0.999934 -0.0114762 0.0371243 0.00834505 0.0114787 0.999899 -0.00403721 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999173 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:746/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.319892) and 70(1311875574.856405) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999945 0.000680738 -0.0104955 -0.040199 -0.000808194 0.999926 -0.0121444 0.0365611 0.0104864 0.0121522 0.999871 -0.00534455 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 6): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1392/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.319892) and 70(1311875574.856405) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999936 0.000724344 -0.0113074 -0.0314569 -0.000840868 0.999947 -0.0103037 0.0377778 0.0112993 0.0103126 0.999883 -0.0123231 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999743 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:445/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.737009 resInfo good: 2399, 23 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3399/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99995 0.00142888 -0.00992118 -0.0345524 -0.00152642 0.999951 -0.00983069 0.0406507 0.00990664 0.00984534 0.999902 -0.00873576 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!82 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 469 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!83 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 84 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.351920 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!84 INF|Input.cpp[getImages,132]: mNbReceivedImages!85 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999931 -0.000492879 -0.0117509 -0.039747 0.00039951 0.999968 -0.00794671 0.0525481 0.0117544 0.00794146 0.999899 -0.0119576 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.351920) and 70(1311875574.856405) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999931 -0.000492879 -0.0117509 -0.039747 0.00039951 0.999968 -0.00794671 0.0525481 0.0117544 0.00794146 0.999899 -0.0119576 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999739 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:926/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.351920) and 70(1311875574.856405) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999907 -0.00173999 -0.0135522 -0.0426725 0.00159792 0.999944 -0.0104871 0.0476924 0.0135696 0.0104644 0.999853 -0.008379 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.99994 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1197/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.351920) and 70(1311875574.856405) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99992 -0.00184879 -0.01252 -0.0396313 0.00174603 0.999965 -0.00821397 0.0495372 0.0125348 0.00819146 0.999888 -0.00995597 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999819 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:525/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.807029 resInfo good: 2354, 68 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3127/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999929 -0.00136512 -0.011818 -0.0405043 0.00129458 0.999981 -0.00597475 0.0461775 0.011826 0.00595903 0.999912 -0.00800443 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!83 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!84 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 85 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!85 INF|Input.cpp[getImages,132]: mNbReceivedImages!86 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.383324 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999854 -0.00693082 -0.0156438 -0.0524579 0.00695859 0.999974 0.00172116 0.0571897 0.0156315 -0.00182977 0.999876 -0.00664042 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.383324) and 70(1311875574.856405) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999854 -0.00693082 -0.0156438 -0.0524579 0.00695859 0.999974 0.00172116 0.0571897 0.0156315 -0.00182977 0.999876 -0.00664042 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999062 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:782/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.383324) and 70(1311875574.856405) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999764 -0.00771807 -0.0203082 -0.0412321 0.0077168 0.99997 -0.000141115 0.0364713 0.0203087 -1.56325e-05 0.999794 -0.0123487 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999547 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:856/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.383324) and 70(1311875574.856405) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999802 -0.00719448 -0.0185775 -0.0431951 0.00720578 0.999974 0.000541786 0.0464926 0.0185731 -0.000675544 0.999827 -0.0140712 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999181 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:614/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.923836 resInfo good: 2330, 92 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2749/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999828 -0.00646954 -0.0174047 -0.0454511 0.00651484 0.999976 0.00254767 0.0458316 0.0173878 -0.00266062 0.999845 -0.00836052 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!84 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!85 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 86 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!86 INF|Input.cpp[getImages,132]: mNbReceivedImages!87 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.418942 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999668 -0.0115254 -0.0230341 -0.0503941 0.0117821 0.99987 0.0110405 0.0454573 0.0229039 -0.0113082 0.999674 -0.00874118 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.418942) and 70(1311875574.856405) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999668 -0.0115254 -0.0230341 -0.0503941 0.0117821 0.99987 0.0110405 0.0454573 0.0229039 -0.0113082 0.999674 -0.00874118 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999283 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:853/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.418942) and 70(1311875574.856405) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999547 -0.0117256 -0.0277057 -0.0529412 0.0119398 0.9999 0.00757923 0.0387656 0.027614 -0.0079066 0.999587 -0.00503664 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999632 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:668/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 28 to 13998238100673789952 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.418942) and 70(1311875574.856405) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999583 -0.0110292 -0.026702 -0.0514882 0.0112646 0.999899 0.00868206 0.0448502 0.0266035 -0.00897922 0.999606 -0.00974268 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 8,0.999615 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:746/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.05562 resInfo good: 2311, 111 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2724/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999617 -0.00976445 -0.0259062 -0.0493216 0.0100127 0.999905 0.00946873 0.0508487 0.0258113 -0.00972449 0.99962 -0.00458062 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875575.418942 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875575.418942 to keyframe with id: 13998238100673789952 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875575.418942 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 649 size: 2160 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId13998238100673789952 timestamp: 1311875575.418942 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -13.2174 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 35 keyframeId: 21 score: -14.4589 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 39 keyframeId: 23 score: -18.8265 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 46 keyframeId: 25 score: -23.6763 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 52 keyframeId: 26 score: -26.3251 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 56 keyframeId: 27 score: -20.1638 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 29 = 29 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20ef9e0 fh1 0x20f1be0fh->id: 16 29 85goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20ef9e0 fh1 0x20e22c0fh->id: 21 29 85goodE: 36 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20ef9e0 fh1 0x2ae6dc0fh->id: 23 29 85goodE: 10 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20ef9e0 fh1 0x48db180fh->id: 25 29 85goodE: 61 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20ef9e0 fh1 0x31a4760fh->id: 26 29 85goodE: 37 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20ef9e0 fh1 0x290fc60fh->id: 27 29 85goodE: 14 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20ef9e0 fh1 0x2902d00fh->id: 28 29 85goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew29 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 27 out of 29 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 29 newEdgePixels: 29 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 850 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 129 lastEnergy: 212.461 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 19 INF|LocalMapper.cpp[optimize,276]: Start Energy: 212.461 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -4.52701e-12 1.87702e-12 1.9397e-12 -1.04935e-12 0.00143329 0.00347687 0.000370985 0.000164497 -9.78655e-05 0.000214509 -0.00317195 0.000218689 -0.012082 -0.000373588 0.000789701 -0.000320001 -0.00291358 0.00259001 -0.00632064 0.000276548 0.000745962 0.000394873 -0.00537345 0.00443381 -0.00914788 0.000516907 0.0012629 0.000836289 -0.005865 0.0046511 -0.0180729 0.000532007 0.00100863 0.000136919 -0.00470717 0.0036017 -0.0208474 0.000526154 0.000870525 0.000202972 0.00500729 -0.00067562 -0.0148287 -8.56396e-05 -3.23799e-05 4.9438e-05 -0.00247334 0.00678773 -0.000317005 0.000789479 0.000864783 0.000470221 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 850 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 200.355 0 0 newEnergyL 0 lastEnergy: 212.461 0 0 lastEnergyL: 0mActiveResiduals: 850 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.9546e-13 -1.41252e-12 -5.02402e-12 -1.46324e-12 -0.00199211 0.00109585 -0.0013213 0.000121132 0.000277887 -1.42874e-05 0.00382589 0.00118044 0.00748947 0.000131628 -0.000729063 0.000209854 0.00698759 0.000605637 0.0113587 -0.000265573 -0.0011801 2.37618e-05 0.0107274 -0.00485383 0.00951757 -0.000839792 -0.00165297 -9.35951e-05 0.00774829 -0.00169385 0.0132401 -0.000636248 -0.00115498 6.14766e-05 0.0142168 -0.0126493 0.00963194 -0.00178054 -0.0019802 0.000304697 -0.00336726 -0.00629524 0.011105 -0.00115232 -0.000186493 9.58558e-05 0.00742714 -0.00571562 0.0087516 -0.00106515 -0.00120592 0.000130998 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 850 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 197.639 0 0 newEnergyL 0 lastEnergy: 200.355 0 0 lastEnergyL: 0mActiveResiduals: 850 Input.cpp[readImages,206]: Got image from sensor!86 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -2.29196e-12 5.52971e-14 1.88194e-13 -9.43625e-13 0.0108477 -0.00523032 0.00724528 -0.000239739 -0.0012809 -0.000754636 -0.00184291 -0.00521319 -0.00522548 -1.94533e-05 0.000359063 -0.00164747 -0.00020737 -0.00486342 0.00254588 0.000410662 0.000108397 -0.00070812 -0.00529635 0.000752662 -0.000575576 0.00107998 0.000485073 -0.000942318 -0.000983102 -0.00152012 -0.004365 0.000968805 -0.000238704 -0.000919739 -0.00357806 0.00927192 -0.00376251 0.00215537 7.22242e-05 -0.000875317 0.0082134 0.00341165 -0.00169553 0.00153461 -0.0010542 -0.000738751 -0.00116435 0.00271544 -0.000469391 0.00140894 -0.00011041 -0.000501708 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 850 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 194.398 0 0 newEnergyL 0 lastEnergy: 197.639 0 0 lastEnergyL: 0mActiveResiduals: 850 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 2.91074e-12 -3.08167e-12 -3.83268e-12 3.81235e-12 -0.0133023 0.00775266 -0.00864275 0.000219622 0.00174007 0.000785959 0.00184911 0.00409359 0.00493247 -0.0003585 -0.000165924 0.00159444 0.00250563 0.00228819 -0.00261157 -0.00092765 -0.000340825 0.000998 0.00447792 -0.00156908 3.52847e-05 -0.00148533 -0.000368088 0.000982731 0.000888497 0.00208326 0.00659651 -0.00113076 0.000403764 0.00113524 0.00454292 -0.00791316 0.0025311 -0.00237491 -0.00015822 0.00113524 -0.00802286 -0.00318245 0.00720345 -0.00181043 0.00119761 0.000782353 -8.60659e-05 -0.00250605 -0.00314863 -0.00175976 7.6438e-05 0.000654132 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 850 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 193.588 0 0 newEnergyL 0 lastEnergy: 194.398 0 0 lastEnergyL: 0mActiveResiduals: 850 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.0967e-12 9.96894e-13 3.26142e-12 -2.71254e-12 0.0107969 -0.00717476 0.0118106 -0.000389338 -0.00143105 -0.000816206 -0.00216383 -0.00349042 -0.00490272 0.000221098 0.000124278 -0.00151699 -0.00172017 -0.00179458 0.00578299 0.00105837 7.57432e-05 -0.000583861 -0.00385045 0.00252197 -0.00128096 0.00154438 -5.36343e-05 -0.000792911 -0.00115098 -0.00413119 -0.00718648 0.00108143 -0.000718425 -0.000600117 -0.00425345 0.00917074 -0.00374406 0.00259836 -0.0002165 -0.000537104 0.00640631 0.00332123 -0.00783755 0.0018671 -0.00138127 -0.000219722 0.00431323 -0.000853756 0.00271296 0.00132764 -0.000912084 7.98891e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 850 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 194.295 0 0 newEnergyL 0 lastEnergy: 193.588 0 0 lastEnergyL: 0mActiveResiduals: 850 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 4.55352e-12 -3.64451e-12 -5.91941e-12 4.46642e-12 -0.0105072 0.00746535 -0.0116505 0.000918879 0.000852883 0.000822223 -3.20716e-05 0.0050749 0.00754795 0.000374779 -0.000302463 0.00111241 0.00028358 0.00278002 -0.00524192 -0.00112952 -0.00020137 0.000844475 0.00322084 -0.00142809 0.00155819 -0.00153496 -0.000115327 0.00103269 0.00171468 0.00128363 0.00677438 -0.00158759 0.000471011 0.000905339 0.00571868 -0.00956296 0.00352948 -0.00286638 -1.53558e-05 0.000969643 -0.00515979 -0.00190762 0.0108446 -0.00187367 0.00139414 0.00061681 -0.00315521 -0.00215241 -0.00741546 -0.00163868 0.000791421 0.000161013 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 850 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 197.704 0 0 newEnergyL 0 lastEnergy: 194.295 0 0 lastEnergyL: 0mActiveResiduals: 850 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 197.704 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 850 INF|LocalMapper.cpp[optimize,345]: End Energy: 197.704 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.488349 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.488349 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 26 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 26 with idx: 4 and allID: 52 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->26 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 26->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 21<->26 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 26->21 INF|LocalMapper.cpp[marginalizeFrame,772]: 23<->26 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 26->23 INF|LocalMapper.cpp[marginalizeFrame,801]: 26 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 26 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6333 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x20ef9e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 29 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 13 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 0 with distance 0.288Found rest min at: 12 with distance 0.17 overall min: 0.17 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 689 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 29 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 696 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 86 keyframes 30 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 87 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 531 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.453415 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999963 -0.00287391 -0.00806781 -0.00468869 0.00293508 0.999967 0.00758136 0.00350507 0.00804576 -0.00760476 0.999939 0.00696893 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.453415) and 85(1311875575.418942) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999963 -0.00287391 -0.00806781 -0.00468869 0.00293508 0.999967 0.00758136 0.00350507 0.00804576 -0.00760476 0.999939 0.00696893 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!87 INF|Input.cpp[getImages,132]: mNbReceivedImages!88 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 11,0.999806 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1365/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.453415) and 85(1311875575.418942) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999948 -0.00346473 -0.0095615 -0.00609858 0.00350362 0.999986 0.00405281 -0.00132784 0.00954732 -0.0040861 0.999946 0.00530336 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999559 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:891/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.453415) and 85(1311875575.418942) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999964 -0.00257364 -0.00807052 -0.00627129 0.00261468 0.999984 0.00507884 0.00275492 0.00805732 -0.00509976 0.999955 0.00528329 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:784/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.437354 resInfo good: 2160, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3435/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999963 -0.00199858 -0.00838039 -0.00118084 0.00205297 0.999977 0.00648707 0.00139278 0.00836723 -0.00650403 0.999944 0.00188627 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!86 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!87 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 88 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.485652 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999852 -0.00394253 -0.016773 -0.00238023 0.0041601 0.999907 0.0129564 0.00279534 0.0167203 -0.0130243 0.999775 0.00375349 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.485652) and 85(1311875575.418942) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999852 -0.00394253 -0.016773 -0.00238023 0.0041601 0.999907 0.0129564 0.00279534 0.0167203 -0.0130243 0.999775 0.00375349 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!88 INF|Input.cpp[getImages,132]: mNbReceivedImages!89 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 3): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:738/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.485652) and 85(1311875575.418942) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999842 -0.00512701 -0.0170307 -0.00319788 0.00533145 0.999914 0.0119803 -0.00186724 0.0169679 -0.0120692 0.999783 -0.00278988 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.99967 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:671/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.485652) and 85(1311875575.418942) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999878 -0.00385486 -0.0151591 -0.00350589 0.00406731 0.999894 0.0140088 -0.00242803 0.0151035 -0.0140688 0.999787 -0.00149063 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999142 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:499/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.573802 resInfo good: 2130, 30 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2278/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999884 -0.00314535 -0.0148935 -0.00105996 0.00336726 0.999883 0.0148981 -0.00156867 0.0148449 -0.0149465 0.999778 -0.00264809 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!87 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!88 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 89 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.518128 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999762 -0.00423706 -0.0214153 -0.000906069 0.00473596 0.999717 0.0232993 -0.00456804 0.0213106 -0.0233951 0.999499 -0.00715643 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.518128) and 85(1311875575.418942) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999762 -0.00423706 -0.0214153 -0.000906069 0.00473596 0.999717 0.0232993 -0.00456804 0.0213106 -0.0233951 0.999499 -0.00715643 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999997 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1066/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.518128) and 85(1311875575.418942) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999737 -0.00725075 -0.0217604 -0.000611116 0.00770904 0.999749 0.0210515 -0.00965711 0.0216023 -0.0212138 0.999542 0.000355656 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!89 INF|Input.cpp[getImages,132]: mNbReceivedImages!90 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999779 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:780/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.518128) and 85(1311875575.418942) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999812 -0.00561692 -0.0185784 -0.00417149 0.0060047 0.999764 0.0208829 0.00144163 0.0184567 -0.0209905 0.999609 0.00217408 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999705 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:512/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.692967 resInfo good: 2108, 52 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2738/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99981 -0.00562715 -0.0186423 -0.00288586 0.00602632 0.999752 0.0214257 0.00219437 0.0185171 -0.021534 0.999597 -0.000172845 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!88 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!89 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 90 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.552084 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999766 -0.00685875 -0.0205227 -0.00380583 0.00736481 0.999668 0.0246854 0.00408021 0.0203466 -0.0248308 0.999485 0.00105295 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.552084) and 85(1311875575.418942) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999766 -0.00685875 -0.0205227 -0.00380583 0.00736481 0.999668 0.0246854 0.00408021 0.0203466 -0.0248308 0.999485 0.00105295 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999195 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:750/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.552084) and 85(1311875575.418942) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999648 -0.00956242 -0.0247339 -0.00275741 0.0101292 0.999687 0.0228932 0.00119959 0.0245073 -0.0231357 0.999432 0.00452577 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!90 INF|Input.cpp[getImages,132]: mNbReceivedImages!91 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 5): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1000/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.552084) and 85(1311875575.418942) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999685 -0.00882517 -0.0234947 -0.0013696 0.00938883 0.999668 0.0239893 0.00468656 0.0232752 -0.0242023 0.999436 0.00225681 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:801/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.775661 resInfo good: 2091, 69 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2928/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999713 -0.00801835 -0.0225928 -0.00318413 0.00857493 0.999659 0.024647 0.00541389 0.0223875 -0.0248336 0.999441 0.00342086 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!89 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!90 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 91 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!91 INF|Input.cpp[getImages,132]: mNbReceivedImages!92 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.582524 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999593 -0.0103964 -0.0265507 -0.00350439 0.0111359 0.99955 0.0278579 0.00864439 0.0262491 -0.0281423 0.999259 0.00700281 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.582524) and 85(1311875575.418942) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999593 -0.0103964 -0.0265507 -0.00350439 0.0111359 0.99955 0.0278579 0.00864439 0.0262491 -0.0281423 0.999259 0.00700281 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 6): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1186/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.582524) and 85(1311875575.418942) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999573 -0.0100827 -0.0274272 -0.0070515 0.010785 0.999615 0.0255802 0.00217987 0.0271587 -0.0258651 0.999296 0.0102092 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:932/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.582524) and 85(1311875575.418942) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999624 -0.00923923 -0.0258143 -0.00589769 0.00991975 0.999603 0.0263594 0.00678587 0.0255606 -0.0266055 0.999319 0.00614756 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999881 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:484/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.816642 resInfo good: 2081, 79 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2972/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999621 -0.00907631 -0.0259817 -0.00370037 0.00978475 0.99958 0.0272708 0.00501371 0.0257232 -0.0275147 0.99929 0.00261459 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!90 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!91 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 92 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.621161 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!92 INF|Input.cpp[getImages,132]: mNbReceivedImages!93 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999517 -0.0101252 -0.0293729 -0.00421343 0.0110033 0.999493 0.0298903 0.00461079 0.0290554 -0.030199 0.999122 0.00180765 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.621161) and 85(1311875575.418942) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999517 -0.0101252 -0.0293729 -0.00421343 0.0110033 0.999493 0.0298903 0.00461079 0.0290554 -0.030199 0.999122 0.00180765 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999835 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:504/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.621161) and 85(1311875575.418942) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999458 -0.0125314 -0.0304491 -0.00743869 0.0133948 0.999509 0.0283191 5.39769e-05 0.0300793 -0.0287116 0.999135 0.00580767 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999901 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:985/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.621161) and 85(1311875575.418942) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999519 -0.0114878 -0.0287967 -0.00658609 0.0123129 0.999514 0.0286377 0.00690637 0.0284538 -0.0289785 0.999175 0.00440083 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999686 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:389/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.862554 resInfo good: 2073, 87 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2247/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999532 -0.0110666 -0.028517 -0.00376469 0.0119082 0.999493 0.0295151 0.00688056 0.0281759 -0.0298408 0.999157 0.00293199 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!91 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!92 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 93 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.651175 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!93 INF|Input.cpp[getImages,132]: mNbReceivedImages!94 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999432 -0.0130509 -0.0310566 -0.00383365 0.0140372 0.999397 0.0317538 0.00874801 0.0306235 -0.0321717 0.999013 0.00324492 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.651175) and 85(1311875575.418942) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999432 -0.0130509 -0.0310566 -0.00383365 0.0140372 0.999397 0.0317538 0.00874801 0.0306235 -0.0321717 0.999013 0.00324492 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999915 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:592/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.651175) and 85(1311875575.418942) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999363 -0.0145023 -0.0325987 -0.00784806 0.0154967 0.999416 0.0304602 0.00728596 0.032138 -0.030946 0.999004 0.00709376 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999764 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:869/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.651175) and 85(1311875575.418942) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999396 -0.0139591 -0.0318239 -0.00624436 0.0149567 0.999397 0.0313286 0.0104532 0.0313674 -0.0317857 0.999002 0.00268782 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999238 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:265/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.920621 resInfo good: 2059, 101 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2094/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999434 -0.013125 -0.0309746 -0.00586869 0.0141395 0.999363 0.0327632 0.00881737 0.0305249 -0.0331826 0.998983 0.00338309 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!92 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 496 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!93 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 94 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.684243 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999326 -0.0151751 -0.0334387 -0.00797788 0.0163783 0.999217 0.0360055 0.0107511 0.0328662 -0.0365289 0.998792 0.00382274 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.684243) and 85(1311875575.418942) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999326 -0.0151751 -0.0334387 -0.00797788 0.0163783 0.999217 0.0360055 0.0107511 0.0328662 -0.0365289 0.998792 0.00382274 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!94 INF|Input.cpp[getImages,132]: mNbReceivedImages!95 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 8): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1179/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.684243) and 85(1311875575.418942) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999191 -0.0161651 -0.0368147 -0.00830417 0.0173136 0.999366 0.031096 0.0180125 0.0362887 -0.0317082 0.998838 0.00634273 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1158/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.684243) and 85(1311875575.418942) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999269 -0.0146333 -0.0353037 -0.00784184 0.0158404 0.999291 0.0341586 0.0137894 0.0347788 -0.0346929 0.998793 0.00373318 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999327 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:294/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.973131 resInfo good: 2048, 112 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3002/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999309 -0.0138234 -0.0345164 -0.00778262 0.0150693 0.999235 0.0361008 0.00966919 0.0339909 -0.036596 0.998752 0.00518966 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!93 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 473 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!94 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 95 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.720045 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999019 -0.0151838 -0.0416055 -0.0116316 0.0169636 0.998941 0.0427647 0.0113863 0.0409121 -0.0434285 0.998218 0.00877391 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.720045) and 85(1311875575.418942) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999019 -0.0151838 -0.0416055 -0.0116316 0.0169636 0.998941 0.0427647 0.0113863 0.0409121 -0.0434285 0.998218 0.00877391 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!95 INF|Input.cpp[getImages,132]: mNbReceivedImages!96 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999988 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:766/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.720045) and 85(1311875575.418942) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998896 -0.0171453 -0.043742 -0.00376203 0.0187725 0.999137 0.0370636 0.0155021 0.0430687 -0.0378438 0.998355 -0.00967594 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999348 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1013/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 29 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.720045) and 85(1311875575.418942) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999106 -0.0152067 -0.0394458 -0.0127215 0.0167608 0.999084 0.0393711 0.0141835 0.038811 -0.039997 0.998446 0.00362602 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999413 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:575/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.06327 resInfo good: 2020, 140 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2721/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999142 -0.0146095 -0.0387651 -0.0123702 0.0161499 0.99908 0.0397259 0.0168784 0.038149 -0.0403178 0.998458 0.00263384 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875575.720045 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875575.720045 to keyframe with id: 68566336 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875575.720045 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 731 size: 2092 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId68566336 timestamp: 1311875575.720045 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -13.1564 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 35 keyframeId: 21 score: -14.3571 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 39 keyframeId: 23 score: -19.0845 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 46 keyframeId: 25 score: -21.0983 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 56 keyframeId: 27 score: -20.2684 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 70 keyframeId: 28 score: -14.6479 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 30 = 30 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x31b05c0 fh1 0x20f1be0fh->id: 16 30 94goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x31b05c0 fh1 0x20e22c0fh->id: 21 30 94goodE: 30 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x31b05c0 fh1 0x2ae6dc0fh->id: 23 30 94goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x31b05c0 fh1 0x48db180fh->id: 25 30 94goodE: 61 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x31b05c0 fh1 0x290fc60fh->id: 27 30 94goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x31b05c0 fh1 0x2902d00fh->id: 28 30 94goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x31b05c0 fh1 0x20ef9e0fh->id: 29 30 94goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew30 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 54 out of 56 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 56 newEdgePixels: 56 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 821 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 127 lastEnergy: 208.14 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 20 INF|LocalMapper.cpp[optimize,276]: Start Energy: 208.14 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.01305e-11 1.0302e-11 1.67269e-11 -6.17625e-12 0.00233636 -0.00616396 0.00366197 -0.000868007 -2.30393e-05 -1.32927e-05 -0.000507962 0.00193916 -0.0142506 9.38795e-05 0.000894359 0.000326212 -0.00487681 0.0187579 -0.00831204 0.00273181 0.00112842 1.05861e-05 -0.00194282 0.00496902 -0.0129176 0.00130569 0.000728188 9.76417e-05 -0.00117187 0.0108044 -0.0159974 0.00242693 0.000334838 -0.000786474 0.00468548 0.004667 -0.0200011 0.00159416 -0.000453088 -0.000887949 0.00611565 0.00929757 -0.00954265 0.00161788 -0.000168029 -0.000356922 -0.00145387 -0.00599359 -0.0059651 0.000337622 0.000474454 -0.000481064 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 821 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 199.666 0 0 newEnergyL 0 lastEnergy: 208.14 0 0 lastEnergyL: 0mActiveResiduals: 821 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.70452e-12 -6.51221e-12 -8.72083e-12 6.29178e-12 0.00128575 0.00723654 -0.00318863 0.000710394 -6.18991e-06 0.000194814 0.00259194 -0.00231764 0.0167389 0.000152522 -0.000982483 -0.00074441 0.000594873 -0.00988802 0.0072578 -0.00148868 -0.000658793 3.59492e-05 0.00639728 -0.0108661 0.011039 -0.00153899 -0.000985699 -3.90494e-05 0.00362562 -0.0157342 0.00290865 -0.00227986 -0.000668832 0.000105858 0.000935266 -0.0155827 0.00634985 -0.00242892 -0.000475403 -0.000561226 -0.00184867 -0.0181224 0.00813424 -0.00228903 -0.000132384 -0.000769883 0.0061778 -0.00236085 0.00964283 -0.000872394 -0.00136891 -0.000846833 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 821 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 191.428 0 0 newEnergyL 0 lastEnergy: 199.666 0 0 lastEnergyL: 0mActiveResiduals: 821 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.09553e-12 2.89046e-12 7.57011e-13 -9.13259e-13 -0.000526458 -0.0067485 0.00144024 -0.00139753 0.000689999 -0.000223331 0.00369598 -0.00145975 -0.00969686 -0.000818142 0.000595542 -0.000366922 0.00650077 -0.0053416 0.0018228 -0.000236614 7.74313e-05 -0.000979118 -0.00300191 0.000234242 0.00113034 0.000295565 0.000798338 -0.000885305 0.000422906 -0.0029742 -0.00231953 0.000365306 -0.000141269 -0.00101268 -0.000632651 0.00401882 0.000299596 0.00120317 0.000138079 -0.000584653 -0.000643854 0.00843396 0.00307617 0.000879362 -0.00013649 -0.000821644 -0.00454391 0.00511447 -0.000829454 0.000855711 0.000381925 -0.000708364 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 821 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 192.795 0 0 newEnergyL 0 lastEnergy: 191.428 0 0 lastEnergyL: 0mActiveResiduals: 821 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 6.40112e-12 -8.0972e-12 -4.73156e-12 8.1873e-12 -0.00448569 0.00440792 -0.0029631 0.000826336 0.00048869 0.000441121 -0.000640712 0.00541034 0.00467424 0.000770558 -0.000241602 0.000805474 0.000580623 -0.0042105 -0.000777518 -0.000614367 -0.000405972 0.00109108 0.00162905 0.00619763 0.00236597 0.000418771 -0.0003027 0.00106606 -0.00391409 -0.00398184 0.00118868 -0.00111119 0.00050031 0.00086779 0.000814675 0.00703463 -0.00124412 -4.74482e-05 4.58684e-06 0.00054425 0.00153777 -0.00478603 -0.00275353 -0.000722018 -2.30964e-05 0.000674615 0.00199047 -0.0103566 0.00418366 -0.00170565 -7.17935e-05 0.000511755 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 821 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 183.027 0 0 newEnergyL 0 lastEnergy: 192.795 0 0 lastEnergyL: 0mActiveResiduals: 821 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.10007e-12 6.49951e-12 2.51781e-12 -3.29053e-12 0.00882373 -0.00949784 0.00383028 -0.000717975 -0.000992498 -0.000320945 0.00148027 -0.002957 -0.00379632 -1.38203e-05 0.000198415 -0.000722939 0.00094763 0.00651203 -0.000753911 0.00129877 0.000139773 -0.00106688 -0.00244749 -0.000429613 -0.000362663 0.000716786 0.000496719 -0.000772351 0.00428801 0.00648494 -0.00406647 0.00183004 -0.000581916 -0.000608226 -0.00386079 -0.00540665 -0.000178177 0.000496867 0.000267505 -0.000684634 -0.00108985 0.00383702 -0.000297577 0.00119847 -5.52053e-05 -0.000783285 -0.00398813 0.00198364 -0.000588653 0.00120656 8.78301e-05 -0.000922242 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 821 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 180.02 0 0 newEnergyL 0 lastEnergy: 183.027 0 0 lastEnergyL: 0mActiveResiduals: 821 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.58286e-12 -6.36257e-12 -6.49892e-12 3.6829e-12 -0.00079543 0.00969973 -0.0034416 0.00120006 -3.972e-05 -0.000165298 -0.00610689 0.000400517 0.00429949 -2.59125e-05 0.000124094 0.00037737 -0.00286581 4.10189e-05 -0.000914147 -0.000600793 -8.95621e-05 0.000929719 -4.70972e-05 0.001721 0.00350826 -0.000372875 -0.000117585 0.000885311 -0.00567493 -0.00747546 0.00364119 -0.00182618 0.000759975 0.000451468 0.00401978 8.81191e-05 -0.00173109 -0.000911895 -0.000344932 0.000442313 0.00269446 -0.00926489 -0.000489359 -0.00152585 -8.57389e-06 0.000522322 0.00537583 0.00428198 -0.000646518 -0.000485123 -0.00020768 0.000257128 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 821 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 183.13 0 0 newEnergyL 0 lastEnergy: 180.02 0 0 lastEnergyL: 0mActiveResiduals: 821 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 183.13 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 821 INF|LocalMapper.cpp[optimize,345]: End Energy: 183.13 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.478747 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.478747 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 25 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 25 with idx: 3 and allID: 46 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->25 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 25->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 21<->25 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 25->21 INF|LocalMapper.cpp[marginalizeFrame,772]: 23<->25 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 25->23 INF|LocalMapper.cpp[marginalizeFrame,801]: 25 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 25 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6547 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x31b05c0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 30 Input.cpp[readImages,206]: Got image from sensor!95 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 13 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 0 with distance 0.328Found rest min at: 12 with distance 0.214 overall min: 0.214 time: 0 INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 30 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 13 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 700 INF|LoopCloser.cpp[loopCloserLinear,98]: Inserted keyframe into DB -1 -1 1 insertedKfId: 30 1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 710 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 95 keyframes 31 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 533 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 96 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.755380 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!96 INF|Input.cpp[getImages,132]: mNbReceivedImages!97 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99999 -0.00158812 -0.00411671 -0.00286929 0.00160364 0.999992 0.00377016 0.00556284 0.00411069 -0.00377672 0.999984 -0.00595883 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 30 to 4802979742917591040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.755380) and 94(1311875575.720045) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99999 -0.00158812 -0.00411671 -0.00286929 0.00160364 0.999992 0.00377016 0.00556284 0.00411069 -0.00377672 0.999984 -0.00595883 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1330/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 30 to 4802979742917591040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.755380) and 94(1311875575.720045) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999878 -0.0035258 -0.0152443 0.0209101 0.00359574 0.999983 0.00456314 -0.0154595 0.015228 -0.0046174 0.999873 -0.0255861 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1041/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 30 to 4802979742917591040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.755380) and 94(1311875575.720045) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999953 -0.00204906 -0.00947698 0.00875862 0.0020924 0.999987 0.0045658 -0.0046078 0.0094675 -0.00458541 0.999945 -0.0139941 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999788 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:464/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.425643 resInfo good: 2092, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3242/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999981 -0.00156166 -0.00591126 -0.00212278 0.00158187 0.999993 0.00341516 0.00703734 0.00590588 -0.00342445 0.999977 0.000839235 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!95 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!96 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 97 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!97 INF|Input.cpp[getImages,132]: mNbReceivedImages!98 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.784093 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999925 -0.00310304 -0.0118276 -0.00426147 0.00318387 0.999972 0.00682087 0.0140741 0.0118061 -0.00685802 0.999907 0.00164181 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 30 to 52032224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.784093) and 94(1311875575.720045) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999925 -0.00310304 -0.0118276 -0.00426147 0.00318387 0.999972 0.00682087 0.0140741 0.0118061 -0.00685802 0.999907 0.00164181 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999913 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:627/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 30 to 52032224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.784093) and 94(1311875575.720045) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999905 -0.00328432 -0.0134204 -0.0100342 0.0033644 0.999977 0.00594895 0.0103266 0.0134006 -0.00599353 0.999892 0.00952248 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 10): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1528/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 30 to 52032224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.784093) and 94(1311875575.720045) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999928 -0.00148109 -0.0119066 -0.00982596 0.00156937 0.999971 0.00740866 0.0161874 0.0118953 -0.00742682 0.999902 0.00613382 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999252 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:522/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.611306 resInfo good: 2059, 33 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3091/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99991 -0.000731575 -0.0134056 -0.00173467 0.000859692 0.999954 0.00955373 0.0120169 0.013398 -0.00956439 0.999864 -0.00149054 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!96 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!97 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 98 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!98 INF|Input.cpp[getImages,132]: mNbReceivedImages!99 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.818497 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999782 0.000144493 -0.020894 -0.00132511 0.000183541 0.999877 0.0156972 0.0169817 0.0208937 -0.0156976 0.999658 -0.00384781 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 30 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.818497) and 94(1311875575.720045) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999782 0.000144493 -0.020894 -0.00132511 0.000183541 0.999877 0.0156972 0.0169817 0.0208937 -0.0156976 0.999658 -0.00384781 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 4): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:935/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 30 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.818497) and 94(1311875575.720045) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999768 -0.000599862 -0.0215218 -0.00668658 0.000898701 0.999903 0.0138784 0.0108342 0.0215114 -0.0138945 0.999672 0.0122386 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999891 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:647/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 30 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.818497) and 94(1311875575.720045) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999741 0.00478283 -0.0222704 -0.00116816 -0.00435265 0.999804 0.0193249 0.004523 0.0223584 -0.019223 0.999565 -0.00265398 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:875/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.745783 resInfo good: 2019, 73 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2859/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999752 0.00777841 -0.020875 -0.00545104 -0.00736369 0.999775 0.0198705 0.0127127 0.0210249 -0.0197118 0.999585 0.000132912 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!97 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!98 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 99 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!99 INF|Input.cpp[getImages,132]: mNbReceivedImages!100 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.853913 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999625 0.0120615 -0.0245762 -0.00731157 -0.0114455 0.999621 0.025051 0.0130785 0.024869 -0.0247603 0.999384 0.000931332 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 30 to 4495892172165651996 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.853913) and 94(1311875575.720045) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999625 0.0120615 -0.0245762 -0.00731157 -0.0114455 0.999621 0.025051 0.0130785 0.024869 -0.0247603 0.999384 0.000931332 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999992 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1092/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 30 to 4495892172165651996 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.853913) and 94(1311875575.720045) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999488 0.00899401 -0.0307055 0.00600733 -0.00821795 0.999646 0.0253078 0.0074564 0.0309222 -0.0250425 0.999208 -0.0164428 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 5): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:983/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 30 to 4495892172165651996 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.853913) and 94(1311875575.720045) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999547 0.0111673 -0.0279428 0.00308016 -0.01037 0.99954 0.0285166 0.00279072 0.0282484 -0.0282139 0.999203 -0.01101 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 9,0.99958 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1088/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.797059 resInfo good: 2006, 86 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3559/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999586 0.0124731 -0.0259345 -0.000566365 -0.0117242 0.999516 0.0288288 0.00897652 0.0262816 -0.0285128 0.999248 -0.00382544 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!98 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!99 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 100 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.886416 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999485 0.014837 -0.0284482 0.00187718 -0.0138867 0.999348 0.0333153 0.00708698 0.028924 -0.0329031 0.99904 -0.00578266 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 30 to 4734778677324152832 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.886416) and 94(1311875575.720045) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999485 0.014837 -0.0284482 0.00187718 -0.0138867 0.999348 0.0333153 0.00708698 0.028924 -0.0329031 0.99904 -0.00578266 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!100 INF|Input.cpp[getImages,132]: mNbReceivedImages!101 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999964 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:639/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 30 to 4734778677324152832 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.886416) and 94(1311875575.720045) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999442 0.0152065 -0.0297407 -0.00261459 -0.0142312 0.999363 0.0327353 0.00451412 0.0302195 -0.0322937 0.999021 0.00149006 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999466 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1038/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 30 to 4734778677324152832 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.886416) and 94(1311875575.720045) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999456 0.0164465 -0.0285857 0.000743628 -0.0154579 0.999286 0.0344686 0.00519971 0.0291322 -0.034008 0.998997 -0.000973675 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999683 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:853/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.846519 resInfo good: 1983, 109 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2931/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999499 0.0169582 -0.026707 -0.00326394 -0.0160305 0.999273 0.0345769 0.010844 0.0272739 -0.0341315 0.999045 0.00509018 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!99 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!100 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 101 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.920109 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999499 0.0169582 -0.026707 -0.00326394 -0.0160305 0.999273 0.0345769 0.010844 0.0272739 -0.0341315 0.999045 0.00509018 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 30 to 4467613600676062950 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.920109) and 94(1311875575.720045) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999499 0.0169582 -0.026707 -0.00326394 -0.0160305 0.999273 0.0345769 0.010844 0.0272739 -0.0341315 0.999045 0.00509018 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!101 INF|Input.cpp[getImages,132]: mNbReceivedImages!102 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999519 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1020/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 30 to 4467613600676062950 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.920109) and 94(1311875575.720045) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999418 0.0199031 -0.0277123 -0.0130596 -0.0189607 0.999247 0.0338632 0.0153772 0.0283654 -0.033318 0.999042 0.02126 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.99966 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1003/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 30 to 4467613600676062950 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.920109) and 94(1311875575.720045) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999428 0.0212667 -0.0262798 -0.0110949 -0.0203561 0.999199 0.0344443 0.0215785 0.0269913 -0.0338897 0.999061 0.0180719 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 8,0.999071 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:913/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.913581 resInfo good: 1971, 121 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3324/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999434 0.0219806 -0.0254556 -0.0116894 -0.0210483 0.999118 0.0363288 0.0186033 0.0262316 -0.0357724 0.999016 0.0183277 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!100 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!101 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 102 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.950767 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!102 INF|Input.cpp[getImages,132]: mNbReceivedImages!103 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999392 0.0244908 -0.0248265 -0.0158821 -0.0235577 0.99903 0.0372023 0.022507 0.0257136 -0.0365948 0.998999 0.0249451 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 30 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.950767) and 94(1311875575.720045) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999392 0.0244908 -0.0248265 -0.0158821 -0.0235577 0.99903 0.0372023 0.022507 0.0257136 -0.0365948 0.998999 0.0249451 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.99962 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1013/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 30 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.950767) and 94(1311875575.720045) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999317 0.0237133 -0.0283345 -0.0176411 -0.0226962 0.999105 0.0356947 0.0215375 0.0291555 -0.0350272 0.998961 0.0226361 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:978/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 30 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.950767) and 94(1311875575.720045) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99932 0.0251338 -0.0269953 -0.0155085 -0.0241032 0.998993 0.0378485 0.0201305 0.0279194 -0.0371721 0.998919 0.017701 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999182 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:732/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.911608 resInfo good: 1948, 144 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3127/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999282 0.025527 -0.0280073 -0.00854208 -0.0243959 0.998901 0.0400083 0.0146983 0.0289979 -0.0392963 0.998807 0.0101831 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!101 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!102 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 103 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875575.984464 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!103 INF|Input.cpp[getImages,132]: mNbReceivedImages!104 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999198 0.0273034 -0.0292783 -0.00696527 -0.0260658 0.998784 0.041851 0.0127308 0.0303853 -0.0410543 0.998695 0.0061193 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 30 to 4792260720022519808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.984464) and 94(1311875575.720045) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999198 0.0273034 -0.0292783 -0.00696527 -0.0260658 0.998784 0.041851 0.0127308 0.0303853 -0.0410543 0.998695 0.0061193 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999467 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1015/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 30 to 4792260720022519808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.984464) and 94(1311875575.720045) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999133 0.0225505 -0.034991 0.000329702 -0.021081 0.998903 0.0418119 0.00234139 0.0358955 -0.041038 0.998513 0.000259285 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:915/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 30 to 4792260720022519808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875575.984464) and 94(1311875575.720045) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999146 0.0232972 -0.0341189 0.00303351 -0.0218357 0.998854 0.0425991 0.00569764 0.0350723 -0.0418178 0.998509 -0.00288899 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.99997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:958/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.948594 resInfo good: 1938, 154 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3279/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999266 0.024317 -0.0295955 -0.0114965 -0.0230498 0.998833 0.042431 0.0143384 0.0305928 -0.0417177 0.998661 0.0124341 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!102 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!103 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 104 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.019968 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!104 INF|Input.cpp[getImages,132]: mNbReceivedImages!105 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999222 0.0219086 -0.0327804 -0.0174142 -0.0203459 0.998675 0.0472693 0.0136238 0.0337726 -0.0465656 0.998344 0.0169252 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 30 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.019968) and 94(1311875575.720045) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999222 0.0219086 -0.0327804 -0.0174142 -0.0203459 0.998675 0.0472693 0.0136238 0.0337726 -0.0465656 0.998344 0.0169252 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1136/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 30 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.019968) and 94(1311875575.720045) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999185 0.0185244 -0.0358639 -0.01556 -0.0170558 0.999021 0.0408291 0.0106402 0.0365851 -0.0401841 0.998522 0.00821779 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.9999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:887/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 30 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.019968) and 94(1311875575.720045) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999195 0.0193192 -0.0351589 -0.0126101 -0.0178568 0.998981 0.0414418 0.0151129 0.0359237 -0.0407806 0.998522 0.00589475 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999748 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:271/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.01413 resInfo good: 1927, 165 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2683/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.99924 0.0198086 -0.0335809 -0.0146222 -0.0184234 0.998986 0.0410691 0.0233756 0.0343604 -0.0404192 0.998592 0.0109576 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875576.019968 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875576.019968 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875576.019968 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 700 size: 1957 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875576.019968 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -12.8538 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 35 keyframeId: 21 score: -13.7211 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 39 keyframeId: 23 score: -15.7646 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 56 keyframeId: 27 score: -18.642 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 70 keyframeId: 28 score: -16.7846 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 85 keyframeId: 29 score: -11.7583 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 31 = 31 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3904660 fh1 0x20f1be0fh->id: 16 31 103goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3904660 fh1 0x20e22c0fh->id: 21 31 103goodE: 26 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3904660 fh1 0x2ae6dc0fh->id: 23 31 103goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3904660 fh1 0x290fc60fh->id: 27 31 103goodE: 27 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3904660 fh1 0x2902d00fh->id: 28 31 103goodE: 38 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3904660 fh1 0x20ef9e0fh->id: 29 31 103goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3904660 fh1 0x31b05c0fh->id: 30 31 103goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew31 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 72 out of 74 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 74 newEdgePixels: 74 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 798 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 108 lastEnergy: 178.078 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 19 INF|LocalMapper.cpp[optimize,276]: Start Energy: 178.078 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -4.3104e-12 6.09829e-12 -1.53319e-12 -2.1251e-12 0.00039372 -0.00426751 0.00258514 -0.000526188 -0.000534667 1.45147e-05 -0.00360509 0.00711884 -0.00732051 0.000762075 0.000406077 -0.000165056 -0.0041987 0.0168969 -0.00578429 0.00218665 0.000166753 -6.5992e-05 -0.00727397 0.00395605 -0.00124287 0.000958572 0.000359866 0.000830438 -0.00817809 0.000506977 0.000200482 0.00036597 0.000411663 0.000785941 -0.00355609 0.0122045 -0.00542646 0.00134546 -0.000264486 0.00109057 -0.00507364 0.00910093 -0.00365325 0.00114208 0.000145724 0.000887513 -0.00402612 0.018934 -0.00334735 0.00211151 0.000411191 0.000691279 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 798 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 165.94 0 0 newEnergyL 0 lastEnergy: 178.078 0 0 lastEnergyL: 0mActiveResiduals: 798 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.35902e-12 -5.65476e-12 2.62804e-12 -1.83102e-12 -0.004401 -8.41221e-07 -0.000844213 4.62653e-05 0.000515809 -0.00010394 0.00813066 -0.00524123 0.0108369 -0.000701534 -0.00122321 0.000299379 0.00487425 -0.00570498 0.00934523 -0.00126203 -0.000853533 0.000458511 0.00891992 0.0142921 0.0199051 0.000315948 -0.000809308 0.000707178 0.00979337 0.0201945 0.0161703 0.000963255 -0.00096853 0.000647434 0.00798905 0.00555129 0.0196896 -0.000269493 -0.000549195 0.000606473 0.0116719 0.0083756 0.0147778 -0.00019235 -0.00112569 0.00109498 0.00545891 0.00986785 0.0179886 -0.000164501 -0.000278106 0.00112445 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 798 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 166.205 0 0 newEnergyL 0 lastEnergy: 165.94 0 0 lastEnergyL: 0mActiveResiduals: 798 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -2.52988e-12 4.76288e-12 1.54857e-12 -3.22476e-12 0.00985034 -0.00493873 0.00920505 0.000205146 -0.00209499 -0.000578074 -0.00493844 -0.00238699 -0.00341463 0.00044228 -8.48641e-05 -0.000494507 -0.00161925 0.00661531 0.00356442 0.00100396 -0.000352694 -0.000846795 -0.000932005 0.00237619 -0.001991 0.000814352 -0.000567056 -0.00037716 -0.00240837 -0.0075127 0.000671791 -0.000170577 -0.000314752 -7.97599e-05 -0.000358104 0.00243483 -0.00275994 0.000658895 -0.000544966 3.18426e-06 0.000766018 0.00269722 0.00213053 0.000749623 -0.000452525 -0.00059685 0.00649407 -0.00224217 -0.00937177 0.000452722 -0.00152752 7.87623e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 798 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 157.403 0 0 newEnergyL 0 lastEnergy: 166.205 0 0 lastEnergyL: 0mActiveResiduals: 798 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 6.88874e-14 -2.08459e-12 6.91691e-13 -1.30652e-13 -0.00956575 0.00507565 -0.00836991 -0.00102376 0.00217205 0.000167653 0.00329626 0.00146739 -0.000162529 -0.000981066 0.000408105 -0.000244558 0.0024598 -0.0093391 -0.00216478 -0.00135938 0.000490239 0.000474541 -0.00163953 -0.00366018 0.00460253 -0.000882002 0.000994752 0.000329412 0.00348288 0.00464945 0.00114606 -8.72324e-05 0.000239589 -3.55312e-05 -0.00231331 0.00487434 0.00347869 -0.000246507 0.000700418 -0.000353041 -0.0017482 -0.0112671 -0.00259952 -0.00176955 0.0003484 0.000890402 -0.000215865 0.0108133 0.0054797 0.000154698 0.000577331 -0.000188931 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 798 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 154.864 0 0 newEnergyL 0 lastEnergy: 157.403 0 0 lastEnergyL: 0mActiveResiduals: 798 Input.cpp[readImages,206]: Got image from sensor!104 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.5741e-12 -2.91404e-12 -3.3543e-12 1.24213e-12 0.00900425 -0.00565445 0.00827841 0.00078388 -0.00202718 -0.000916126 -0.00268259 -0.000399546 0.00152121 0.00123157 -0.00082165 -0.000611656 -0.00447978 0.00419709 -0.0013981 0.000999239 -0.000435211 -0.000699613 -0.00184947 0.00223536 0.000675449 0.000629032 -0.00058154 -0.00034375 -0.000658627 -0.00372099 -0.00219254 7.40463e-05 -0.000728108 6.93791e-05 0.00503446 -0.00421567 -0.0048388 0.000447751 -0.0010589 0.000473848 0.00549053 0.00828304 0.00117112 0.00161518 -0.000788638 -0.000793494 -0.0034908 -0.00362307 -0.00553656 0.000701942 -0.000100638 -0.000286101 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 798 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 158.416 0 0 newEnergyL 0 lastEnergy: 154.864 0 0 lastEnergyL: 0mActiveResiduals: 798 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -6.5841e-13 4.25776e-12 4.49556e-12 -4.54003e-12 -0.0051376 -0.00136979 -0.00492627 -0.00151192 0.00180521 0.000284227 0.00505454 -0.00180436 0.00101504 -0.0010797 0.000722099 -0.000449543 0.00543057 -0.00761553 0.00034657 -0.000558 8.91526e-05 -0.000867196 -0.000211533 -0.00279611 1.67593e-05 0.000539646 0.000489703 -0.00051259 0.00199232 0.00740308 -0.00282803 0.00157096 -9.17982e-05 -0.000497112 -0.0106609 0.00728579 0.00247167 0.000642051 0.000800236 -0.00113324 -0.00201199 0.00332173 -0.00186804 0.000470333 -0.000270543 0.000251087 0.00402864 -0.00317254 0.00365098 -0.000412894 -0.000859006 0.000532658 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 798 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 162.573 0 0 newEnergyL 0 lastEnergy: 158.416 0 0 lastEnergyL: 0mActiveResiduals: 798 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 162.573 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 798 INF|LocalMapper.cpp[optimize,345]: End Energy: 162.573 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.460692 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.460692 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 27 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 27 with idx: 3 and allID: 56 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->27 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 27->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 21<->27 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 27->21 INF|LocalMapper.cpp[marginalizeFrame,772]: 23<->27 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 27->23 INF|LocalMapper.cpp[marginalizeFrame,801]: 27 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 27 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6550 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x3904660 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 31 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 14 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 1 with distance 0.31Found rest min at: 13 with distance 0.116 overall min: 0.116 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 664 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 31 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 671 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 104 keyframes 32 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 532 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 105 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!105 INF|Input.cpp[getImages,132]: mNbReceivedImages!106 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.051642 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999924 -0.0092173 -0.00824309 -0.00500083 0.00921261 0.999957 -0.000606893 0.00845458 0.00824833 0.000530906 0.999966 -0.00238672 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.051642) and 103(1311875576.019968) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999924 -0.0092173 -0.00824309 -0.00500083 0.00921261 0.999957 -0.000606893 0.00845458 0.00824833 0.000530906 0.999966 -0.00238672 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999744 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:191/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.051642) and 103(1311875576.019968) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999959 5.03746e-05 -0.00910326 -0.00238777 -6.05504e-05 0.999999 -0.00111755 -0.000286049 0.0091032 0.00111805 0.999958 0.00219214 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999925 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:794/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.051642) and 103(1311875576.019968) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999973 -0.00396676 -0.00610804 -0.00884915 0.00396798 0.999992 0.000186965 0.00777533 0.00610725 -0.000211197 0.999981 0.000888322 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999978 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:506/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.435728 resInfo good: 1954, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1897/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99995 -0.00461596 -0.00885506 0.00447997 0.00463937 0.999986 0.00262441 -0.00235283 0.00884282 -0.00266537 0.999957 -0.0101592 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!104 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 466 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!105 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 106 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.086637 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!106 INF|Input.cpp[getImages,132]: mNbReceivedImages!107 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999801 -0.00920803 -0.0177214 0.00906053 0.00930165 0.999943 0.0052076 -0.0047115 0.0176725 -0.0053714 0.999829 -0.0202722 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.086637) and 103(1311875576.019968) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999801 -0.00920803 -0.0177214 0.00906053 0.00930165 0.999943 0.0052076 -0.0047115 0.0176725 -0.0053714 0.999829 -0.0202722 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999906 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:462/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.086637) and 103(1311875576.019968) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999791 -0.00902635 -0.0183565 0.00527844 0.00912113 0.999945 0.00508616 -0.00512414 0.0183095 -0.00525252 0.999819 -0.0188583 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999584 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:943/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.086637) and 103(1311875576.019968) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999847 -0.0083079 -0.0154093 0.000584527 0.00841271 0.999942 0.00674996 -0.0029776 0.0153523 -0.00687856 0.999858 -0.0141247 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999749 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:378/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.608555 resInfo good: 1954, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2171/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99983 -0.00867055 -0.0162613 0.00779054 0.00880044 0.99993 0.00793357 -0.00485603 0.0161914 -0.00807533 0.999836 -0.0183103 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!105 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!106 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 107 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.118713 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999639 -0.0126847 -0.0236881 0.0111715 0.0130002 0.999828 0.0132115 -0.00738913 0.0235164 -0.0135147 0.999632 -0.0264232 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.118713) and 103(1311875576.019968) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999639 -0.0126847 -0.0236881 0.0111715 0.0130002 0.999828 0.0132115 -0.00738913 0.0235164 -0.0135147 0.999632 -0.0264232 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 4): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:890/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.118713) and 103(1311875576.019968) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999576 -0.0139002 -0.0255992 0.00275796 0.0142048 0.99983 0.0117552 -0.0108163 0.0254314 -0.0121139 0.999603 -0.0207478 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!107 INF|Input.cpp[getImages,132]: mNbReceivedImages!108 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999976 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1041/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.118713) and 103(1311875576.019968) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999611 -0.0140287 -0.0241251 0.00614648 0.0143398 0.999816 0.0127711 -0.00647992 0.0239415 -0.0131121 0.999627 -0.0221594 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:718/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.735803 resInfo good: 1939, 18 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3081/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999622 -0.0144521 -0.0233827 0.00669837 0.0147534 0.99981 0.0127642 -0.0012797 0.0231938 -0.0131044 0.999645 -0.0202627 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!106 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!107 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 108 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.153524 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99933 -0.0201971 -0.0305306 0.00559918 0.0207394 0.999631 0.017552 0.00228048 0.0301648 -0.0181734 0.99938 -0.0222405 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.153524) and 103(1311875576.019968) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99933 -0.0201971 -0.0305306 0.00559918 0.0207394 0.999631 0.017552 0.00228048 0.0301648 -0.0181734 0.99938 -0.0222405 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!108 INF|Input.cpp[getImages,132]: mNbReceivedImages!109 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999413 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:957/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.153524) and 103(1311875576.019968) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999254 -0.0220258 -0.0317332 -0.00408979 0.0223195 0.999711 0.00893123 0.0203284 0.0315273 -0.00963283 0.999456 0.000310489 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 5): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1015/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.153524) and 103(1311875576.019968) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999392 -0.0205179 -0.0281947 -0.00848793 0.0208629 0.99971 0.0119952 0.0182189 0.0279404 -0.0125762 0.99953 0.00342258 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999862 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:672/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.786257 resInfo good: 1923, 34 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3024/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999359 -0.0200029 -0.0296976 -0.0003408 0.0204811 0.999664 0.0158863 0.003149 0.0293698 -0.0164843 0.999433 -0.00701328 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!107 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!108 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 109 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.181992 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999025 -0.0255315 -0.0360285 -0.00748743 0.0262272 0.999476 0.0189718 0.00758094 0.0355253 -0.0198982 0.999171 0.00617744 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.181992) and 103(1311875576.019968) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999025 -0.0255315 -0.0360285 -0.00748743 0.0262272 0.999476 0.0189718 0.00758094 0.0355253 -0.0198982 0.999171 0.00617744 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!109 INF|Input.cpp[getImages,132]: mNbReceivedImages!110 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999907 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1109/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.181992) and 103(1311875576.019968) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999055 -0.0226811 -0.0370767 -0.0150092 0.023287 0.999601 0.015992 0.00188957 0.0366992 -0.0168403 0.999184 0.00122796 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999958 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:980/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.181992) and 103(1311875576.019968) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999091 -0.0226649 -0.03609 -0.0116785 0.0232784 0.99959 0.0166682 0.00609801 0.0356974 -0.0174932 0.99921 0.000613643 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999088 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:457/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.873901 resInfo good: 1909, 48 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2933/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999063 -0.022794 -0.0367877 -0.00416298 0.0234504 0.999572 0.017511 0.00567081 0.0363728 -0.0183573 0.99917 -0.00509734 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!108 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!109 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 110 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.219311 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!110 INF|Input.cpp[getImages,132]: mNbReceivedImages!111 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998709 -0.0255716 -0.0438805 -0.00800588 0.0264308 0.999468 0.0191146 0.00818473 0.0433683 -0.0202498 0.998854 -0.00321275 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.219311) and 103(1311875576.019968) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998709 -0.0255716 -0.0438805 -0.00800588 0.0264308 0.999468 0.0191146 0.00818473 0.0433683 -0.0202498 0.998854 -0.00321275 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999984 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:422/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.219311) and 103(1311875576.019968) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998653 -0.0260723 -0.0448496 -0.0132256 0.0269338 0.999462 0.0187114 0.00672694 0.0443376 -0.0198942 0.998819 0.000805789 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 10,0.99951 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1029/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.219311) and 103(1311875576.019968) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998481 -0.0260619 -0.0485404 0.0097111 0.0271609 0.999386 0.0221206 -0.00517931 0.0479341 -0.0234054 0.998576 -0.0218111 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999956 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:580/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.945656 resInfo good: 1869, 88 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2419/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998662 -0.0254411 -0.0450327 0.000712337 0.0264508 0.999409 0.0219699 0.00330111 0.0444471 -0.0231316 0.998744 -0.0116909 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!109 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!110 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 111 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.250983 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!111 INF|Input.cpp[getImages,132]: mNbReceivedImages!112 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998185 -0.0280484 -0.0532864 0.0056482 0.0294869 0.999216 0.0264034 0.000915152 0.0525041 -0.0279267 0.99823 -0.0182334 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.250983) and 103(1311875576.019968) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998185 -0.0280484 -0.0532864 0.0056482 0.0294869 0.999216 0.0264034 0.000915152 0.0525041 -0.0279267 0.99823 -0.0182334 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.99901 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:573/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.250983) and 103(1311875576.019968) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998202 -0.0277537 -0.0531223 0.00592414 0.0290076 0.999315 0.0229796 -0.00190815 0.0524481 -0.0244793 0.998324 -0.00828411 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999629 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:637/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.250983) and 103(1311875576.019968) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998251 -0.027797 -0.0521688 0.0081497 0.0290796 0.999289 0.0239893 0.000290841 0.0514649 -0.0254644 0.99835 -0.00875405 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999501 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:322/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.960185 resInfo good: 1857, 100 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1911/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998417 -0.0274166 -0.0491114 -0.00244025 0.0286663 0.999278 0.0249261 0.00166791 0.0483926 -0.0262944 0.998482 0.00207866 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!110 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!111 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 112 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.286801 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998152 -0.029379 -0.0531951 -0.00564503 0.0308934 0.999134 0.0278729 7.02067e-05 0.0523302 -0.0294648 0.998195 0.0158404 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.286801) and 103(1311875576.019968) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998152 -0.029379 -0.0531951 -0.00564503 0.0308934 0.999134 0.0278729 7.02067e-05 0.0523302 -0.0294648 0.998195 0.0158404 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!112 INF|Input.cpp[getImages,132]: mNbReceivedImages!113 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.99993 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:915/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.286801) and 103(1311875576.019968) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99887 -0.0246702 -0.0406107 -0.0641504 0.0251881 0.999607 0.0122915 0.0456126 0.0402915 -0.0133006 0.999099 0.074663 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:839/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 31 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.286801) and 103(1311875576.019968) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998769 -0.0245788 -0.0430775 -0.0487964 0.0253258 0.999537 0.0168812 0.0299463 0.0426426 -0.0179514 0.998929 0.0552645 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999998 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:760/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.15944 resInfo good: 1905, 52 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2881/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998646 -0.0251087 -0.0455616 -0.0358548 0.0260074 0.999477 0.0192406 0.02177 0.0450546 -0.0203995 0.998776 0.0432915 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875576.286801 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875576.286801 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875576.286801 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 692 size: 2335 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875576.286801 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -12.5343 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 35 keyframeId: 21 score: -13.3855 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 39 keyframeId: 23 score: -13.5005 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 70 keyframeId: 28 score: -15.7107 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 85 keyframeId: 29 score: -18.6914 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 94 keyframeId: 30 score: -15.6961 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 32 = 32 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb6ce0 fh1 0x20f1be0fh->id: 16 32 111goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb6ce0 fh1 0x20e22c0fh->id: 21 32 111goodE: 16 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb6ce0 fh1 0x2ae6dc0fh->id: 23 32 111goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb6ce0 fh1 0x2902d00fh->id: 28 32 111goodE: 37 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb6ce0 fh1 0x20ef9e0fh->id: 29 32 111goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb6ce0 fh1 0x31b05c0fh->id: 30 32 111goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb6ce0 fh1 0x3904660fh->id: 31 32 111goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew32 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 98 out of 101 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 101 newEdgePixels: 101 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 751 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 99 lastEnergy: 180.971 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 17 INF|LocalMapper.cpp[optimize,276]: Start Energy: 180.971 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -5.18367e-13 -7.75704e-12 -1.37443e-11 1.01873e-11 -0.0024441 0.00920426 -0.00438418 0.00173339 -5.70161e-05 0.00129428 -0.00180856 0.00808444 0.000160366 0.00148088 -0.000199799 0.000458996 0.00792118 0.0196249 0.00260115 0.00170261 -0.000871923 0.00191933 0.00952038 -0.00299138 -0.00070474 -0.00130201 -0.000564806 0.00291837 0.0118881 -0.012165 -0.00144919 -0.00169162 -0.000358748 0.00296389 3.24968e-05 0.00802807 0.00202453 -8.67346e-05 0.000741599 0.00147503 -0.00318413 0.000713653 0.00868297 -0.000834039 0.00164504 0.00129695 -0.0225937 0.0267258 0.0244487 0.000777619 0.00312112 -0.000237018 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 751 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 158.6 0 0 newEnergyL 0 lastEnergy: 180.971 0 0 lastEnergyL: 0mActiveResiduals: 751 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.13594e-12 -1.25327e-12 -6.96116e-12 -3.06195e-12 0.00123042 -0.00158901 0.0012203 -0.000160357 -0.00017414 -7.92863e-05 -0.00647236 -0.0031786 -0.0109949 -0.000551057 0.00104393 0.000701562 0.000209112 -0.00192722 -0.00591163 -0.000118628 0.000127537 -0.000307895 -0.0115331 0.00460143 -0.00450389 0.000779441 0.00154821 -0.000249754 -0.0135453 0.0103419 -0.00642993 0.00147276 0.00181933 -9.47331e-05 -0.00795115 -0.0107433 -0.00430726 -0.000679545 0.00145447 0.000431831 -0.0166286 0.0108992 -0.000293844 0.00113213 0.00219476 -0.000889014 0.00182864 -0.00478987 -0.0153671 7.346e-05 3.27131e-05 -0.00021053 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 751 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 149.978 0 0 newEnergyL 0 lastEnergy: 158.6 0 0 lastEnergyL: 0mActiveResiduals: 751 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -4.59114e-13 5.68775e-12 6.55642e-12 -3.67252e-12 -0.00607917 0.00697552 0.00155642 0.00127423 3.95402e-05 0.00141034 -0.00105501 0.00680614 0.00394067 0.00114671 -0.000620337 0.00110272 -0.00652401 -0.00212077 -0.000566255 -0.000127744 0.00036175 0.00121833 -0.000452397 -0.00195101 -0.000141056 -0.000470049 -2.00025e-05 0.00124292 0.00647287 -0.0045214 -0.00356543 -0.000910367 -0.000796376 0.000986279 0.00420799 0.00752731 -0.000484996 0.000156024 -0.000558592 0.000271208 0.00618164 -0.0124637 1.35684e-05 -0.00162941 -0.000537342 0.0013683 -0.00571386 -0.00130046 0.00800012 -0.00100554 0.000793488 0.000703599 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 751 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 147.485 0 0 newEnergyL 0 lastEnergy: 149.978 0 0 lastEnergyL: 0mActiveResiduals: 751 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 2.29613e-12 -2.01337e-12 -1.33435e-12 2.84022e-12 0.00696951 -0.00581695 0.00123245 -0.000585763 -0.000518458 -0.00118056 0.00231778 -0.00323766 -0.00352219 -0.000516296 0.000165091 -0.000281435 0.00522721 0.0067853 -0.00392845 0.000766975 -0.000468851 -0.000762709 -0.00339238 0.00326661 0.00294069 0.000649088 0.000542544 -0.000733415 -0.00564121 0.00636209 0.006916 0.000991333 0.000904302 -0.000671709 -0.00124757 -0.00597075 4.07597e-05 -1.0942e-05 0.000357285 0.000316675 -0.00672517 0.0053626 -0.000463026 0.000855328 0.00063076 -0.000910273 0.00552274 -0.00577911 -0.00899931 0.000349562 -0.00054468 -0.000248605 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 751 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 143.773 0 0 newEnergyL 0 lastEnergy: 147.485 0 0 lastEnergyL: 0mActiveResiduals: 751 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.98992e-12 2.7074e-12 -8.34328e-14 -7.49679e-12 -0.003253 0.00243522 0.000233023 0.000616379 1.71301e-05 0.000286548 -0.00374954 0.00469099 0.00284515 0.00113481 6.65732e-05 -9.36055e-05 -0.00518056 -0.00653613 0.00104497 -0.000522127 0.000541116 0.000378499 0.00301613 -0.00246762 -0.00215044 -0.000292564 -0.000276585 0.000645183 0.00815121 -0.00914548 -0.00835947 -0.000802217 -0.000961065 0.000681779 -0.00660503 0.00870645 4.186e-06 0.00054838 0.00054061 -0.000532749 0.00762448 0.00184606 -0.00191864 0.000134189 -0.000620153 0.000553515 -0.00190245 -0.000139974 0.0123347 -0.000588068 0.000612344 0.00082457 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 751 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 142.108 0 0 newEnergyL 0 lastEnergy: 143.773 0 0 lastEnergyL: 0mActiveResiduals: 751 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.27995e-12 -2.05837e-12 -1.47458e-12 6.00348e-12 0.00642224 -0.0031736 0.00227981 -0.000522717 -0.000408839 -0.00101432 0.00390861 -0.00876103 0.000523689 -0.00102996 -0.000312279 -0.000816292 0.00385693 0.00322309 -0.00314107 0.000719478 -0.000629079 -0.000826961 -0.00197249 0.00755115 0.000701608 0.001267 -0.000236566 -0.00106561 -0.00883292 0.0112786 0.00659911 0.00143991 0.000551127 -0.00101849 0.00631438 -0.00672584 -0.00283574 0.00016414 -0.000998103 0.000437167 -0.00770008 -0.00340413 0.00308205 0.000244584 0.0002436 -0.000444763 0.00302148 -0.000699629 -0.0133867 0.0012159 -0.000958592 -0.000870189 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 751 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 140.745 0 0 newEnergyL 0 lastEnergy: 142.108 0 0 lastEnergyL: 0mActiveResiduals: 751 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 140.745 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 751 INF|LocalMapper.cpp[optimize,345]: End Energy: 140.745 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.439695 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.439695 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 29 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 29 with idx: 4 and allID: 85 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->29 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 21<->29 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 23<->29 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 28<->29 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 29<->29 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 30<->29 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 31<->29 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 32<->29 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 29 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 85: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 28/70: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 27/56: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 27 allId: 56 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.999791 -0.0184259 0.00887372 0.100737 0.0189598 0.997744 -0.0643946 -0.054307 -0.00766717 0.0645494 0.997885 0.0152389 worldPose: 0.296576 0.12273 0.94709 0.289685 0.496996 0.827001 -0.2628 1.23672 -0.815499 0.54864 0.184272 0.566053 after: 0.296576 0.12273 0.94709 0.289685 0.496996 0.827001 -0.2628 1.23672 -0.815499 0.54864 0.184272 0.566053 worldPose of new: 0.302657 0.0670889 0.950736 0.248351 0.479322 0.851482 -0.212672 1.23791 -0.823802 0.520075 0.225549 0.673847 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.999791 -0.0184259 0.00887372 0.100737 0.0189598 0.997744 -0.0643946 -0.054307 -0.00766717 0.0645494 0.997885 0.0152389 INF|Mapper.cpp[changeRefFrame,578]: Updating: 86 from old kf id: 29/85 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 87 from old kf id: 29/85 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 88 from old kf id: 29/85 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 89 from old kf id: 29/85 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 90 from old kf id: 29/85 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 91 from old kf id: 29/85 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 92 from old kf id: 29/85 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 93 from old kf id: 29/85 with new ref frame: 56/27 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 85 after changeRefFrame: 0.999791 -0.0184259 0.00887372 0.100737 0.0189598 0.997744 -0.0643946 -0.054307 -0.00766717 0.0645494 0.997885 0.0152389 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 29 to normal frame with refFrame: 27 frame id kf: 85 newref id: 56 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 29 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6508 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1cb6ce0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 32 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 14 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 2 with distance 0.306Found rest min at: 13 with distance 0.162 overall min: 0.162 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 678 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 32 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 687 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 112 keyframes 33 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 547 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!112 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 113 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.318948 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!113 INF|Input.cpp[getImages,132]: mNbReceivedImages!114 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999991 0.00147111 0.00401475 -0.0340866 -0.00145203 0.999988 -0.00475206 0.0144297 -0.00402169 0.00474619 0.999981 0.0416113 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 32 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.318948) and 111(1311875576.286801) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999991 0.00147111 0.00401475 -0.0340866 -0.00145203 0.999988 -0.00475206 0.0144297 -0.00402169 0.00474619 0.999981 0.0416113 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999721 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:666/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 32 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.318948) and 111(1311875576.286801) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999875 0.00139061 -0.0157326 0.037391 -0.00139994 0.999999 -0.000582325 -0.0324134 0.0157318 0.000604277 0.999876 -0.0434027 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999965 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1043/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 32 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.318948) and 111(1311875576.286801) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999975 0.00372496 -0.00607609 0.00596873 -0.00373378 0.999992 -0.00144004 -0.0121167 0.00607068 0.00146269 0.999981 -0.015484 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999894 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:314/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.346038 resInfo good: 2335, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2489/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999987 0.00380202 -0.00351152 0.0018434 -0.0038065 0.999992 -0.00127119 -0.00762367 0.00350666 0.00128454 0.999993 -0.00970752 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!112 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!113 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 114 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.352792 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999946 0.00759945 -0.0070278 0.00369187 -0.00761738 0.999968 -0.002529 -0.015242 0.00700835 0.00258239 0.999972 -0.0194183 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.352792) and 111(1311875576.286801) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999946 0.00759945 -0.0070278 0.00369187 -0.00761738 0.999968 -0.002529 -0.015242 0.00700835 0.00258239 0.999972 -0.0194183 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!114 INF|Input.cpp[getImages,132]: mNbReceivedImages!115 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999242 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:220/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.352792) and 111(1311875576.286801) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999962 0.00473987 -0.00725637 0.00270652 -0.00476837 0.999981 -0.00391483 -0.0204365 0.00723767 0.00394928 0.999966 -0.0188066 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1503/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.352792) and 111(1311875576.286801) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99997 0.00677789 -0.00386347 -0.000339873 -0.00678824 0.999973 -0.00267255 -0.0126026 0.00384525 0.00269869 0.999989 -0.00900892 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999652 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:640/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.401185 resInfo good: 2335, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2831/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999976 0.00639951 -0.00273901 0.000909222 -0.00640551 0.999977 -0.00218501 -0.00996873 0.00272496 0.0022025 0.999994 -0.00495116 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!113 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 494 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!114 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 115 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.385121 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999932 0.0115965 -0.00120112 -0.00096632 -0.0116012 0.999925 -0.00401865 -0.0146647 0.00115443 0.00403231 0.999991 0.00455724 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.385121) and 111(1311875576.286801) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999932 0.0115965 -0.00120112 -0.00096632 -0.0116012 0.999925 -0.00401865 -0.0146647 0.00115443 0.00403231 0.999991 0.00455724 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!115 INF|Input.cpp[getImages,132]: mNbReceivedImages!116 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999536 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1167/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.385121) and 111(1311875576.286801) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999888 0.00620214 -0.0136526 0.0295999 -0.00630505 0.999952 -0.00750807 -0.0298124 0.0136054 0.00759331 0.999879 -0.0300141 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999909 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:659/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.385121) and 111(1311875576.286801) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999933 0.0077536 -0.00854511 0.0192993 -0.00780874 0.999949 -0.00643882 -0.0227238 0.00849475 0.00650512 0.999943 -0.0141135 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:885/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.550387 resInfo good: 2335, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3179/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999951 0.0089656 -0.00408695 0.0052899 -0.00899165 0.999939 -0.00640067 -0.0161699 0.00402931 0.00643711 0.999971 -0.00416576 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!114 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!115 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 116 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.418996 Input.cpp[readImages,192]: readImages loop! INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Input.cpp[getImages,128]: getimages!116 INF|Input.cpp[getImages,132]: mNbReceivedImages!117 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999878 0.0140803 -0.00681517 0.0140002 -0.0141801 0.99979 -0.014821 -0.0286158 0.00660505 0.0149158 0.999867 -0.00265619 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.418996) and 111(1311875576.286801) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999878 0.0140803 -0.00681517 0.0140002 -0.0141801 0.99979 -0.014821 -0.0286158 0.00660505 0.0149158 0.999867 -0.00265619 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999995 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1345/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.418996) and 111(1311875576.286801) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999865 0.0137065 -0.00903128 0.00275067 -0.0138542 0.999768 -0.0165028 -0.0252848 0.00880298 0.0166257 0.999823 -0.0152712 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999934 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1004/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.418996) and 111(1311875576.286801) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999886 0.0139113 -0.00592049 -0.000505533 -0.0140076 0.999765 -0.0165428 -0.016141 0.00568897 0.0166239 0.999846 -0.00480141 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999996 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:698/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.659511 resInfo good: 2335, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3518/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999893 0.0138604 -0.00464667 0.000944766 -0.0139359 0.999764 -0.0166364 -0.0102961 0.00441499 0.0166994 0.999851 -0.00193963 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!115 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 484 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!116 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 117 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.452913 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!117 INF|Input.cpp[getImages,132]: mNbReceivedImages!118 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99981 0.0187488 -0.00525647 -0.00337272 -0.0188835 0.999461 -0.0268675 -0.00442418 0.0047499 0.0269616 0.999625 0.000344563 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.452913) and 111(1311875576.286801) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99981 0.0187488 -0.00525647 -0.00337272 -0.0188835 0.999461 -0.0268675 -0.00442418 0.0047499 0.0269616 0.999625 0.000344563 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999519 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:679/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.452913) and 111(1311875576.286801) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999808 0.0185106 -0.00637147 -0.00820244 -0.0186684 0.999496 -0.0256674 0.000364585 0.00589314 0.0257814 0.99965 -0.0144728 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999857 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1004/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.452913) and 111(1311875576.286801) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999767 0.0201159 -0.00782808 0.00264708 -0.0202576 0.999624 -0.0184652 -0.0206361 0.00745369 0.0186195 0.999799 -0.018088 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999889 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:893/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.740239 resInfo good: 2327, 8 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3065/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999773 0.0202415 -0.00668047 0.00276199 -0.0203676 0.999605 -0.0193904 -0.013569 0.00628534 0.019522 0.99979 -0.0124056 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!116 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!117 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 118 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.486561 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!118 INF|Input.cpp[getImages,132]: mNbReceivedImages!119 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999608 0.0266159 -0.00873178 0.00457836 -0.0268036 0.999396 -0.022131 -0.0168243 0.00813746 0.0223564 0.999717 -0.0228772 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.486561) and 111(1311875576.286801) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999608 0.0266159 -0.00873178 0.00457836 -0.0268036 0.999396 -0.022131 -0.0168243 0.00813746 0.0223564 0.999717 -0.0228772 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.99907 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:415/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.486561) and 111(1311875576.286801) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99967 0.024219 -0.00862116 0.00438127 -0.0244021 0.999464 -0.0218055 -0.0162359 0.00808843 0.0220087 0.999725 -0.0243131 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1536/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.486561) and 111(1311875576.286801) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999687 0.0242021 -0.00633352 0.004347 -0.0243236 0.999507 -0.0198642 -0.0200056 0.00584964 0.020012 0.999783 -0.0193608 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999391 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:507/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.782128 resInfo good: 2302, 33 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2997/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999686 0.0245823 -0.00487796 0.00444513 -0.0246711 0.999514 -0.0190589 -0.0184398 0.00440708 0.0191732 0.999806 -0.0161081 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!117 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 472 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!118 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 119 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.519028 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!119 INF|Input.cpp[getImages,132]: mNbReceivedImages!120 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999634 0.0267523 -0.00397616 0.00527622 -0.0268229 0.999462 -0.018896 -0.0208784 0.00346851 0.0189957 0.999814 -0.0179599 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.519028) and 111(1311875576.286801) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999634 0.0267523 -0.00397616 0.00527622 -0.0268229 0.999462 -0.018896 -0.0208784 0.00346851 0.0189957 0.999814 -0.0179599 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999827 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1248/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.519028) and 111(1311875576.286801) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99961 0.0259617 -0.0103214 0.0231021 -0.0261625 0.999461 -0.0198282 -0.043732 0.00980108 0.0200905 0.99975 -0.0363343 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999983 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1132/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.519028) and 111(1311875576.286801) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999623 0.0270823 -0.00455929 0.00952937 -0.0271708 0.999418 -0.0206089 -0.0295167 0.0039985 0.020725 0.999777 -0.0182456 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 8,0.999903 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1220/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.828471 resInfo good: 2276, 59 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4085/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999614 0.0277566 -0.00148982 0.00214905 -0.0277818 0.999393 -0.0210324 -0.0220973 0.00090513 0.0210657 0.999778 -0.00955692 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!118 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!119 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 120 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!120 INF|Input.cpp[getImages,132]: mNbReceivedImages!121 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.550881 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 10 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999404 0.0341234 0.00526754 -0.00240941 -0.0339816 0.999109 -0.0250109 -0.0294298 -0.0061163 0.024817 0.999673 0.00354723 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.550881) and 111(1311875576.286801) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999404 0.0341234 0.00526754 -0.00240941 -0.0339816 0.999109 -0.0250109 -0.0294298 -0.0061163 0.024817 0.999673 0.00354723 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999612 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2893/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.550881) and 111(1311875576.286801) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999602 0.0281971 -0.000471517 -0.000877023 -0.0281976 0.999084 -0.032184 -0.0185418 -0.000436409 0.0321845 0.999482 -0.0164233 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999709 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2683/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 32 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.550881) and 111(1311875576.286801) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999562 0.0295626 0.00146722 -0.00186969 -0.0295077 0.999144 -0.0290059 -0.0215466 -0.00232345 0.0289499 0.999578 -0.00999992 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 8,0.999983 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3571/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.893411 resInfo good: 2226, 109 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10615/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999539 0.030318 0.00170362 0.0010053 -0.0302593 0.999158 -0.0276891 -0.0216356 -0.00254167 0.0276248 0.999615 -0.00705772 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!119 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 876 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!120 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 121 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.582951 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!121 INF|Input.cpp[getImages,132]: mNbReceivedImages!122 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999447 0.0329002 0.00487991 -0.000129178 -0.0327136 0.998874 -0.0343524 -0.0211877 -0.00600462 0.0341738 0.999398 -0.00455178 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 32 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.582951) and 111(1311875576.286801) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999447 0.0329002 0.00487991 -0.000129178 -0.0327136 0.998874 -0.0343524 -0.0211877 -0.00600462 0.0341738 0.999398 -0.00455178 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999313 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1565/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 32 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.582951) and 111(1311875576.286801) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999684 0.0251222 0.000868336 0.00725816 -0.0250637 0.998807 -0.041911 -0.0161311 -0.0019202 0.041876 0.999121 -0.0214295 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999066 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1253/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 32 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.582951) and 111(1311875576.286801) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999604 0.0278863 0.00371836 0.00320349 -0.0277253 0.998894 -0.0379627 -0.0172746 -0.00477289 0.0378445 0.999272 -0.0119422 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999128 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1346/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.962987 resInfo good: 2131, 204 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4900/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999511 0.0308906 0.00481816 0.000519332 -0.0307059 0.99893 -0.0345894 -0.0236867 -0.00588149 0.0344246 0.99939 -0.00795429 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!120 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 760 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!121 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 122 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!122 INF|Input.cpp[getImages,132]: mNbReceivedImages!123 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.620067 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999473 0.0314843 0.00792862 2.95627e-05 -0.0311294 0.998654 -0.0414895 -0.0257314 -0.00922422 0.0412208 0.999107 -0.00886348 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 32 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.620067) and 111(1311875576.286801) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999473 0.0314843 0.00792862 2.95627e-05 -0.0311294 0.998654 -0.0414895 -0.0257314 -0.00922422 0.0412208 0.999107 -0.00886348 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999265 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1209/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 32 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.620067) and 111(1311875576.286801) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999688 0.0249586 -0.00055299 0.0132624 -0.024957 0.998581 -0.0470362 -0.0286697 -0.000621754 0.0470354 0.998893 -0.0329826 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999222 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1424/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 32 to 68566336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.620067) and 111(1311875576.286801) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999618 0.0271847 0.00497916 6.58277e-05 -0.0269204 0.998528 -0.0470945 -0.016513 -0.00625208 0.0469424 0.998878 -0.0148321 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999772 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:778/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.0248 resInfo good: 2095, 240 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4071/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999566 0.02908 0.00479056 0.00499593 -0.0288406 0.998608 -0.0441549 -0.0223791 -0.00606792 0.0439975 0.999013 -0.0156684 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875576.620067 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875576.620067 to keyframe with id: 68566336 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875576.620067 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 939 size: 2292 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId68566336 timestamp: 1311875576.620067 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -12.661 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 35 keyframeId: 21 score: -13.6355 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 39 keyframeId: 23 score: -13.4564 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 70 keyframeId: 28 score: -14.8261 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 94 keyframeId: 30 score: -23.4158 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 103 keyframeId: 31 score: -21.5459 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 33 = 33 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb7520 fh1 0x20f1be0fh->id: 16 33 121goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb7520 fh1 0x20e22c0fh->id: 21 33 121goodE: 14 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb7520 fh1 0x2ae6dc0fh->id: 23 33 121goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb7520 fh1 0x2902d00fh->id: 28 33 121goodE: 91 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb7520 fh1 0x31b05c0fh->id: 30 33 121goodE: 22 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb7520 fh1 0x3904660fh->id: 31 33 121goodE: 23 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cb7520 fh1 0x1cb6ce0fh->id: 32 33 121goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew33 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 60 out of 62 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 62 newEdgePixels: 62 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 774 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 160 lastEnergy: 156.768 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 31 INF|LocalMapper.cpp[optimize,276]: Start Energy: 156.768 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 2.40134e-12 5.11845e-12 6.58945e-12 -6.78906e-12 -0.00274515 0.00153393 -0.00442096 -0.000606403 0.000668701 0.000629583 -0.00698054 7.43593e-05 -0.0104418 -0.000533898 0.00145447 -0.000284502 -0.00392481 -0.010988 -0.000822419 -0.00177807 0.00135891 1.08435e-06 0.00452765 -0.0103784 -0.000285448 -0.00200809 0.000278854 -0.000522095 0.00781194 0.00185979 -0.00311951 -0.000786314 -0.000341595 -0.00171478 0.0143481 -0.0100826 -0.00588178 -0.0018857 -0.000945703 -0.00103668 0.00365516 -0.00983577 0.00106522 -0.00231329 0.000249103 -0.000340564 -0.0137539 0.00461382 0.0160092 -0.00116539 0.00234794 -0.00108216 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 774 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 151.817 0 0 newEnergyL 0 lastEnergy: 156.768 0 0 lastEnergyL: 0mActiveResiduals: 774 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.58616e-12 -4.0373e-12 -4.5593e-12 6.66163e-12 -0.00103432 -0.000256812 -0.000299184 -1.5027e-05 0.000131829 -3.19147e-05 0.0020691 -0.00123077 0.00121967 -0.000318727 -0.000276678 0.000252089 -0.0019651 -0.00380579 -0.00179682 -0.000400361 8.66119e-05 -0.000276401 -0.00751293 0.00563773 0.00201093 0.000650881 0.000726977 -0.000229694 0.00130655 -0.0127758 -0.00100468 -0.00113613 -0.000152788 0.000532237 -0.00790119 0.00788343 -7.97165e-05 0.000764952 0.000660016 -0.000115051 -0.00573513 0.000364235 0.000359274 0.000692214 0.000516724 -0.000574994 0.0135387 -0.0145427 -0.0183706 -0.000349657 -0.00148104 0.000533067 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 774 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 149.49 0 0 newEnergyL 0 lastEnergy: 151.817 0 0 lastEnergyL: 0mActiveResiduals: 774 Input.cpp[readImages,206]: Got image from sensor!122 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.34301e-12 2.76215e-12 4.27163e-12 9.16827e-13 -0.00307076 0.0019226 -0.00261298 1.50475e-05 0.00104145 0.000294044 -0.000540794 -0.000101263 -0.00420417 6.28781e-05 0.000930872 -9.68617e-06 0.00081008 -0.00169449 -0.000506562 -0.000223445 0.000748236 0.000598558 0.00363077 -0.00420147 -0.00481387 -0.000545193 0.000357828 -8.51716e-05 -0.00777927 0.00742892 0.00042876 0.000417048 0.00135432 -0.000854889 0.000881798 -0.00399524 -0.00112516 -0.000484591 0.000550018 -0.00023708 0.00884944 -0.00474377 -0.000374103 -0.00112006 -9.91597e-05 0.000593429 -0.00748246 0.00791006 0.0142308 -0.000213966 0.00152294 -0.00043654 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 774 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 145.631 0 0 newEnergyL 0 lastEnergy: 149.49 0 0 lastEnergyL: 0mActiveResiduals: 774 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 2.32463e-13 -1.48739e-12 -3.1284e-12 3.57129e-13 0.00422539 0.000349466 0.00586706 0.000774174 -0.00149059 6.53335e-06 -0.000306172 0.00024327 0.00242083 0.00031359 -0.00112975 0.000601115 -0.00210479 0.00343723 0.00291953 0.00055278 -0.000813071 -6.21859e-05 -0.00489564 0.00692236 0.00591216 0.000626369 -0.000497553 0.000709317 0.0069424 -0.00775676 -0.00196498 -0.000636612 -0.00150372 0.00102584 0.00106667 -0.00429686 0.00103953 -0.000605621 -0.000917158 0.000418566 -0.00795456 0.00377011 0.000280577 0.000743853 -1.96802e-05 -0.000626618 0.00893457 -0.00625508 -0.0151571 -0.000102147 -0.001958 3.11209e-06 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 774 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 145.827 0 0 newEnergyL 0 lastEnergy: 145.631 0 0 lastEnergyL: 0mActiveResiduals: 774 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -9.90207e-13 1.5826e-12 -2.37911e-13 -3.15564e-12 -0.00372521 -0.00382829 -0.00564363 -0.00115652 0.00170271 -3.11049e-05 -0.0013431 0.000306068 -0.0038854 -4.81501e-05 0.00154281 -0.00113849 0.00706944 -0.00558078 -0.00203597 -0.000605308 0.000533601 -1.45798e-05 0.00691991 -0.00529506 -0.00851169 -0.000128936 0.000417058 -0.000746904 -0.00811659 0.00731002 0.00364541 0.000708897 0.00164238 -0.00106789 -0.00609641 0.00947175 0.00226859 0.00118139 0.00138386 -0.00061389 0.0136164 -0.00870609 -0.00398502 -0.00103705 -0.00069139 0.000637 -0.0128907 0.0100926 0.0146583 0.000694889 0.0022237 0.000129718 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 774 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 146.308 0 0 newEnergyL 0 lastEnergy: 145.827 0 0 lastEnergyL: 0mActiveResiduals: 774 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.32528e-12 4.47367e-14 -1.82303e-12 -6.01359e-12 -0.000254803 0.00542358 0.00111727 0.0010417 -0.000758571 0.00113464 0.00268672 0.001777 0.00327902 -0.00018679 -0.00104449 0.00213196 0.00151185 0.0119921 0.000204217 0.00094003 -0.000990828 0.000985996 -0.00813527 0.00998618 0.0115908 8.6755e-05 0.000356953 0.00159868 0.00467431 -0.00936514 -0.00111055 -0.00151855 -0.000673733 0.00150698 0.000198798 -0.0293233 0.00249377 -0.00353405 -4.23464e-05 0.00138437 -0.0167941 0.00656223 0.0034139 -0.000155733 0.00132839 -0.000443891 0.0165777 0.00162567 -0.0156876 -0.000270518 -0.00208195 5.07254e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 774 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 145.684 0 0 newEnergyL 0 lastEnergy: 146.308 0 0 lastEnergyL: 0mActiveResiduals: 774 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 145.684 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 774 INF|LocalMapper.cpp[optimize,345]: End Energy: 145.684 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.439271 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.439271 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 30 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 30 with idx: 4 and allID: 94 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->30 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 30->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 21<->30 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 30->21 INF|LocalMapper.cpp[marginalizeFrame,772]: 23<->30 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 30->23 INF|LocalMapper.cpp[marginalizeFrame,801]: 30 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 30 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 8938 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1cb7520 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 33 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 123 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 14 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 3 with distance 0.266Found rest min at: 13 with distance 0.104 overall min: 0.104 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 1058 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 33 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1069 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 122 keyframes 34 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 586 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.652863 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!123 INF|Input.cpp[getImages,132]: mNbReceivedImages!124 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999998 -0.0019252 0.000743994 -0.000356807 0.00193096 0.999967 -0.00783313 -0.00669575 -0.000728889 0.00783455 0.999969 -0.00528323 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 33 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.652863) and 121(1311875576.620067) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999998 -0.0019252 0.000743994 -0.000356807 0.00193096 0.999967 -0.00783313 -0.00669575 -0.000728889 0.00783455 0.999969 -0.00528323 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999428 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1132/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 33 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.652863) and 121(1311875576.620067) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999926 -0.00478435 -0.0111901 0.02559 0.00470681 0.999965 -0.00694572 -0.0218891 0.011223 0.00689254 0.999913 -0.0320859 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999167 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:993/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 33 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.652863) and 121(1311875576.620067) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999996 -0.00277027 -4.49975e-05 -0.00959141 0.00276972 0.999952 -0.00940171 0.00462683 7.10406e-05 0.00940155 0.999956 0.00143386 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999022 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1143/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.376933 resInfo good: 2292, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3788/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999991 -0.00362199 -0.00232656 0.00228226 0.00360318 0.999961 -0.00803899 0.0002931 0.00235559 0.00803053 0.999965 -0.00746371 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!122 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 487 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!123 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 124 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.686910 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!124 INF|Input.cpp[getImages,132]: mNbReceivedImages!125 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999917 -0.0109212 -0.00689183 0.00689536 0.0107519 0.999651 -0.0241397 0.00108393 0.00715305 0.0240635 0.999685 -0.0223666 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 33 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.686910) and 121(1311875576.620067) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999917 -0.0109212 -0.00689183 0.00689536 0.0107519 0.999651 -0.0241397 0.00108393 0.00715305 0.0240635 0.999685 -0.0223666 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999555 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1086/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 33 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.686910) and 121(1311875576.620067) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99991 -0.00910028 -0.00983877 0.00778816 0.00892113 0.999796 -0.0181022 0.00537964 0.0100015 0.0180128 0.999788 -0.0191112 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999941 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1233/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 33 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.686910) and 121(1311875576.620067) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999944 -0.0072798 -0.00774079 0.00413317 0.00717278 0.99988 -0.0137647 -0.00222134 0.00784006 0.0137084 0.999875 -0.0158266 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 9,0.999186 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1198/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.538898 resInfo good: 2292, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3960/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999939 -0.00746935 -0.00812052 0.00928876 0.00736457 0.99989 -0.0128568 -0.00302046 0.00821566 0.0127962 0.999884 -0.0199429 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!123 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!124 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 125 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.719749 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!125 INF|Input.cpp[getImages,132]: mNbReceivedImages!126 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999839 -0.0113441 -0.0138956 0.0163804 0.0110975 0.999782 -0.0176959 -0.00624751 0.0140933 0.0175389 0.999747 -0.0323966 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 33 to 4802979742917591040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.719749) and 121(1311875576.620067) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999839 -0.0113441 -0.0138956 0.0163804 0.0110975 0.999782 -0.0176959 -0.00624751 0.0140933 0.0175389 0.999747 -0.0323966 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999738 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:455/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 33 to 4802979742917591040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.719749) and 121(1311875576.620067) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999815 -0.0124687 -0.0146131 0.013225 0.0122153 0.999776 -0.0173079 -0.00439132 0.0148256 0.0171262 0.999743 -0.0282728 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999029 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:974/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 33 to 4802979742917591040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.719749) and 121(1311875576.620067) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999871 -0.00979876 -0.0127166 0.0101578 0.00962434 0.99986 -0.0137052 -0.00701897 0.0128491 0.0135811 0.999825 -0.0243171 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999811 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:394/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.624151 resInfo good: 2292, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2287/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99985 -0.0102267 -0.0139466 0.0169805 0.0100517 0.999871 -0.0125594 -0.0105193 0.0140732 0.0124173 0.999824 -0.0289372 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!124 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 470 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!125 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 126 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.753057 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999791 -0.0116045 -0.0168598 0.0208537 0.0113959 0.999858 -0.0124165 -0.0142621 0.0170015 0.0122218 0.999781 -0.0334165 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 33 to 52032224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.753057) and 121(1311875576.620067) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999791 -0.0116045 -0.0168598 0.0208537 0.0113959 0.999858 -0.0124165 -0.0142621 0.0170015 0.0122218 0.999781 -0.0334165 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!126 INF|Input.cpp[getImages,132]: mNbReceivedImages!127 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999482 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:397/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 33 to 52032224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.753057) and 121(1311875576.620067) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999775 -0.0124984 -0.0171198 0.0196055 0.0122813 0.999844 -0.012732 -0.0151319 0.0172763 0.0125189 0.999772 -0.0314106 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999353 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1182/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 33 to 52032224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.753057) and 121(1311875576.620067) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999838 -0.0120724 -0.0133804 0.0118386 0.0119082 0.999854 -0.0122816 -0.00853485 0.0135267 0.0121202 0.999835 -0.0228735 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999264 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:464/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.59825 resInfo good: 2292, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2488/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999841 -0.0118866 -0.0133286 0.0148692 0.0117438 0.999873 -0.0107431 -0.0120468 0.0134546 0.0105848 0.999853 -0.0266298 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!125 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!126 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 127 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.787428 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999841 -0.0118866 -0.0133286 0.0148692 0.0117438 0.999873 -0.0107431 -0.0120468 0.0134546 0.0105848 0.999853 -0.0266298 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 33 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.787428) and 121(1311875576.620067) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999841 -0.0118866 -0.0133286 0.0148692 0.0117438 0.999873 -0.0107431 -0.0120468 0.0134546 0.0105848 0.999853 -0.0266298 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!127 INF|Input.cpp[getImages,132]: mNbReceivedImages!128 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999357 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:729/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 33 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.787428) and 121(1311875576.620067) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999707 -0.0154682 -0.01862 0.0323736 0.0151269 0.999718 -0.0183315 -0.0129633 0.0188983 0.0180445 0.999659 -0.0331891 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999678 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1095/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 33 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.787428) and 121(1311875576.620067) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999864 -0.0123198 -0.0109522 0.0101344 0.0121539 0.999812 -0.0150917 -0.0122696 0.0111361 0.0149566 0.999826 -0.0117448 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999275 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:729/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.602412 resInfo good: 2292, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3005/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999866 -0.0125473 -0.0105351 0.0105887 0.0123965 0.999822 -0.0142527 -0.0127719 0.0107121 0.0141201 0.999843 -0.0119767 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!126 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 466 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!127 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 128 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.819169 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999892 -0.0138389 -0.00494106 0.00215167 0.0137308 0.99968 -0.0212657 -0.0143848 0.00523377 0.0211956 0.999762 0.0173569 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 33 to 4495892172165651996 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.819169) and 121(1311875576.620067) on lvl: 2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!128 INF|Input.cpp[getImages,132]: mNbReceivedImages!129 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999892 -0.0138389 -0.00494106 0.00215167 0.0137308 0.99968 -0.0212657 -0.0143848 0.00523377 0.0211956 0.999762 0.0173569 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999973 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:700/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 33 to 4495892172165651996 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.819169) and 121(1311875576.620067) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999936 -0.00997017 -0.00529104 0.00118208 0.00985297 0.999715 -0.0217332 -0.013649 0.00550622 0.0216797 0.99975 -0.00609463 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999863 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1164/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 33 to 4495892172165651996 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.819169) and 121(1311875576.620067) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999941 -0.00802941 -0.00730957 0.0133793 0.00789787 0.999809 -0.0178498 -0.0193304 0.0074515 0.017791 0.999814 -0.0153851 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999873 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:914/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.66041 resInfo good: 2243, 49 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3225/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999939 -0.00838908 -0.00720587 0.0159715 0.00825838 0.999804 -0.0179795 -0.014933 0.00735529 0.0179189 0.999812 -0.015591 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!127 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 476 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!128 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 129 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.853081 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!129 INF|Input.cpp[getImages,132]: mNbReceivedImages!130 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999965 -0.0063052 -0.00554703 0.018655 0.00619395 0.999784 -0.0198479 -0.0160167 0.00567098 0.0198129 0.999788 -0.017408 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 33 to 4734778677324152832 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.853081) and 121(1311875576.620067) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999965 -0.0063052 -0.00554703 0.018655 0.00619395 0.999784 -0.0198479 -0.0160167 0.00567098 0.0198129 0.999788 -0.017408 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 2): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:863/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 33 to 4734778677324152832 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.853081) and 121(1311875576.620067) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999968 -0.00555647 -0.00579941 0.018595 0.00543306 0.999763 -0.021083 -0.0202191 0.00591519 0.0210508 0.999761 -0.0199228 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 10,0.999903 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1374/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 33 to 4734778677324152832 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.853081) and 121(1311875576.620067) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999974 -0.00529856 -0.00490395 0.021665 0.00520434 0.999805 -0.0190314 -0.0228798 0.00500383 0.0190054 0.999807 -0.0228631 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999317 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1127/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.720597 resInfo good: 2292, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3831/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999974 -0.00559007 -0.00455527 0.0233834 0.00550339 0.999808 -0.0188245 -0.0202253 0.00465962 0.0187989 0.999812 -0.0234525 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!128 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!129 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 130 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.893791 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!130 INF|Input.cpp[getImages,132]: mNbReceivedImages!131 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999986 -0.00418968 -0.00323084 0.0270759 0.00412673 0.999806 -0.0192497 -0.0228766 0.00331086 0.0192361 0.999809 -0.0273925 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 33 to 4467613600676062950 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.893791) and 121(1311875576.620067) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999986 -0.00418968 -0.00323084 0.0270759 0.00412673 0.999806 -0.0192497 -0.0228766 0.00331086 0.0192361 0.999809 -0.0273925 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999364 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:453/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 33 to 4467613600676062950 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.893791) and 121(1311875576.620067) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999976 -0.00557253 -0.00414163 0.0335094 0.00543804 0.999479 -0.0318051 -0.00820428 0.0043167 0.0317818 0.999486 -0.0261833 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.99901 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:646/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 33 to 4467613600676062950 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.893791) and 121(1311875576.620067) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999988 -0.00494089 -0.000740391 0.0292756 0.00492082 0.999675 -0.0250226 -0.017964 0.000863784 0.0250186 0.999687 -0.0240715 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999976 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:758/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.777742 resInfo good: 2292, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2296/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999987 -0.00506871 0.00092262 0.0228091 0.0050905 0.999665 -0.0253925 -0.0143057 -0.000793603 0.0253969 0.999677 -0.0185302 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!129 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 827 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!130 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 131 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.951886 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!131 INF|Input.cpp[getImages,132]: mNbReceivedImages!132 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999982 -0.00479447 0.00366025 0.0225329 0.0048975 0.999577 -0.028677 -0.011358 -0.00352121 0.0286944 0.999582 -0.0160533 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 33 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.951886) and 121(1311875576.620067) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999982 -0.00479447 0.00366025 0.0225329 0.0048975 0.999577 -0.028677 -0.011358 -0.00352121 0.0286944 0.999582 -0.0160533 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 10,0.999727 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1307/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 33 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.951886) and 121(1311875576.620067) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999999 -0.00158949 4.68649e-05 0.0334014 0.00159018 0.999612 -0.027792 -0.0246304 -2.67151e-06 0.0277921 0.999614 -0.024299 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.99922 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:974/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 33 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.951886) and 121(1311875576.620067) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 1 -0.000534334 0.000625726 0.0357402 0.000549356 0.999706 -0.0242591 -0.0309787 -0.000612579 0.0242594 0.999706 -0.0276994 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:879/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.865316 resInfo good: 2292, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3598/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999999 -0.000459797 0.00157023 0.034455 0.000498115 0.9997 -0.02449 -0.0252418 -0.0015585 0.0244907 0.999699 -0.0256907 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!130 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!131 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 132 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!132 INF|Input.cpp[getImages,132]: mNbReceivedImages!133 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875576.989821 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999989 0.00414853 0.002222 0.0460452 -0.00409497 0.999713 -0.0235903 -0.0362376 -0.00231923 0.023581 0.999719 -0.0328501 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 33 to 4792260720022519808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.989821) and 121(1311875576.620067) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999989 0.00414853 0.002222 0.0460452 -0.00409497 0.999713 -0.0235903 -0.0362376 -0.00231923 0.023581 0.999719 -0.0328501 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 5): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1144/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 33 to 4792260720022519808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.989821) and 121(1311875576.620067) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999994 -0.00105118 0.00326071 0.05323 0.0011389 0.999634 -0.0270189 -0.0403836 -0.00323112 0.0270224 0.99963 -0.0428822 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999619 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:821/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 33 to 4792260720022519808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875576.989821) and 121(1311875576.620067) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999973 -6.7561e-06 0.0073056 0.045786 0.000214019 0.999597 -0.0283699 -0.0229216 -0.00730247 0.0283707 0.999571 -0.0308872 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:679/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.940155 resInfo good: 2241, 51 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3196/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999954 0.00211359 0.0093057 0.039717 -0.00187286 0.999665 -0.0258028 -0.0266901 -0.00935712 0.0257842 0.999624 -0.0246046 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!131 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!132 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 133 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!133 INF|Input.cpp[getImages,132]: mNbReceivedImages!134 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.020673 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999844 0.0046969 0.0170372 0.0449837 -0.0042335 0.999623 -0.0271339 -0.0281523 -0.0171582 0.0270575 0.999487 -0.0235614 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 33 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.020673) and 121(1311875576.620067) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999844 0.0046969 0.0170372 0.0449837 -0.0042335 0.999623 -0.0271339 -0.0281523 -0.0171582 0.0270575 0.999487 -0.0235614 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999412 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:608/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 33 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.020673) and 121(1311875576.620067) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999845 0.00431859 0.0170421 0.0423833 -0.00380973 0.999549 -0.0297795 -0.0350766 -0.017163 0.02971 0.999411 -0.0327087 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999052 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:563/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 33 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.020673) and 121(1311875576.620067) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999821 0.00453358 0.0183498 0.0412254 -0.00400329 0.999576 -0.0288329 -0.0307046 -0.0184727 0.0287543 0.999416 -0.0247546 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999709 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:358/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.03242 resInfo good: 2174, 118 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1959/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999813 0.00510142 0.0186526 0.0434573 -0.0045768 0.999596 -0.0280612 -0.0296922 -0.0187882 0.0279705 0.999432 -0.0219693 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875577.020673 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875577.020673 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875577.020673 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 662 size: 2204 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875577.020673 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -12.9346 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 35 keyframeId: 21 score: -13.7696 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 39 keyframeId: 23 score: -13.0884 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 70 keyframeId: 28 score: -12.4386 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 103 keyframeId: 31 score: -12.5349 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 111 keyframeId: 32 score: -11.7271 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 34 = 34 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2912760 fh1 0x20f1be0fh->id: 16 34 132goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2912760 fh1 0x20e22c0fh->id: 21 34 132goodE: 14 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2912760 fh1 0x2ae6dc0fh->id: 23 34 132goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2912760 fh1 0x2902d00fh->id: 28 34 132goodE: 91 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2912760 fh1 0x3904660fh->id: 31 34 132goodE: 24 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2912760 fh1 0x1cb6ce0fh->id: 32 34 132goodE: 41 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2912760 fh1 0x1cb7520fh->id: 33 34 132goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew34 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 53 out of 54 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 54 newEdgePixels: 54 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 844 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 128 lastEnergy: 195.569 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 21 INF|LocalMapper.cpp[optimize,276]: Start Energy: 195.569 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -6.96824e-13 -3.63543e-12 1.16962e-12 6.79867e-12 0.00299317 0.000329027 0.00130949 -0.000266955 -0.000540244 -0.00119079 -0.00328797 -0.00540887 -0.00112183 -0.000316582 6.3395e-05 -0.00195867 -0.00631274 -0.00735768 0.00767291 -0.000657333 9.13162e-05 -0.00133718 0.00742869 -0.00801534 -0.00131786 -0.000425552 -0.00149932 -0.00168607 1.72431e-06 0.00424547 0.0117401 0.000293739 -0.00113297 -0.00149413 0.0111573 -0.00187169 0.00353945 0.000306621 -0.00211417 0.000115154 -0.00969043 -0.0140953 0.0212604 -0.00143242 0.000255949 -0.000601959 -0.00857197 -0.0140412 0.00595407 -0.00160124 -0.000237105 -0.000709432 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 844 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 183.14 0 0 newEnergyL 0 lastEnergy: 195.569 0 0 lastEnergyL: 0mActiveResiduals: 844 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -2.74605e-12 -1.16061e-12 -5.2289e-12 -1.35885e-12 0.000758782 -0.00105682 0.000358063 -0.000108694 -9.28947e-05 -3.09343e-05 -0.00162977 0.00239659 -0.00348188 0.000245058 0.000258723 0.000117417 0.00206833 -0.00615835 0.00032887 -0.000434082 -0.000210138 -0.000392532 -0.00217748 -0.00240263 0.00104801 -0.000275903 -0.000238762 6.98905e-05 -0.00546369 0.00587569 -0.00255105 0.000772297 0.000333207 -0.000266304 -0.0055064 -0.00208218 -0.00192032 -7.18093e-05 0.000414103 -0.000793119 0.00446016 0.009622 -0.0184699 0.00125668 -0.00101944 -0.000974296 -0.000305436 0.00101538 0.00186269 -0.000223023 0.000272956 -0.000997086 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 844 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 180.146 0 0 newEnergyL 0 lastEnergy: 183.14 0 0 lastEnergyL: 0mActiveResiduals: 844 Input.cpp[readImages,206]: Got image from sensor!133 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 4.76147e-12 2.28269e-13 -3.9569e-13 -3.31112e-12 -0.00242581 0.00374472 -0.00326969 -0.000145773 0.00128665 0.000240838 9.98289e-05 0.000916927 -0.00469323 -0.000492206 0.00119204 0.000487404 -0.000822095 0.00708345 -0.00360215 0.000419482 0.00108775 0.000287343 0.00102195 0.00367493 -0.00751772 0.000270083 0.00111168 0.000170976 0.00192611 0.00571809 -0.00168984 7.02701e-05 0.000862098 0.000302636 0.00846577 -0.00071338 0.000193748 -0.000648069 0.000177412 0.00065017 -0.0120454 -0.00406066 0.0212966 -0.00131498 0.00290439 0.000909317 -0.00431933 -0.0119557 0.00164056 -0.00162111 0.00141197 0.000773093 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 844 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 179.066 0 0 newEnergyL 0 lastEnergy: 180.146 0 0 lastEnergyL: 0mActiveResiduals: 844 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -5.87804e-12 -1.15701e-12 -2.34618e-12 4.66189e-12 0.000659119 -0.00297301 -0.000602507 -6.25154e-05 -0.000462234 0.000353973 -0.0026584 0.00262514 -0.00344077 0.000442828 8.37607e-05 0.000121609 0.00355902 0.00118681 0.00447017 -0.000220023 -0.000708572 0.00044106 -0.000510194 -0.00755759 0.00657411 -0.00138185 -0.000361355 0.000485645 -0.00375728 -0.00360053 0.00460525 -0.000809663 0.000438884 -0.000160581 -0.00981266 -0.0010354 0.00160373 -0.000282981 0.00104512 -0.000255224 0.00992132 0.00860355 -0.0155376 0.000804682 -0.00146632 -0.000792319 0.00404621 0.00234247 0.001638 -0.000311447 -0.00040061 -0.000609466 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 844 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 176.296 0 0 newEnergyL 0 lastEnergy: 179.066 0 0 lastEnergyL: 0mActiveResiduals: 844 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 5.27516e-12 1.56476e-12 -4.09052e-12 -8.02434e-12 -0.00867179 0.00449592 -0.0039082 0.000202178 0.00143731 0.000655456 0.00179847 7.13982e-05 0.00331579 -0.000343202 0.00037649 0.000536609 0.00110036 -0.00116567 -0.0031086 -0.000163188 0.000559778 0.000308687 0.00781064 -0.000488984 -0.00947348 4.66102e-05 1.33348e-05 -1.81216e-06 0.00618892 0.00631389 -0.00287339 0.000343064 -0.000118716 0.000350923 0.0083812 0.00186509 0.00169956 -0.000445823 -0.000365736 0.000282015 -0.00797942 -0.00198849 0.015027 -0.000958867 0.00169804 0.000758032 -0.0148519 -0.0072163 0.00213841 -0.000968643 0.0020525 0.0006768 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 844 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 176.56 0 0 newEnergyL 0 lastEnergy: 176.296 0 0 lastEnergyL: 0mActiveResiduals: 844 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -4.42049e-12 -2.94225e-12 7.06498e-13 1.15805e-11 0.00718766 -0.00565744 0.00233743 -0.000215521 -0.00102157 -0.000471236 -0.00412691 0.00294871 -0.00631286 0.000726552 0.000171923 -0.000210006 0.00196071 0.00160548 0.00587943 9.01994e-05 -0.000766851 0.000264305 -0.00400912 0.00144602 0.00664281 -0.000106895 -0.000273538 0.000404084 -0.00735806 0.00225367 0.00462189 0.000209602 0.000547449 -9.76901e-05 -0.0117342 -0.00196853 -0.000172315 0.000194648 0.00106445 8.82801e-05 0.00882776 -0.0117745 -0.0153487 -0.000409769 -0.00145862 0.000258998 0.0136193 0.0102197 -0.000130186 0.000831645 -0.00171595 -0.000722226 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 844 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 172.231 0 0 newEnergyL 0 lastEnergy: 176.56 0 0 lastEnergyL: 0mActiveResiduals: 844 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 172.231 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 844 INF|LocalMapper.cpp[optimize,345]: End Energy: 172.231 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.459702 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.459702 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 21 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 21 with idx: 1 and allID: 35 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->21 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 21->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 21<->21 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 23<->21 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 21->23 INF|LocalMapper.cpp[marginalizeFrame,772]: 28<->21 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 31<->21 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 32<->21 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->21 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 34<->21 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 21 with: 2 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 21 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6512 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2912760 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 34 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 134 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 14 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 4 with distance 0.238Found rest min at: 13 with distance 0.116 overall min: 0.116 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 4 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 669 INF|LoopCloser.cpp[loopCloserLinear,145]: No loop because too close!34 with: 0.238 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 680 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 133 keyframes 35 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 521 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.054030 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99999 0.00076227 0.00448901 0.00303197 -0.000753175 0.999998 -0.00202745 -5.471e-06 -0.00449055 0.00202405 0.999988 0.000243245 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 34 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.054030) and 132(1311875577.020673) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99999 0.00076227 0.00448901 0.00303197 -0.000753175 0.999998 -0.00202745 -5.471e-06 -0.00449055 0.00202405 0.999988 0.000243245 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!134 INF|Input.cpp[getImages,132]: mNbReceivedImages!135 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1183/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 34 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.054030) and 132(1311875577.020673) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999995 -0.00104693 0.00301307 0.0154533 0.00108493 0.99992 -0.01264 0.0138051 -0.00299959 0.0126432 0.999916 -0.000919367 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999266 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:505/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 34 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.054030) and 132(1311875577.020673) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999972 -2.15587e-05 0.00743426 0.00595555 7.99129e-05 0.999969 -0.00784915 0.00302837 -0.00743386 0.00784952 0.999942 0.00331832 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999993 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:678/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.463987 resInfo good: 2204, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2781/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999965 0.000585268 0.00835435 0.00625931 -0.000534288 0.999981 -0.00610312 0.00100689 -0.00835777 0.00609844 0.999946 0.00503394 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!133 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!134 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 135 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.089823 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99986 0.00122145 0.0167044 0.012561 -0.00101754 0.999925 -0.0122103 0.00197969 -0.0167181 0.0121915 0.999786 0.0100214 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 34 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.089823) and 132(1311875577.020673) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99986 0.00122145 0.0167044 0.012561 -0.00101754 0.999925 -0.0122103 0.00197969 -0.0167181 0.0121915 0.999786 0.0100214 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!135 INF|Input.cpp[getImages,132]: mNbReceivedImages!136 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999803 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1194/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 34 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.089823) and 132(1311875577.020673) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999897 0.00399247 0.0138204 0.00691165 -0.00381032 0.999906 -0.0131813 -0.000915273 -0.0138717 0.0131273 0.999818 0.00340362 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 5): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1126/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 34 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.089823) and 132(1311875577.020673) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999892 0.00444953 0.0139827 0.0126245 -0.00430805 0.999939 -0.0101321 -0.00473164 -0.0140269 0.0100708 0.999851 -0.00343419 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999265 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:436/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.64628 resInfo good: 2204, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3179/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999873 0.00402039 0.0154195 0.0117196 -0.00386309 0.99994 -0.010218 0.000204583 -0.0154597 0.0101571 0.999829 0.00140571 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!134 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!135 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 136 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.119020 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!136 INF|Input.cpp[getImages,132]: mNbReceivedImages!137 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999804 0.00574867 0.0189465 0.014439 -0.00551648 0.999909 -0.0122842 -0.000197908 -0.0190154 0.0121772 0.999745 -0.000424128 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 34 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.119020) and 132(1311875577.020673) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999804 0.00574867 0.0189465 0.014439 -0.00551648 0.999909 -0.0122842 -0.000197908 -0.0190154 0.0121772 0.999745 -0.000424128 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 6): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1281/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 34 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.119020) and 132(1311875577.020673) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999864 0.00467111 0.0157978 0.0261985 -0.00437604 0.999816 -0.0186613 0.00438342 -0.015882 0.0185897 0.999701 -0.00813703 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1266/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 34 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.119020) and 132(1311875577.020673) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999795 0.00537946 0.0195112 0.0189298 -0.00511525 0.999895 -0.0135661 -0.00877871 -0.0195821 0.0134635 0.999718 -0.00228871 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 8,0.999657 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1033/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.77728 resInfo good: 2204, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4142/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999777 0.00511531 0.0204682 0.0194623 -0.00482819 0.99989 -0.0140525 -0.00187773 -0.0205378 0.0139505 0.999692 -0.00108785 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!135 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!136 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 137 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.152324 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!137 INF|Input.cpp[getImages,132]: mNbReceivedImages!138 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99972 0.00566995 0.0229908 0.0233281 -0.00530344 0.999858 -0.0159715 -0.00291829 -0.0230781 0.015845 0.999608 -0.00235231 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 34 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.152324) and 132(1311875577.020673) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99972 0.00566995 0.0229908 0.0233281 -0.00530344 0.999858 -0.0159715 -0.00291829 -0.0230781 0.015845 0.999608 -0.00235231 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999048 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:366/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 34 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.152324) and 132(1311875577.020673) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999732 0.00356965 0.022861 0.0245985 -0.00316569 0.999839 -0.0176822 -0.00392428 -0.0229204 0.0176051 0.999582 -0.00482419 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 2): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:762/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 34 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.152324) and 132(1311875577.020673) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99967 0.00658017 0.0248455 0.0254202 -0.00612664 0.999814 -0.0182866 0.000465769 -0.0249612 0.0181283 0.999524 -0.00224757 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999153 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:673/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.872833 resInfo good: 2158, 46 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2214/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999646 0.00617158 0.0258983 0.0253522 -0.00572849 0.999837 -0.0171483 -0.000621393 -0.0259999 0.0169939 0.999517 -0.00215251 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!136 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 473 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!137 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 138 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.189085 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!138 INF|Input.cpp[getImages,132]: mNbReceivedImages!139 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999483 0.00724436 0.0313244 0.0312375 -0.00661185 0.999773 -0.0202489 0.000632536 -0.031464 0.0200313 0.999304 -0.00324538 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 34 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.189085) and 132(1311875577.020673) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999483 0.00724436 0.0313244 0.0312375 -0.00661185 0.999773 -0.0202489 0.000632536 -0.031464 0.0200313 0.999304 -0.00324538 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:686/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 34 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.189085) and 132(1311875577.020673) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999511 0.00635757 0.0306281 0.0283108 -0.00573297 0.999775 -0.0204382 -0.000930205 -0.0307511 0.0202526 0.999322 -0.00140284 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999451 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1068/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 34 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.189085) and 132(1311875577.020673) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999489 0.00637389 0.0313254 0.0316421 -0.0058504 0.999842 -0.0167747 -0.00807144 -0.0314273 0.0165829 0.999368 -0.00565575 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999067 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:557/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.966978 resInfo good: 2108, 96 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2740/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999475 0.0064241 0.0317616 0.0335577 -0.00589543 0.999843 -0.0167107 -0.00455258 -0.0318639 0.0165146 0.999356 -0.00662802 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!137 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!138 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 139 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.218535 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!139 INF|Input.cpp[getImages,132]: mNbReceivedImages!140 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999377 0.0065493 0.0346928 0.0376503 -0.00597986 0.999846 -0.0164922 -0.00651939 -0.0347955 0.0162744 0.999262 -0.00888316 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 34 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.218535) and 132(1311875577.020673) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999377 0.0065493 0.0346928 0.0376503 -0.00597986 0.999846 -0.0164922 -0.00651939 -0.0347955 0.0162744 0.999262 -0.00888316 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999315 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:875/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 34 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.218535) and 132(1311875577.020673) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99938 0.0042656 0.0349581 0.0404306 -0.00360686 0.999815 -0.0188853 -0.0106375 -0.0350322 0.0187475 0.99921 -0.00300228 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1111/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 34 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.218535) and 132(1311875577.020673) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999344 0.00435693 0.0359492 0.0427851 -0.00371683 0.999834 -0.0178533 -0.00724552 -0.0360211 0.017708 0.999194 -0.00709525 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999972 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:660/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.02894 resInfo good: 2084, 120 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3102/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999275 0.0045876 0.0377843 0.0381744 -0.00391148 0.999831 -0.0179486 -0.00234342 -0.0378603 0.0177878 0.999125 -0.00230005 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875577.218535 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875577.218535 to keyframe with id: 1159479296 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875577.218535 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 679 size: 2191 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId1159479296 timestamp: 1311875577.218535 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -10.0766 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 39 keyframeId: 23 score: -12.2314 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 70 keyframeId: 28 score: -12.5519 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 103 keyframeId: 31 score: -15.3581 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 111 keyframeId: 32 score: -21.0634 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -20.5247 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 35 = 35 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ca08a0 fh1 0x20f1be0fh->id: 16 35 138goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ca08a0 fh1 0x2ae6dc0fh->id: 23 35 138goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ca08a0 fh1 0x2902d00fh->id: 28 35 138goodE: 95 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ca08a0 fh1 0x3904660fh->id: 31 35 138goodE: 35 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ca08a0 fh1 0x1cb6ce0fh->id: 32 35 138goodE: 36 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ca08a0 fh1 0x1cb7520fh->id: 33 35 138goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ca08a0 fh1 0x2912760fh->id: 34 35 138goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew35 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 33 out of 33 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 33 newEdgePixels: 33 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 991 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 153 lastEnergy: 215.167 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 25 INF|LocalMapper.cpp[optimize,276]: Start Energy: 215.167 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -6.36194e-13 5.30034e-12 -5.06645e-16 -1.11448e-11 0.00723441 0.00160298 0.00423127 0.000355761 -0.00158274 -0.000904049 -0.0105568 0.00213081 0.00392637 0.000957377 6.08345e-05 -0.000977771 0.00491279 -0.0121851 -0.00909181 -0.000455811 -0.00209067 -0.00154719 0.00192538 -0.010926 0.000991911 -0.000793174 -0.00218908 -0.00151747 -0.00209479 -0.000286173 0.0071685 9.21906e-05 -0.00202722 -0.00173682 -0.0135093 -0.0166781 0.0321724 -0.00196394 8.16054e-05 -0.00136001 -0.01467 -0.0109072 0.0139469 -0.000783009 -4.3014e-05 -0.00205583 -0.0163454 0.00143306 0.0175422 0.000605339 0.00011222 -0.00195625 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 991 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 204.008 0 0 newEnergyL 0 lastEnergy: 215.167 0 0 lastEnergyL: 0mActiveResiduals: 991 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -2.46053e-12 -1.11613e-12 2.59934e-12 3.43501e-12 -0.000531391 0.000271358 0.000192817 4.12069e-05 5.13817e-05 -2.31905e-05 0.00323214 0.00106035 0.00121516 -0.000184217 -0.000377054 0.000385597 -0.00128959 -0.00348831 0.00414662 -0.000582114 5.61321e-06 0.000241675 -0.0039007 -0.00466601 0.00278057 -0.000627321 0.000562667 -0.000656218 1.71064e-05 -0.00255828 -0.000284054 -7.90145e-05 0.000325527 -0.00055488 0.00375348 -0.00184902 -0.0166969 9.00217e-05 -0.000818433 -0.00134561 0.0023248 -0.00617699 0.000256578 -0.00104777 -0.000285418 -0.00114189 0.000938112 -0.00112058 0.00500218 -0.000646911 -0.000108735 -0.000850703 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 991 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 199.534 0 0 newEnergyL 0 lastEnergy: 204.008 0 0 lastEnergyL: 0mActiveResiduals: 991 Input.cpp[readImages,206]: Got image from sensor!139 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 3.4244e-12 4.83343e-12 3.83683e-13 -9.72393e-12 0.00228522 -0.00519936 -0.00333826 -0.000114919 -3.66098e-05 -0.000340208 0.00206986 0.00387595 -0.00567359 0.000798854 0.00038533 4.9998e-05 0.00397063 0.00139741 -0.00724652 0.000670782 0.00033898 -0.000571203 0.00208108 0.00499953 -0.00204908 0.000858122 0.000359168 -0.00047459 -0.0045558 0.00635452 0.00221751 0.000857335 0.000878209 -0.000402023 -0.00114172 -0.00489811 0.00953193 -0.000284754 0.00113078 0.000247693 -0.00236792 -0.000276076 0.00247293 0.000125344 0.000860258 -0.000757436 -0.00540288 -0.00332449 -0.000620735 3.33543e-05 0.0012698 -0.00088981 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 991 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 194.72 0 0 newEnergyL 0 lastEnergy: 199.534 0 0 lastEnergyL: 0mActiveResiduals: 991 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.67396e-12 -2.47569e-12 1.80163e-12 7.1938e-12 -0.00242244 0.006683 0.00529732 0.000319318 0.000158408 0.000691234 -0.00148004 -0.00493599 0.00417381 -0.00053648 -0.000330271 0.000557312 -0.0044294 -0.000299263 0.00383276 -9.87716e-05 -0.000291652 0.00118913 0.000611611 -0.00699609 0.00108079 -0.000882648 -0.000667655 0.000880964 0.00723209 -0.00495325 -0.0029604 -0.000564965 -0.00130152 0.000542779 0.002106 0.000931202 -0.00996521 2.66487e-06 -0.00147695 -5.59461e-05 -0.00152283 -0.00106823 0.000301995 -0.000511578 -0.000631886 1.91988e-05 0.00299692 0.00747546 0.00376261 0.000218306 -0.000845329 0.000689731 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 991 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 194.396 0 0 newEnergyL 0 lastEnergy: 194.72 0 0 lastEnergyL: 0mActiveResiduals: 991 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.99209e-12 2.89771e-14 -3.63722e-12 7.74662e-13 0.00162893 -0.00729912 -0.0063582 -0.000276466 -0.000311602 -0.00104712 0.00198927 -0.000710642 -0.00470445 -9.58361e-05 0.0002262 -0.000732909 0.00587002 0.00115985 -0.00537845 0.000327871 9.186e-05 -0.00109296 0.000233159 0.00578351 -0.00519227 0.000944268 0.000507647 -0.000849353 -0.00959823 0.00449256 0.00428953 0.000570116 0.00158782 -0.000825766 -0.00131454 0.00341345 0.00754671 0.000542156 0.00127185 -0.000485806 0.00189507 0.00113964 0.00141652 0.000443727 0.000556509 -0.000678814 -0.00391053 -0.00484454 0.00163303 5.9046e-05 0.00118402 -0.000827578 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 991 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 189.431 0 0 newEnergyL 0 lastEnergy: 194.396 0 0 lastEnergyL: 0mActiveResiduals: 991 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -2.61264e-13 -1.1212e-12 1.41973e-12 -9.06673e-13 -0.000595603 0.00530337 0.00436876 0.000443753 0.000137017 0.000987101 0.0034325 -0.00113984 -0.000339426 0.000194735 -0.000467177 0.000598786 -0.00706891 0.00112527 0.00154236 0.000131381 0.000347247 0.000836005 0.00444028 -0.0105113 0.00479208 -0.00109664 -0.000456835 0.000713226 0.00945546 -0.00493582 -0.00307371 -0.00044707 -0.00104246 0.000220102 0.00113449 -0.000606061 -0.0080583 -4.7708e-05 -0.000788712 0.000196365 -0.00713796 0.000560137 0.00160971 -0.000149551 0.000419823 0.000148366 -0.00194284 0.00916287 0.00280937 0.000564937 -1.17215e-05 0.00045472 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 991 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 191.363 0 0 newEnergyL 0 lastEnergy: 189.431 0 0 lastEnergyL: 0mActiveResiduals: 991 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 191.363 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 991 INF|LocalMapper.cpp[optimize,345]: End Energy: 191.363 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.448815 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.448815 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 32 data: 0 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 140 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 32 with idx: 4 and allID: 111 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->32 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 23<->32 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 28<->32 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 31<->32 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 32<->32 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->32 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 34<->32 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 35<->32 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 32 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 111: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 31/103: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 30/94: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 30 allId: 94 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.99662 0.0131349 0.0810968 0.0358101 -0.00819947 0.998111 -0.0608948 -0.0343629 -0.0817434 0.060024 0.994844 -0.0446408 worldPose: 0.17842 0.221976 0.958589 0.250267 0.50783 0.813667 -0.282939 1.2256 -0.842778 0.537282 0.0324485 0.48236 after: 0.17842 0.221976 0.958589 0.250267 0.50783 0.813667 -0.282939 1.2256 -0.842778 0.537282 0.0324485 0.48236 worldPose of new: 0.258471 0.161721 0.952386 0.289083 0.493855 0.825196 -0.274152 1.22403 -0.830241 0.541201 0.133423 0.536645 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.99662 0.0131349 0.0810968 0.0358101 -0.00819947 0.998111 -0.0608948 -0.0343629 -0.0817434 0.060024 0.994844 -0.0446408 INF|Mapper.cpp[changeRefFrame,578]: Updating: 112 from old kf id: 32/111 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 113 from old kf id: 32/111 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 114 from old kf id: 32/111 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 115 from old kf id: 32/111 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 116 from old kf id: 32/111 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 117 from old kf id: 32/111 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 118 from old kf id: 32/111 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 119 from old kf id: 32/111 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 120 from old kf id: 32/111 with new ref frame: 94/30 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 111 after changeRefFrame: 0.99662 0.0131349 0.0810968 0.0358101 -0.00819947 0.998111 -0.0608948 -0.0343629 -0.0817434 0.060024 0.994844 -0.0446408 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 32 to normal frame with refFrame: 30 frame id kf: 111 newref id: 94 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 32 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 7052 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1ca08a0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 35 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 14 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 4 with distance 0.23Found rest min at: 13 with distance 0.126 overall min: 0.126 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 4 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 672 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 35 into DB 0.23 4 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 4 and real id(19) current kf: 35(138) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.905742 -0.10731 0.410019 0.205224 0.210481 0.953575 -0.215388 0.130461 -0.36787 0.281387 0.88628 0.0867423 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 19 currFrame: 35 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.905742 -0.10731 0.410019 0.205224 0.210481 0.953575 -0.215388 0.130461 -0.36787 0.281387 0.88628 0.0867423 avg 0.00900136 eye: 0.0101611 edge: 35 to 19 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 314 < 1877 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 35 and 19 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 35 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 35 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 903 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 139 keyframes 36 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 483 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.251350 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!140 INF|Input.cpp[getImages,132]: mNbReceivedImages!141 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999996 -0.000468568 0.00267684 0.00305849 0.000466414 1 0.000805425 -0.00527818 -0.00267721 -0.000804173 0.999996 -0.000115074 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 35 to 35087456 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.251350) and 138(1311875577.218535) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999996 -0.000468568 0.00267684 0.00305849 0.000466414 1 0.000805425 -0.00527818 -0.00267721 -0.000804173 0.999996 -0.000115074 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999388 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:353/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 35 to 35087456 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.251350) and 138(1311875577.218535) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999996 -0.000439058 0.00266985 0.00306321 0.000437007 1 0.000768785 -0.0054216 -0.00267019 -0.000767615 0.999996 0.000131149 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999487 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:422/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 35 to 35087456 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.251350) and 138(1311875577.218535) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99999 -0.000273106 0.00443887 0.00446337 0.000268452 0.999999 0.00104896 -0.000978788 -0.00443915 -0.00104776 0.99999 0.00313583 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:566/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.408879 resInfo good: 2173, 18 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1745/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99999 2.81844e-06 0.00447887 0.00861143 -1.08224e-05 0.999998 0.00178702 5.74717e-05 -0.00447885 -0.00178705 0.999988 -0.00361619 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!139 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!140 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 141 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.287923 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999977 1.22616e-06 0.00671827 0.012911 -1.92349e-05 0.999996 0.0026805 8.37536e-05 -0.00671824 -0.00268057 0.999974 -0.00543878 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 35 to 35087456 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.287923) and 138(1311875577.218535) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999977 1.22616e-06 0.00671827 0.012911 -1.92349e-05 0.999996 0.0026805 8.37536e-05 -0.00671824 -0.00268057 0.999974 -0.00543878 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!141 INF|Input.cpp[getImages,132]: mNbReceivedImages!142 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:733/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 35 to 35087456 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.287923) and 138(1311875577.218535) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999968 -0.00303084 0.00745951 0.0167943 0.00301748 0.999994 0.00180089 -0.004238 -0.00746493 -0.00177832 0.999971 0.00033498 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1244/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 35 to 35087456 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.287923) and 138(1311875577.218535) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999962 -0.0024901 0.00834355 0.0184251 0.00246796 0.999993 0.00266257 -0.000610487 -0.00835012 -0.00264188 0.999962 -0.00383925 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999587 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:595/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.573239 resInfo good: 2186, 5 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2959/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999947 -0.00193272 0.0101353 0.015922 0.00189225 0.99999 0.00400088 -0.00182129 -0.0101429 -0.00398149 0.999941 -0.00089377 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!140 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!141 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 142 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.318412 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!142 INF|Input.cpp[getImages,132]: mNbReceivedImages!143 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999912 -0.00290514 0.0129618 0.0195845 0.00283908 0.999983 0.00511183 -0.00275316 -0.0129764 -0.00507458 0.999903 0.000453448 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 35 to 35087456 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.318412) and 138(1311875577.218535) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999912 -0.00290514 0.0129618 0.0195845 0.00283908 0.999983 0.00511183 -0.00275316 -0.0129764 -0.00507458 0.999903 0.000453448 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999842 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:728/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 35 to 35087456 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.318412) and 138(1311875577.218535) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999912 -0.00189245 0.0131568 0.0211108 0.00184068 0.999991 0.00394603 -0.00684205 -0.0131642 -0.00392146 0.999906 0.00594983 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999997 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:796/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 35 to 35087456 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.318412) and 138(1311875577.218535) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999864 -0.00245114 0.0162816 0.0228086 0.00237395 0.999986 0.00475867 0.000565683 -0.016293 -0.00471937 0.999856 0.00998315 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999979 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:232/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.699199 resInfo good: 2124, 67 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2146/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999875 -0.00196508 0.0157172 0.0244672 0.00188659 0.999986 0.00500704 0.00166764 -0.0157268 -0.00497676 0.999864 0.00560488 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!141 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!142 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 143 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.351518 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!143 INF|Input.cpp[getImages,132]: mNbReceivedImages!144 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999771 -0.00200299 0.0212986 0.0330485 0.0018753 0.99998 0.00601315 0.00516313 -0.0213102 -0.00597183 0.999755 0.0120522 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 35 to 35087456 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.351518) and 138(1311875577.218535) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999771 -0.00200299 0.0212986 0.0330485 0.0018753 0.99998 0.00601315 0.00516313 -0.0213102 -0.00597183 0.999755 0.0120522 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.99998 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:634/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 35 to 35087456 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.351518) and 138(1311875577.218535) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999782 -0.00276572 0.0207113 0.0303673 0.00267466 0.999987 0.00442312 0.00099502 -0.0207233 -0.00436676 0.999776 0.0124814 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:915/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 35 to 35087456 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.351518) and 138(1311875577.218535) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999754 -0.00193784 0.0220799 0.0319953 0.00180378 0.99998 0.00608978 0.000860314 -0.0220912 -0.00604846 0.999738 0.00519719 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:516/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.833578 resInfo good: 2168, 23 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2466/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999721 -0.00174097 0.0235379 0.0316805 0.00157406 0.999974 0.00710758 0.00185976 -0.0235497 -0.00706855 0.999698 0.00624638 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!142 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!143 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 144 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.388318 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!144 INF|Input.cpp[getImages,132]: mNbReceivedImages!145 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999622 -0.00163505 0.0274479 0.035289 0.00141163 0.999966 0.00815691 0.00195558 -0.0274603 -0.00811508 0.99959 0.00654582 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 35 to 35087456 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.388318) and 138(1311875577.218535) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999622 -0.00163505 0.0274479 0.035289 0.00141163 0.999966 0.00815691 0.00195558 -0.0274603 -0.00811508 0.99959 0.00654582 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999507 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:669/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 35 to 35087456 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.388318) and 138(1311875577.218535) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999626 -0.00111702 0.0273187 0.0350837 0.000910314 0.999971 0.00757788 -0.000266936 -0.0273264 -0.00755018 0.999598 0.0101079 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999093 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:355/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 35 to 35087456 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.388318) and 138(1311875577.218535) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999581 -0.000625609 0.0289306 0.0385991 0.000424221 0.999976 0.00696666 0.00617947 -0.0289343 -0.00695147 0.999557 0.0140625 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:730/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.921754 resInfo good: 2136, 55 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2149/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999543 0.000279665 0.0302423 0.0360049 -0.000548318 0.99996 0.00887539 0.00382272 -0.0302386 -0.00888791 0.999503 0.00994947 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!143 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!144 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 145 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.418113 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!145 INF|Input.cpp[getImages,132]: mNbReceivedImages!146 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999315 0.00228804 0.0369489 0.0403581 -0.00268247 0.99994 0.0106289 0.00578341 -0.0369224 -0.0107207 0.999261 0.0136199 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 35 to 35087456 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.418113) and 138(1311875577.218535) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999315 0.00228804 0.0369489 0.0403581 -0.00268247 0.99994 0.0106289 0.00578341 -0.0369224 -0.0107207 0.999261 0.0136199 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 1): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:641/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 35 to 35087456 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.418113) and 138(1311875577.218535) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999341 0.00195101 0.0362527 0.0379215 -0.00231699 0.999947 0.010056 0.003632 -0.0362311 -0.0101333 0.999292 0.021691 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.99957 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:460/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 35 to 35087456 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.418113) and 138(1311875577.218535) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999332 0.000721384 0.0365427 0.045604 -0.00124363 0.999897 0.0142708 -0.00894435 -0.0365287 -0.0143067 0.99923 0.0161024 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999938 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:439/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.02973 resInfo good: 2125, 66 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1921/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999271 0.00114521 0.0381532 0.042669 -0.00174724 0.999874 0.0157497 -0.0110297 -0.0381304 -0.0158049 0.999148 0.0146643 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875577.418113 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875577.418113 to keyframe with id: 35087456 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875577.418113 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 707 size: 2336 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId35087456 timestamp: 1311875577.418113 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -10.0005 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 39 keyframeId: 23 score: -11.9731 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 70 keyframeId: 28 score: -13.3549 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 103 keyframeId: 31 score: -21.8101 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -21.3289 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 132 keyframeId: 34 score: -16.9507 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 36 = 36 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x218a8e0 fh1 0x20f1be0fh->id: 16 36 144goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x218a8e0 fh1 0x2ae6dc0fh->id: 23 36 144goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x218a8e0 fh1 0x2902d00fh->id: 28 36 144goodE: 99 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x218a8e0 fh1 0x3904660fh->id: 31 36 144goodE: 40 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x218a8e0 fh1 0x1cb7520fh->id: 33 36 144goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x218a8e0 fh1 0x2912760fh->id: 34 36 144goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x218a8e0 fh1 0x1ca08a0fh->id: 35 36 144goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew36 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 27 out of 27 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 27 newEdgePixels: 27 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 987 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 155 lastEnergy: 212.461 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 24 INF|LocalMapper.cpp[optimize,276]: Start Energy: 212.461 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -3.11334e-12 1.66797e-12 -2.56344e-12 -4.48625e-12 -0.000449134 -0.00319267 0.000864771 -0.000735217 -1.99873e-05 -0.000444232 -0.00688662 -0.000316281 0.00771432 -0.000572309 0.000477252 -0.000118845 0.00447652 0.000745379 -0.00312078 -0.000399001 -0.000550001 -0.000760764 -0.00297396 0.00829609 -0.00551808 0.000217124 -0.000332117 -0.000653791 -0.00318631 0.0124149 0.00220608 0.00076584 0.000496392 -0.000117766 -0.00750453 0.00433427 0.0151701 -0.00044734 0.000775562 -0.00145691 -0.00882094 -0.000182122 0.00938583 -0.000629108 0.0010208 -0.00148548 -0.00663394 0.00936009 0.00640066 0.000684146 0.000733342 -0.00143965 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 987 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 199.817 0 0 newEnergyL 0 lastEnergy: 212.461 0 0 lastEnergyL: 0mActiveResiduals: 987 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.93408e-12 -3.08077e-12 -4.73254e-12 6.92934e-12 0.000331564 0.00160357 0.000246722 0.000146272 -5.78466e-05 0.000105331 0.00374016 0.0046616 -0.00150597 0.000496861 -0.00038857 4.69779e-05 -0.00790779 0.00213634 -0.00204878 0.000223879 0.000824838 -0.000145804 0.00444307 -0.00706639 -0.00355611 -0.000320916 -0.000148322 -0.000324461 0.00452626 0.000738575 -0.0107465 0.000474487 -0.000243777 -0.000337547 -0.0118998 0.00455547 0.00771354 0.000375594 0.001504 -0.00114794 -0.00518515 0.0106322 0.00762042 0.00112633 0.00101712 -0.000354841 -0.0026484 0.00535296 0.00188243 0.000307831 0.0005479 -0.000651771 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 987 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 196.077 0 0 newEnergyL 0 lastEnergy: 199.817 0 0 lastEnergyL: 0mActiveResiduals: 987 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 9.78928e-13 1.15971e-12 -1.15213e-11 2.64128e-12 0.00247745 -0.0036733 -0.00357681 -0.000470628 0.000142572 -0.00102418 -0.000132719 -0.00329755 -0.00241702 -0.000240573 0.000300748 -0.000589505 0.00691175 0.0011929 -0.00452074 0.0003411 -0.000275836 -0.00102278 -0.00135383 0.00344447 -0.004468 0.000409855 6.96958e-05 -0.000366837 -0.00120586 0.0048769 -0.000525187 0.000623894 0.000256552 -9.94015e-05 -0.00191723 0.00626936 0.00861494 0.000745665 0.000747048 -0.000989305 -0.00565891 -0.00269064 0.00371496 -0.000116264 0.00102874 -0.00130928 -0.000420067 -0.0046119 -0.00162811 -2.67063e-05 0.000387444 -0.000487901 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 987 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 189.02 0 0 newEnergyL 0 lastEnergy: 196.077 0 0 lastEnergyL: 0mActiveResiduals: 987 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.87155e-12 -3.30951e-12 -2.5166e-12 1.87319e-12 0.000396621 8.55074e-05 -0.00218345 -7.68421e-05 4.25207e-05 0.000308619 0.00259161 -0.00266709 -0.00373213 -0.000207535 -0.000267679 -9.36969e-05 -0.00637775 -0.00378953 0.0024416 -0.000369537 0.000641921 0.00027261 0.00350913 -0.0033869 0.00112105 1.7142e-05 7.4429e-05 -0.000518757 0.00243905 0.00155597 -0.00472743 0.000482433 8.05452e-05 -0.000781757 -0.00814823 -7.08939e-05 0.00124212 3.33958e-05 0.00090945 -0.000658625 0.0033602 0.00560939 0.00144647 0.000474002 -0.000233509 0.000118182 0.00121126 0.00409764 0.00289337 0.000132016 2.78726e-05 -0.000280352 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 987 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 190.276 0 0 newEnergyL 0 lastEnergy: 189.02 0 0 lastEnergyL: 0mActiveResiduals: 987 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -3.09065e-12 3.03571e-12 2.09768e-12 -1.70726e-12 -0.00187703 0.00236061 -0.00336654 6.72943e-06 0.000439938 0.00012689 0.000389068 0.000377178 0.00149479 -0.000261315 0.000387679 0.000102841 0.00441759 0.00115687 -0.00377254 -9.46603e-05 6.41356e-05 -0.000258348 -0.000970734 -0.00346108 -0.000684547 -0.000961838 0.000182755 0.000382952 -0.00375093 0.00629955 0.0053873 -0.000167509 0.000552819 0.000293901 0.00601854 0.000988229 0.0025611 -0.000283008 -8.10441e-05 0.000165541 -0.0037589 -0.00612011 -0.000683872 -0.00082318 0.000813052 -0.000386858 -0.00356833 -0.00039887 -0.000285652 -0.000184319 0.000809392 -0.000163981 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 987 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 186.087 0 0 newEnergyL 0 lastEnergy: 190.276 0 0 lastEnergyL: 0mActiveResiduals: 987 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -3.83934e-13 -1.75551e-12 3.75437e-12 -1.77625e-12 0.00245775 -0.00198711 0.00106322 -0.000353589 -0.000513214 -0.000349516 0.000257542 0.00100678 -0.000547281 0.000153392 -0.000426024 -0.000181837 0.000748462 0.00060669 0.00208436 4.20298e-05 -0.000673835 0.000294719 -0.00224274 0.000876564 -0.00251561 0.000469216 -5.97998e-05 -0.00040571 0.00475123 -0.00451352 -0.0115049 0.000222968 -0.000860295 -0.000119216 -0.00885234 0.00020905 -0.000716079 0.000187943 0.000256547 -0.000200559 0.00243481 0.00127609 0.00482628 2.72496e-05 -0.000756085 0.000450155 0.00285099 0.00170714 0.00561331 9.97195e-05 -0.000670838 0.000443274 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 987 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 185.996 0 0 newEnergyL 0 lastEnergy: 186.087 0 0 lastEnergyL: 0mActiveResiduals: 987 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 185.996 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 987 INF|LocalMapper.cpp[optimize,345]: End Energy: 185.996 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.441085 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.441085 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 31 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 31 with idx: 3 and allID: 103 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->31 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 23<->31 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 28<->31 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 31<->31 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->31 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 34<->31 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 35<->31 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 36<->31 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 31 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 103: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 30/94: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 30 allId: 94 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.999282 -0.012523 0.0357595 0.00433603 0.0139051 0.999155 -0.0386644 -0.0269401 -0.0352451 0.0391339 0.998612 -0.0041691 worldPose: 0.226967 0.195618 0.954054 0.281877 0.514637 0.807585 -0.288017 1.20509 -0.826822 0.556363 0.0826232 0.517908 after: 0.226967 0.195618 0.954054 0.281877 0.514637 0.807585 -0.288017 1.20509 -0.826822 0.556363 0.0826232 0.517908 worldPose of new: 0.258471 0.161721 0.952386 0.289083 0.493855 0.825196 -0.274152 1.22403 -0.830241 0.541201 0.133423 0.536645 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.999282 -0.012523 0.0357595 0.00433603 0.0139051 0.999155 -0.0386644 -0.0269401 -0.0352451 0.0391339 0.998612 -0.0041691 INF|Mapper.cpp[changeRefFrame,578]: Updating: 104 from old kf id: 31/103 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 105 from old kf id: 31/103 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 106 from old kf id: 31/103 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 107 from old kf id: 31/103 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 108 from old kf id: 31/103 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 109 from old kf id: 31/103 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 110 from old kf id: 31/103 with new ref frame: 94/30 Input.cpp[readImages,206]: Got image from sensor!145 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 103 after changeRefFrame: 0.999282 -0.012523 0.0357595 0.00433603 0.0139051 0.999155 -0.0386644 -0.0269401 -0.0352451 0.0391339 0.998612 -0.0041691 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 31 to normal frame with refFrame: 30 frame id kf: 103 newref id: 94 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 31 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6828 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x218a8e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 36 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 15 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 4 with distance 0.252Found rest min at: 13 with distance 0.094 overall min: 0.094 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 678 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 36 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 686 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 145 keyframes 37 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 485 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 146 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.452412 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!146 INF|Input.cpp[getImages,132]: mNbReceivedImages!147 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99999 0.00069039 0.00445711 0.00143196 -0.000708157 0.999992 0.00398599 -0.00901901 -0.00445432 -0.00398911 0.999982 0.00555063 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 36 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.452412) and 144(1311875577.418113) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99999 0.00069039 0.00445711 0.00143196 -0.000708157 0.999992 0.00398599 -0.00901901 -0.00445432 -0.00398911 0.999982 0.00555063 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1140/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 36 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.452412) and 144(1311875577.418113) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999993 -0.00169924 0.00319081 0.00600112 0.00169281 0.999997 0.00201536 -0.0146748 -0.00319422 -0.00200994 0.999993 0.00305501 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999854 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:985/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 36 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.452412) and 144(1311875577.418113) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999989 -0.00109258 0.00457658 0.00798222 0.00109024 0.999999 0.000511928 0.00181215 -0.00457713 -0.000506933 0.999989 0.00114382 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 6): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1266/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.415477 resInfo good: 2330, 6 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3861/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999985 -0.00048119 0.00539971 0.00755942 0.0004761 0.999999 0.000943865 0.00470399 -0.00540016 -0.00094128 0.999985 0.000713433 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!145 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!146 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 147 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!147 INF|Input.cpp[getImages,132]: mNbReceivedImages!148 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.487108 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999967 -0.000723689 0.00809934 0.0113397 0.000712237 0.999999 0.00141676 0.00705759 -0.00810036 -0.00141094 0.999966 0.00105318 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 36 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.487108) and 144(1311875577.418113) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999967 -0.000723689 0.00809934 0.0113397 0.000712237 0.999999 0.00141676 0.00705759 -0.00810036 -0.00141094 0.999966 0.00105318 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:782/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 36 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.487108) and 144(1311875577.418113) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999976 -0.00248048 0.00650564 0.0180447 0.00246456 0.999994 0.00245506 0.00689821 -0.00651169 -0.00243897 0.999976 -0.00615847 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.99943 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1313/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 36 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.487108) and 144(1311875577.418113) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999964 -0.00108974 0.00842139 0.0162533 0.00102738 0.999972 0.00740572 -0.00687716 -0.00842922 -0.0073968 0.999937 -0.005771 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1061/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.588211 resInfo good: 2326, 10 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3645/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999951 -0.000660494 0.00990343 0.014924 0.000595639 0.999978 0.00655031 0.00279559 -0.00990754 -0.00654409 0.99993 -0.00220666 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!146 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!147 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 148 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.519210 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999926 -0.000759608 0.0121548 0.0186014 0.000645931 0.999956 0.00935366 0.00183569 -0.0121614 -0.00934512 0.999882 -0.00367511 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 36 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.519210) and 144(1311875577.418113) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999926 -0.000759608 0.0121548 0.0186014 0.000645931 0.999956 0.00935366 0.00183569 -0.0121614 -0.00934512 0.999882 -0.00367511 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999312 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:714/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 36 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.519210) and 144(1311875577.418113) on lvl: 1 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!148 INF|Input.cpp[getImages,132]: mNbReceivedImages!149 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999928 -0.00127448 0.0119051 0.022114 0.0011591 0.999952 0.00969357 0.00222549 -0.0119169 -0.00967908 0.999882 0.00368587 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 7): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1429/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 36 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.519210) and 144(1311875577.418113) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999895 -0.000392703 0.0144619 0.0192523 0.000206051 0.999917 0.0129057 -0.00262991 -0.0144658 -0.0129014 0.999812 0.0073068 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999942 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:673/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.725525 resInfo good: 2323, 13 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3289/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999895 -0.000177261 0.0144669 0.0229278 6.36857e-06 0.99993 0.0118119 0.0086274 -0.014468 -0.0118105 0.999826 0.00529021 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!147 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!148 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 149 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.551139 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99986 5.53393e-05 0.0167494 0.0269437 -0.000297262 0.999896 0.0144415 0.0115565 -0.0167469 -0.0144445 0.999755 0.00901339 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 36 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.551139) and 144(1311875577.418113) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99986 5.53393e-05 0.0167494 0.0269437 -0.000297262 0.999896 0.0144415 0.0115565 -0.0167469 -0.0144445 0.999755 0.00901339 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!149 INF|Input.cpp[getImages,132]: mNbReceivedImages!150 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 6): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1387/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 36 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.551139) and 144(1311875577.418113) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999837 0.00153077 0.0179774 0.0307048 -0.00177646 0.999905 0.0136588 0.00603404 -0.0179547 -0.0136885 0.999745 0.0141168 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999739 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:888/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 36 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.551139) and 144(1311875577.418113) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999806 0.00210402 0.0195606 0.031689 -0.00240962 0.999875 0.0156125 0.00806265 -0.0195254 -0.0156566 0.999687 0.0136151 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999025 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:689/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.836737 resInfo good: 2312, 24 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3437/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999781 0.00318479 0.0207025 0.0302344 -0.00353032 0.999855 0.0166754 0.00904553 -0.0206464 -0.0167448 0.999647 0.0138124 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!148 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!149 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 150 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.585721 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!150 INF|Input.cpp[getImages,132]: mNbReceivedImages!151 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999704 0.00485423 0.0238262 0.0339079 -0.0053099 0.999804 0.0190987 0.00926083 -0.0237288 -0.0192195 0.999534 0.0180557 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 36 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.585721) and 144(1311875577.418113) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999704 0.00485423 0.0238262 0.0339079 -0.0053099 0.999804 0.0190987 0.00926083 -0.0237288 -0.0192195 0.999534 0.0180557 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999956 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1396/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 36 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.585721) and 144(1311875577.418113) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99966 0.00324697 0.025871 0.0413531 -0.00361414 0.999893 0.0141585 0.00959406 -0.0258223 -0.0142472 0.999565 0.0212874 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999951 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1496/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 36 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.585721) and 144(1311875577.418113) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999593 0.00423309 0.0282115 0.0379467 -0.00477335 0.999806 0.0191105 -0.00357106 -0.0281252 -0.0192374 0.999419 0.0254579 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999453 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:389/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.938319 resInfo good: 2307, 29 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3781/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99957 0.00467837 0.02896 0.0387882 -0.00526892 0.999779 0.0203492 -0.00402898 -0.0288584 -0.020493 0.999373 0.0268896 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!149 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 466 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!150 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 151 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.617862 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999438 0.00541354 0.03309 0.0430974 -0.00614952 0.999735 0.0221806 -0.0105533 -0.0329612 -0.0223716 0.999206 0.0334199 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 36 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.617862) and 144(1311875577.418113) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999438 0.00541354 0.03309 0.0430974 -0.00614952 0.999735 0.0221806 -0.0105533 -0.0329612 -0.0223716 0.999206 0.0334199 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!151 INF|Input.cpp[getImages,132]: mNbReceivedImages!152 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999877 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:884/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 36 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.617862) and 144(1311875577.418113) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999471 0.0050066 0.0321498 0.0433855 -0.00565519 0.999782 0.020115 -0.0137179 -0.0320421 -0.0202861 0.999281 0.0225757 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999364 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1170/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 36 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.617862) and 144(1311875577.418113) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999436 0.00598305 0.0330409 0.0476152 -0.00661487 0.999797 0.0190461 0.00131139 -0.0329202 -0.0192539 0.999273 0.0201722 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999612 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:729/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.02202 resInfo good: 2248, 88 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3269/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999375 0.0067917 0.0346889 0.0452614 -0.00741033 0.999815 0.0177365 0.0141475 -0.0345621 -0.0179825 0.999241 0.0248711 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875577.617862 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875577.617862 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875577.617862 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 705 size: 2103 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875577.617862 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -9.81906 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 39 keyframeId: 23 score: -11.7246 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 70 keyframeId: 28 score: -16.033 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -15.8783 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 132 keyframeId: 34 score: -20.7344 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 138 keyframeId: 35 score: -17.8973 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 37 = 37 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ccb0e0 fh1 0x20f1be0fh->id: 16 37 150goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ccb0e0 fh1 0x2ae6dc0fh->id: 23 37 150goodE: 9 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ccb0e0 fh1 0x2902d00fh->id: 28 37 150goodE: 101 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ccb0e0 fh1 0x1cb7520fh->id: 33 37 150goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ccb0e0 fh1 0x2912760fh->id: 34 37 150goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ccb0e0 fh1 0x1ca08a0fh->id: 35 37 150goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ccb0e0 fh1 0x218a8e0fh->id: 36 37 150goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew37 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 35 out of 35 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 35 newEdgePixels: 35 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 995 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 155 lastEnergy: 199.63 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 23 INF|LocalMapper.cpp[optimize,276]: Start Energy: 199.63 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 8.47126e-13 3.2127e-12 2.9863e-12 -3.52315e-12 0.000453761 0.000474928 0.0078672 0.000641627 -0.000475713 0.00067848 -0.00956587 -0.00520759 0.00362214 -0.000580983 0.000758927 0.000693764 -0.00700826 0.00494186 -0.00871529 0.000598943 0.000472263 0.000855295 -0.0128191 -0.00089865 0.00819808 -0.000878051 0.00114324 0.000483667 0.00260542 0.00278134 -0.00315071 -2.52535e-05 0.000250114 0.00222629 -0.0108126 -0.000444191 -0.00420066 0.000148061 0.000957302 0.000779435 -0.0118233 0.00231796 -0.00170642 6.36589e-05 0.00126201 0.00089937 -0.0129236 -0.00288905 0.00495374 -0.000628594 0.00133377 0.000614212 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 995 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 187.319 0 0 newEnergyL 0 lastEnergy: 199.63 0 0 lastEnergyL: 0mActiveResiduals: 995 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -3.14274e-12 -2.03352e-12 3.43515e-12 1.82211e-12 -0.000899624 -0.00130194 -0.000276224 -0.000122665 0.00011546 -4.88063e-05 0.00302758 0.00584961 0.00434077 0.000508372 -0.000516748 2.44412e-05 0.00469082 0.00390528 0.00627222 0.000376359 -0.000532665 0.000530188 0.00326919 0.00354554 -0.00275285 0.000441118 -0.000475162 -0.000328304 -0.00471516 0.00575563 0.000467047 0.000660016 0.000153182 0.000255093 0.0128565 0.0104251 0.00523201 0.000915631 -0.0013285 0.000546594 0.00705733 0.00887477 0.00937882 0.000951645 -0.00066365 0.00045979 0.00124558 0.000824142 0.0110018 0.000147946 0.000113868 0.000575644 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 995 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 186.574 0 0 newEnergyL 0 lastEnergy: 187.319 0 0 lastEnergyL: 0mActiveResiduals: 995 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 4.13695e-12 1.16383e-13 -4.28516e-12 3.46188e-12 -4.94815e-05 0.00317714 0.000830051 0.000384493 0.000135931 -0.0005342 -0.000260967 -0.006304 0.000447039 -0.000737131 0.000244557 -0.000403466 -0.000185941 0.00673812 -0.000570757 0.000705658 0.000306096 -0.000331344 0.00244123 0.00247981 0.00541238 -8.14566e-06 -7.82222e-05 -9.71622e-05 0.0111169 0.00420492 3.83111e-05 0.00041902 -0.000816166 -0.00015548 -0.00861986 -0.00612323 -0.00227824 -0.000452711 0.00104898 -0.000188152 -0.00106117 -0.000734998 -0.00287789 -0.00018652 0.000300852 -7.82145e-05 -0.00364816 -0.0034681 -7.53906e-05 -0.000469378 0.000494928 -0.000426128 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 995 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 181.469 0 0 newEnergyL 0 lastEnergy: 186.574 0 0 lastEnergyL: 0mActiveResiduals: 995 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -4.30486e-12 6.69998e-13 5.55235e-12 -4.27953e-13 0.0005156 -0.00529556 -0.00136685 -0.000573611 -0.00022212 -4.32615e-05 0.000591901 0.00675038 -0.000808542 0.000726682 -0.000370944 -0.000186925 0.00033243 -0.00379589 0.000138913 -0.000301097 -0.000429128 -2.83338e-05 -0.0071442 0.00261132 -0.00664336 0.00057 0.000452095 -0.000596779 -0.00841236 -0.00267731 -0.00188684 3.93103e-05 0.000421211 -5.37491e-05 0.00840011 0.00645672 0.00229058 0.000679844 -0.00110592 -0.00022135 0.00215726 0.00743459 0.00306695 0.000921133 -0.00055675 -0.000393049 0.00428312 -0.0112484 0.00333764 -0.000985654 -0.000686996 -4.76803e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 995 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 181.95 0 0 newEnergyL 0 lastEnergy: 181.469 0 0 lastEnergyL: 0mActiveResiduals: 995 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.97717e-12 1.63389e-12 2.21718e-13 -3.15456e-13 0.00227381 0.00145009 0.00283718 -3.65395e-05 6.26927e-05 -0.000663338 0.0016691 -0.00468113 0.00164653 -0.000239295 6.12274e-05 -0.000118613 -0.000439365 0.00633814 0.000831 0.000892493 0.000257997 -0.000239756 0.00776799 -0.00385879 0.00416482 -0.000437235 -0.000964107 0.000114637 0.00772217 0.00625107 0.000255566 0.000664955 -0.000713969 8.17971e-06 -0.00855219 -0.00301817 -0.00421257 -4.71597e-05 0.000851742 2.62227e-05 -0.00344507 -0.00957898 -0.00248329 -0.000796056 0.000521384 0.000312976 -0.00506363 0.00628739 -0.00312638 0.000832023 0.00068153 -0.000177675 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 995 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 177.376 0 0 newEnergyL 0 lastEnergy: 181.95 0 0 lastEnergyL: 0mActiveResiduals: 995 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -4.43272e-12 -1.56921e-12 1.84041e-12 -1.39817e-12 -0.00704335 0.00400011 -0.00608213 -0.000297779 0.000699705 0.00104808 -7.3203e-05 0.00269977 -0.00299755 -0.000272925 -4.65433e-05 0.000349546 -0.00010165 -0.00559388 2.25269e-05 -0.00116365 4.50961e-05 0.000692227 -0.00803532 0.00153211 -0.00185998 -0.000326267 0.00111188 -8.42599e-05 -0.00796012 -0.00687885 -0.000823977 -0.00116773 0.000915729 0.000258729 0.00843301 0.00687041 0.00405996 8.37897e-05 -0.000516754 0.000330126 0.00514616 0.00929523 0.00321045 0.000378206 -0.00034173 -5.60589e-06 0.00385715 -0.00961828 0.00736683 -0.00164493 -0.000173187 0.000623628 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 995 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 178.319 0 0 newEnergyL 0 lastEnergy: 177.376 0 0 lastEnergyL: 0mActiveResiduals: 995 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 178.319 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 995 Input.cpp[readImages,206]: Got image from sensor!151 INF|LocalMapper.cpp[optimize,345]: End Energy: 178.319 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.428098 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.428098 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 34 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 34 with idx: 4 and allID: 132 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->34 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 23<->34 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 28<->34 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->34 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 34<->34 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 35<->34 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 36<->34 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 37<->34 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 34 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 132: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 33/121: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 32/111: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 31/103: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 30/94: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 30 allId: 94 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.997794 -0.02079 0.0630479 -0.0379433 0.0200007 0.999714 0.0131246 0.0228621 -0.0633027 -0.0118347 0.997924 0.0209625 worldPose: 0.200847 0.14503 0.968828 0.302938 0.526625 0.817937 -0.231616 1.21841 -0.826031 0.556728 0.0879038 0.583317 after: 0.200847 0.14503 0.968828 0.302938 0.526625 0.817937 -0.231616 1.21841 -0.826031 0.556728 0.0879038 0.583317 worldPose of new: 0.258471 0.161721 0.952386 0.289083 0.493855 0.825196 -0.274152 1.22403 -0.830241 0.541201 0.133423 0.536645 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.997794 -0.02079 0.0630479 -0.0379433 0.0200007 0.999714 0.0131246 0.0228621 -0.0633027 -0.0118347 0.997924 0.0209625 INF|Mapper.cpp[changeRefFrame,578]: Updating: 133 from old kf id: 34/132 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 134 from old kf id: 34/132 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 135 from old kf id: 34/132 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 136 from old kf id: 34/132 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 137 from old kf id: 34/132 with new ref frame: 94/30 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 132 after changeRefFrame: 0.997794 -0.02079 0.0630479 -0.0379433 0.0200007 0.999714 0.0131246 0.0228621 -0.0633027 -0.0118347 0.997924 0.0209625 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 34 to normal frame with refFrame: 30 frame id kf: 132 newref id: 94 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 34 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 7029 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1ccb0e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 37 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 15 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 7 with distance 0.272Found rest min at: 13 with distance 0.122 overall min: 0.122 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 664 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 37 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 673 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 151 keyframes 38 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 529 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 152 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!152 INF|Input.cpp[getImages,132]: mNbReceivedImages!153 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.652761 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999997 0.00111925 0.00222922 0.00584489 -0.00111181 0.999994 -0.00333585 0.0186264 -0.00223294 0.00333336 0.999992 -0.0046309 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.652761) and 150(1311875577.617862) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999997 0.00111925 0.00222922 0.00584489 -0.00111181 0.999994 -0.00333585 0.0186264 -0.00223294 0.00333336 0.999992 -0.0046309 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:636/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.652761) and 150(1311875577.617862) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999998 7.39832e-05 0.00181971 0.00367087 -6.80651e-05 0.999995 -0.00325206 0.0185784 -0.00181994 0.00325193 0.999993 -0.00163361 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999985 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:658/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.652761) and 150(1311875577.617862) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999995 -0.000146905 0.00327718 0.00660236 0.000132738 0.999991 0.00432272 -0.00759982 -0.00327779 -0.00432227 0.999985 -0.00302787 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 9,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1255/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.410162 resInfo good: 2103, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2966/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999991 0.00111115 0.00406036 0.00582086 -0.00112607 0.999993 0.00367281 0.0047695 -0.00405625 -0.00367735 0.999985 -0.00226561 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!151 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1308 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!152 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 153 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!153 INF|Input.cpp[getImages,132]: mNbReceivedImages!154 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.689609 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99998 0.00166112 0.00609204 0.00872982 -0.00169468 0.999983 0.00550748 0.00714867 -0.00608279 -0.00551769 0.999966 -0.00341384 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.689609) and 150(1311875577.617862) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99998 0.00166112 0.00609204 0.00872982 -0.00169468 0.999983 0.00550748 0.00714867 -0.00608279 -0.00551769 0.999966 -0.00341384 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:795/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.689609) and 150(1311875577.617862) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999986 -0.000239384 0.00533747 0.0054406 0.000211368 0.999986 0.00524893 0.00578799 -0.00533865 -0.00524773 0.999972 0.00527587 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999959 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:938/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.689609) and 150(1311875577.617862) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999976 0.000209535 0.00685429 0.00713767 -0.000268887 0.999962 0.00865932 0.00159835 -0.00685222 -0.00866096 0.999939 0.00532787 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999268 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:735/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.545616 resInfo good: 2103, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2887/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999975 0.000771732 0.00705665 0.0106324 -0.000831686 0.999964 0.00849712 0.00827894 -0.00704983 -0.00850277 0.999939 0.0047494 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!152 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 474 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!153 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 154 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.717716 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999975 0.000771732 0.00705665 0.0106324 -0.000831686 0.999964 0.00849712 0.00827894 -0.00704983 -0.00850277 0.999939 0.0047494 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.717716) and 150(1311875577.617862) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999975 0.000771732 0.00705665 0.0106324 -0.000831686 0.999964 0.00849712 0.00827894 -0.00704983 -0.00850277 0.999939 0.0047494 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999985 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:799/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.717716) and 150(1311875577.617862) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999972 -0.00237537 0.0070612 0.0148264 0.00231524 0.999961 0.00851141 0.00686674 -0.00708114 -0.00849482 0.999939 0.0120792 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!154 INF|Input.cpp[getImages,132]: mNbReceivedImages!155 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999649 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1175/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.717716) and 150(1311875577.617862) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999962 -0.00147473 0.00860178 0.014853 0.0013824 0.999941 0.0107295 0.00783674 -0.0086171 -0.0107172 0.999905 0.0113259 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999643 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:524/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.632933 resInfo good: 2099, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2912/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999959 -0.00109421 0.00901585 0.0167267 0.000993348 0.999937 0.0111835 0.0109106 -0.00902752 -0.0111741 0.999897 0.0101608 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!153 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!154 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 155 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.750599 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999959 -0.00109421 0.00901585 0.0167267 0.000993348 0.999937 0.0111835 0.0109106 -0.00902752 -0.0111741 0.999897 0.0101608 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.750599) and 150(1311875577.617862) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999959 -0.00109421 0.00901585 0.0167267 0.000993348 0.999937 0.0111835 0.0109106 -0.00902752 -0.0111741 0.999897 0.0101608 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999732 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:359/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.750599) and 150(1311875577.617862) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999959 -0.00305507 0.0084754 0.0150095 0.0029576 0.99993 0.0114896 0.0122868 -0.00850991 -0.011464 0.999898 0.013433 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!155 INF|Input.cpp[getImages,132]: mNbReceivedImages!156 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999775 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1062/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.750599) and 150(1311875577.617862) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999956 -0.00321889 0.00886008 0.0223239 0.00308797 0.999886 0.0147502 0.00608291 -0.00890655 -0.0147221 0.999852 0.0110322 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999785 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:574/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.705764 resInfo good: 2082, 21 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2409/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999947 -0.00345633 0.00966727 0.0234351 0.00331638 0.99989 0.0144561 0.0113917 -0.00971617 -0.0144233 0.999849 0.011404 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!154 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!155 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 156 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.788139 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999939 -0.00463818 0.00999008 0.0267892 0.00447704 0.99986 0.0160929 0.0116398 -0.0100633 -0.0160472 0.999821 0.0120233 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.788139) and 150(1311875577.617862) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999939 -0.00463818 0.00999008 0.0267892 0.00447704 0.99986 0.0160929 0.0116398 -0.0100633 -0.0160472 0.999821 0.0120233 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999111 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:524/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.788139) and 150(1311875577.617862) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99995 -0.00415535 0.00907757 0.0245574 0.00400735 0.99986 0.0162618 0.0111649 -0.00914387 -0.0162247 0.999827 0.01831 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!156 INF|Input.cpp[getImages,132]: mNbReceivedImages!157 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 9): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1476/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.788139) and 150(1311875577.617862) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999937 -0.00315262 0.0107421 0.0248494 0.00294975 0.999818 0.0188494 0.00962783 -0.0107996 -0.0188165 0.999765 0.0173911 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999565 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:822/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.776649 resInfo good: 2057, 46 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3254/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999936 -0.00265544 0.0110187 0.027375 0.00244927 0.999822 0.0186822 0.0159666 -0.0110664 -0.018654 0.999765 0.0170035 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!155 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!156 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 157 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.817974 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999936 -0.00265544 0.0110187 0.027375 0.00244927 0.999822 0.0186822 0.0159666 -0.0110664 -0.018654 0.999765 0.0170035 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.817974) and 150(1311875577.617862) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999936 -0.00265544 0.0110187 0.027375 0.00244927 0.999822 0.0186822 0.0159666 -0.0110664 -0.018654 0.999765 0.0170035 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.99926 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:466/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.817974) and 150(1311875577.617862) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999916 -0.0074286 0.0106106 0.0268836 0.00723464 0.999808 0.0182025 0.0144807 -0.0107437 -0.0181242 0.999778 0.0231 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!157 INF|Input.cpp[getImages,132]: mNbReceivedImages!158 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999229 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1154/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.817974) and 150(1311875577.617862) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999905 -0.00598582 0.0123938 0.0274675 0.0057278 0.999768 0.020751 0.0118358 -0.0125151 -0.0206781 0.999708 0.0210272 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999012 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:280/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.828537 resInfo good: 2045, 58 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2313/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999904 -0.00592503 0.0125093 0.0315007 0.0056791 0.999792 0.0196042 0.0210218 -0.0126229 -0.0195313 0.99973 0.0200734 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!156 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 466 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!157 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 158 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.850670 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999904 -0.00592503 0.0125093 0.0315007 0.0056791 0.999792 0.0196042 0.0210218 -0.0126229 -0.0195313 0.99973 0.0200734 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.850670) and 150(1311875577.617862) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999904 -0.00592503 0.0125093 0.0315007 0.0056791 0.999792 0.0196042 0.0210218 -0.0126229 -0.0195313 0.99973 0.0200734 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999399 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:515/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.850670) and 150(1311875577.617862) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999891 -0.0116844 0.00902247 0.0338673 0.0114864 0.999699 0.0217012 0.0221847 -0.00927332 -0.0215952 0.999724 0.0180611 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!158 INF|Input.cpp[getImages,132]: mNbReceivedImages!159 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1116/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.850670) and 150(1311875577.617862) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999886 -0.0110794 0.0102171 0.0354965 0.0108173 0.99962 0.0253585 0.0194981 -0.0104942 -0.0252451 0.999626 0.0165584 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999744 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:455/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.913992 resInfo good: 2008, 95 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2494/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999865 -0.0121406 0.0110432 0.0373286 0.0118822 0.999661 0.0231724 0.0323896 -0.0113208 -0.0230381 0.99967 0.0200148 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!157 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!158 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 159 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!159 INF|Input.cpp[getImages,132]: mNbReceivedImages!160 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.888188 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999786 -0.0183505 0.00955488 0.0430855 0.0180894 0.999479 0.0267312 0.0437933 -0.0100404 -0.0265526 0.999597 0.0199242 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.888188) and 150(1311875577.617862) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999786 -0.0183505 0.00955488 0.0430855 0.0180894 0.999479 0.0267312 0.0437933 -0.0100404 -0.0265526 0.999597 0.0199242 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.99995 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:917/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.888188) and 150(1311875577.617862) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999812 -0.0176271 0.00806072 0.0376478 0.0173855 0.999425 0.029127 0.0387624 -0.0085695 -0.0289814 0.999543 0.0221909 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1156/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 37 to 34350624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.888188) and 150(1311875577.617862) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999819 -0.0163384 0.00978573 0.0373769 0.0159815 0.999242 0.0355041 0.02358 -0.0103584 -0.0353413 0.999322 0.0227354 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999162 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:476/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.02482 resInfo good: 1940, 163 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2972/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999798 -0.0174817 0.00988675 0.0432322 0.0171388 0.999283 0.0337663 0.0368266 -0.0104699 -0.03359 0.999381 0.0231856 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875577.888188 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875577.888188 to keyframe with id: 34350624 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875577.888188 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 676 size: 1817 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId34350624 timestamp: 1311875577.888188 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -9.47289 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 39 keyframeId: 23 score: -12.0166 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 70 keyframeId: 28 score: -20.0542 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -15.4884 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 138 keyframeId: 35 score: -20.379 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 144 keyframeId: 36 score: -17.6201 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 38 = 38 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20c2640 fh1 0x20f1be0fh->id: 16 38 158goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20c2640 fh1 0x2ae6dc0fh->id: 23 38 158goodE: 9 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20c2640 fh1 0x2902d00fh->id: 28 38 158goodE: 102 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20c2640 fh1 0x1cb7520fh->id: 33 38 158goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20c2640 fh1 0x1ca08a0fh->id: 35 38 158goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20c2640 fh1 0x218a8e0fh->id: 36 38 158goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20c2640 fh1 0x1ccb0e0fh->id: 37 38 158goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew38 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 16 out of 16 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 16 newEdgePixels: 16 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 902 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 143 lastEnergy: 184.906 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 21 INF|LocalMapper.cpp[optimize,276]: Start Energy: 184.906 0 0 lastEnergyL: 0 Input.cpp[readImages,206]: Got image from sensor!159 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 8.45044e-13 3.29942e-12 1.27213e-11 8.2654e-12 0.00519121 -0.00680977 0.00368406 0.000198048 -0.000742237 -2.62445e-05 0.00188143 -0.00149282 0.00816986 0.000124938 -0.000483449 0.000575973 -0.00227349 0.0124084 0.00812947 0.00132668 0.000206573 0.000344943 0.005201 0.00270694 0.00704482 2.985e-05 -0.000815858 0.00160663 -0.0138087 -0.000450823 0.0118828 0.000114584 0.00128117 0.00154371 -0.00829391 -0.00724012 0.00832861 -0.000842023 0.000865529 0.00108823 -0.00825509 0.0150598 -0.00186777 0.00195003 0.000648772 0.000670305 0.0047085 0.00309085 0.00526238 0.00118416 -0.000322141 0.0016725 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 902 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 174.587 0 0 newEnergyL 0 lastEnergy: 184.906 0 0 lastEnergyL: 0mActiveResiduals: 902 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.05486e-12 -2.97537e-12 -3.72222e-13 1.24346e-12 0.00138172 0.00163662 -2.98454e-06 0.000146036 -0.000155722 9.17222e-05 -0.00143 -0.00458121 -0.00401523 -0.000353434 0.000350838 -0.000288072 -0.00193308 -0.00168243 -0.00405723 8.47004e-05 0.00015475 0.000485294 -0.0109333 0.00144377 -0.00526127 0.000614701 0.00142831 -0.000495261 0.00190228 0.00888275 -0.00726507 0.0010651 -0.00015985 -0.000410756 0.00392608 0.00941035 -0.000267616 0.00135239 -0.000341645 -5.80208e-05 0.00271778 -0.00717019 0.00574636 -0.000681309 -8.90931e-05 0.000551878 0.00216586 -0.00718575 -0.00177813 -0.000573814 5.6313e-05 -0.000202713 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 902 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 169.83 0 0 newEnergyL 0 lastEnergy: 174.587 0 0 lastEnergyL: 0mActiveResiduals: 902 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.46284e-12 2.22569e-12 -3.66748e-12 -2.36104e-12 -0.00224308 0.00470184 -0.000452394 4.65313e-05 0.000633267 0.00017522 0.00175632 -0.000789489 -0.00229438 -0.000208465 6.8051e-06 0.00042163 -0.0031922 -0.00107183 0.00319723 -0.00024613 0.000765358 0.000320564 0.0102361 -0.0088681 -0.00136594 -0.00130129 -0.00118877 0.00121925 -0.00595806 0.00272143 0.00626269 -4.78833e-05 0.00105611 0.00100434 -0.00553931 -0.00674282 -0.000768643 -0.00128017 0.0011131 0.000513277 -0.0065321 0.00740745 -0.00229714 0.000536298 0.00118197 -0.000213003 0.00938978 0.00331173 9.0669e-05 5.75955e-05 -0.000358615 0.000550818 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 902 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 166.829 0 0 newEnergyL 0 lastEnergy: 169.83 0 0 lastEnergyL: 0mActiveResiduals: 902 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.312e-12 5.89735e-13 6.74005e-12 -1.96491e-12 0.00301128 -0.00573587 -0.00393179 -0.000626589 -0.000474233 -0.000342635 0.000422748 0.0059193 -0.00412355 0.000608368 1.2751e-05 -0.000506478 0.00098901 0.000833339 -0.00127969 0.00024122 5.14771e-05 -0.000398606 -0.0138023 0.00633759 0.00587996 0.00106533 0.00209933 -0.00110143 0.00843396 -0.000604226 -0.00726121 0.000281156 -0.000653994 -0.000891028 3.36596e-05 0.00155923 0.0023622 0.000801895 4.96828e-05 -0.000364004 0.00312001 -0.00307786 0.00107413 -6.81029e-05 -0.000196744 2.92008e-05 -0.0036717 -0.00256317 0.00334683 -0.000206374 0.00052362 -0.000877593 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 902 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 162.082 0 0 newEnergyL 0 lastEnergy: 166.829 0 0 lastEnergyL: 0mActiveResiduals: 902 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 4.50722e-13 1.09357e-12 -5.86245e-12 -2.55201e-12 -0.00309733 0.00481081 -0.00254378 0.000390312 0.00050116 0.000603741 0.000980408 -0.00949382 -0.00038599 -0.0012735 9.70033e-05 0.000234224 9.66501e-05 0.0010576 0.00270306 -0.000156704 0.000389251 0.000177727 0.0110929 -0.0078367 -0.00611517 -0.0013076 -0.00123979 0.000702625 -0.0115839 0.00260084 0.008547 -4.86638e-05 0.00149098 0.000767463 -0.00416926 -0.00201219 0.00110357 -0.000895201 0.000899402 -6.80421e-05 -0.00422376 0.00243542 0.00352085 -1.82573e-05 0.000897195 -0.000103606 0.00899632 0.00878515 -0.00621617 0.00054604 -0.000340516 0.000340582 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 902 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 160.593 0 0 newEnergyL 0 lastEnergy: 162.082 0 0 lastEnergyL: 0mActiveResiduals: 902 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 160 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.48267e-14 -2.44239e-12 6.3804e-12 1.20448e-12 0.0058531 -0.00862597 0.00576002 -9.71596e-05 -0.00138568 -0.000646256 -0.00295305 0.00912232 4.38336e-05 0.00154234 -0.000381088 -0.000492917 0.000432662 -0.00231297 -0.00305001 0.000487079 -0.000947114 0.000251522 -0.00750463 0.000357952 0.0021152 0.00102608 0.000444194 -0.000324724 0.0101117 -0.000972072 -0.0108886 0.000648413 -0.00183794 -0.000138342 0.00592227 0.00206171 -0.00449256 0.00140023 -0.00161304 0.000618503 0.00119129 -0.00486593 -0.00304991 0.000185314 -0.00103696 0.00048762 -0.00757683 0.0039489 0.0113852 0.00129937 -0.000472109 -8.46244e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 902 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 163.676 0 0 newEnergyL 0 lastEnergy: 160.593 0 0 lastEnergyL: 0mActiveResiduals: 902 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 163.676 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 902 INF|LocalMapper.cpp[optimize,345]: End Energy: 163.676 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.433494 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.433494 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 35 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 35 with idx: 4 and allID: 138 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->35 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 35->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 23<->35 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 35->23 INF|LocalMapper.cpp[marginalizeFrame,772]: 28<->35 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->35 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 35<->35 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 36<->35 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 37<->35 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 38<->35 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 35 with: 2 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 35 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6483 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x20c2640 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 38 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 15 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 3 with distance 0.294Found rest min at: 13 with distance 0.168 overall min: 0.168 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 665 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 38 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 673 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 159 keyframes 39 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.918808 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!160 INF|Input.cpp[getImages,132]: mNbReceivedImages!161 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999996 -0.00267089 0.000690616 -0.00346868 0.00266707 0.999981 0.00547504 0.00208892 -0.000705226 -0.00547318 0.999985 -0.000554265 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 38 to 76509328 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.918808) and 158(1311875577.888188) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999996 -0.00267089 0.000690616 -0.00346868 0.00266707 0.999981 0.00547504 0.00208892 -0.000705226 -0.00547318 0.999985 -0.000554265 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999003 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:655/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 38 to 76509328 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.918808) and 158(1311875577.888188) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999975 -0.00621125 -0.00344981 0.00576519 0.00624156 0.999941 0.00884641 -0.0208017 0.00339466 -0.00886772 0.999955 0.00938108 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999934 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1082/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 38 to 76509328 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.918808) and 158(1311875577.888188) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999984 -0.00479772 -0.0031408 0.0109175 0.00482062 0.999962 0.00732621 -0.00165033 0.00310553 -0.00734123 0.999968 0.00523185 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:782/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.435828 resInfo good: 1817, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2879/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999987 -0.00457078 -0.0021792 0.0082381 0.00458884 0.999955 0.00835795 4.43914e-05 0.0021409 -0.00836784 0.999963 0.00451241 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!159 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!160 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 161 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.952556 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!161 INF|Input.cpp[getImages,132]: mNbReceivedImages!162 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 6 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999971 -0.00684926 -0.0032831 0.0123534 0.0068899 0.999898 0.012533 9.48996e-05 0.00319692 -0.0125552 0.999916 0.00677507 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 38 to 76509328 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.952556) and 158(1311875577.888188) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999971 -0.00684926 -0.0032831 0.0123534 0.0068899 0.999898 0.012533 9.48996e-05 0.00319692 -0.0125552 0.999916 0.00677507 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:764/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 38 to 76509328 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.952556) and 158(1311875577.888188) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999953 -0.0090657 -0.00329 0.011778 0.00910387 0.999889 0.0117807 -0.00930077 0.00318283 -0.0118101 0.999925 0.0148195 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:695/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 38 to 76509328 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.952556) and 158(1311875577.888188) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999971 -0.00745717 -0.00162293 0.0138904 0.00748832 0.99977 0.020118 -0.03919 0.00147253 -0.0201296 0.999796 0.0200641 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:707/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.659874 resInfo good: 1812, 5 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2620/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999972 -0.00739129 -0.00118517 0.0133051 0.0074158 0.999726 0.022214 -0.0438236 0.00102065 -0.0222222 0.999753 0.0196243 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!160 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!161 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 162 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875577.985429 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!162 INF|Input.cpp[getImages,132]: mNbReceivedImages!163 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 6 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999961 -0.00880662 -0.000702832 0.0158906 0.00882337 0.999536 0.0291416 -0.0656725 0.000445867 -0.0291467 0.999575 0.0274059 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 38 to 76509328 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.985429) and 158(1311875577.888188) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999961 -0.00880662 -0.000702832 0.0158906 0.00882337 0.999536 0.0291416 -0.0656725 0.000445867 -0.0291467 0.999575 0.0274059 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:570/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 38 to 76509328 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.985429) and 158(1311875577.888188) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999954 -0.00955625 -0.000272653 0.0178969 0.00956014 0.999531 0.0290764 -0.0655706 -5.33593e-06 -0.0290777 0.999577 0.0202473 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 7): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1022/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 38 to 76509328 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875577.985429) and 158(1311875577.888188) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999966 -0.00818563 -0.000396137 0.0266095 0.0081936 0.999559 0.0285388 -0.0525347 0.000162354 -0.0285411 0.999593 0.016695 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999557 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:318/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.786171 resInfo good: 1746, 71 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2317/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999972 -0.00732399 0.00157386 0.0213476 0.00727104 0.999482 0.0313622 -0.0596345 -0.00180274 -0.0313499 0.999507 0.0207859 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!161 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!162 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 163 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.019102 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!163 INF|Input.cpp[getImages,132]: mNbReceivedImages!164 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999969 -0.00729978 0.00295358 0.0253693 0.00718896 0.999328 0.0359352 -0.0675363 -0.00321391 -0.0359129 0.99935 0.0214126 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 38 to 76509328 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.019102) and 158(1311875577.888188) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999969 -0.00729978 0.00295358 0.0253693 0.00718896 0.999328 0.0359352 -0.0675363 -0.00321391 -0.0359129 0.99935 0.0214126 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999732 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:309/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 38 to 76509328 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.019102) and 158(1311875577.888188) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999936 -0.0107819 0.00342494 0.0270415 0.0106585 0.999358 0.0341939 -0.0724876 -0.00379142 -0.0341552 0.999409 0.0371367 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999967 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:650/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 38 to 76509328 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.019102) and 158(1311875577.888188) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999944 -0.00840515 0.00642942 0.025717 0.00817067 0.99933 0.0356654 -0.0727433 -0.00672489 -0.0356108 0.999343 0.0330838 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999265 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:550/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.890046 resInfo good: 1730, 87 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1879/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999929 -0.00878184 0.00806939 0.0214927 0.008465 0.999223 0.0384942 -0.0827994 -0.00840117 -0.0384232 0.999226 0.0365449 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!162 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!163 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 164 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.056522 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!164 INF|Input.cpp[getImages,132]: mNbReceivedImages!165 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999709 -0.0118351 0.0210271 0.0221802 0.0107113 0.998549 0.0527746 -0.128788 -0.0216212 -0.052534 0.998385 0.0685515 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 38 to 76509328 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.056522) and 158(1311875577.888188) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999709 -0.0118351 0.0210271 0.0221802 0.0107113 0.998549 0.0527746 -0.128788 -0.0216212 -0.052534 0.998385 0.0685515 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 7): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:943/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 38 to 76509328 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.056522) and 158(1311875577.888188) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999754 -0.0119534 0.0187079 0.0263507 0.0113017 0.999339 0.0345614 -0.0675099 -0.0191087 -0.0343415 0.999227 0.0437262 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999969 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:982/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 38 to 76509328 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.056522) and 158(1311875577.888188) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999765 -0.00997002 0.0192355 0.030995 0.00922002 0.999209 0.0386925 -0.0751074 -0.0196061 -0.038506 0.999066 0.0451008 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999967 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:357/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.01091 resInfo good: 1712, 105 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2646/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999748 -0.0102491 0.0199864 0.0306584 0.00942202 0.999113 0.0410479 -0.0828165 -0.0203894 -0.0408492 0.998957 0.0453429 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875578.056522 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875578.056522 to keyframe with id: 76509328 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875578.056522 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 740 size: 1903 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId76509328 timestamp: 1311875578.056522 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -9.36914 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 39 keyframeId: 23 score: -13.3293 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 70 keyframeId: 28 score: -19.1482 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -14.595 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 144 keyframeId: 36 score: -19.0638 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 150 keyframeId: 37 score: -14.0045 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 39 = 39 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3939da0 fh1 0x20f1be0fh->id: 16 39 163goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3939da0 fh1 0x2ae6dc0fh->id: 23 39 163goodE: 9 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3939da0 fh1 0x2902d00fh->id: 28 39 163goodE: 93 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3939da0 fh1 0x1cb7520fh->id: 33 39 163goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3939da0 fh1 0x218a8e0fh->id: 36 39 163goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3939da0 fh1 0x1ccb0e0fh->id: 37 39 163goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3939da0 fh1 0x20c2640fh->id: 38 39 163goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew39 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 26 out of 30 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 30 newEdgePixels: 30 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 824 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 131 lastEnergy: 192.327 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 20 INF|LocalMapper.cpp[optimize,276]: Start Energy: 192.327 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 5.16356e-12 -1.19872e-12 -1.9046e-12 7.25779e-12 -0.00582412 0.00658672 0.000866177 0.000475933 0.000975802 0.000263711 0.000842639 -0.0135921 0.00700216 -0.00184389 -5.1824e-05 0.000298342 0.0024191 0.00245824 0.00819792 -0.000469825 -0.000382224 -0.000307031 0.00153961 0.0032046 0.0142985 -0.000851524 -0.000696709 -0.000359289 -0.0021166 0.000711671 0.0089045 -0.000821594 2.64536e-05 -0.000223124 0.00292944 0.00793577 0.00693024 0.000188905 -0.000395378 -0.00056857 -0.0011903 -0.00411109 -0.00144712 -0.00127568 0.000423275 0.000314488 -0.0104864 -0.0162414 0.00561322 -0.00186999 0.00159593 0.00152003 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 824 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 180.658 0 0 newEnergyL 0 lastEnergy: 192.327 0 0 lastEnergyL: 0mActiveResiduals: 824 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 5.45394e-13 -9.69532e-13 3.54606e-12 -4.92952e-12 0.000204436 -0.00200318 0.000584122 -0.000230386 -5.51986e-05 4.45911e-05 0.00030059 0.00894931 -0.00599455 0.00132393 0.000209273 -0.000264663 0.00533615 0.00540369 -0.00880547 0.00120374 -0.000376338 0.000741283 0.00089645 -0.00198724 -0.0091478 0.000566338 0.000300328 0.000244419 0.00393024 -0.0020645 -0.00761907 0.000579423 -0.000175042 0.000805963 0.00342896 -0.00528664 -0.00668494 0.000166726 -0.00025338 0.00103824 0.00576524 0.0137692 -0.00411367 0.00232874 -0.000562577 0.000895079 0.0116977 0.0020892 -0.00907959 0.00109109 -0.000904462 0.00123156 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 824 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 176.422 0 0 newEnergyL 0 lastEnergy: 180.658 0 0 lastEnergyL: 0mActiveResiduals: 824 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 5.88531e-13 5.05626e-13 7.77917e-14 4.64098e-12 -2.00349e-05 0.005825 -0.00379063 0.000620225 0.000197465 -0.000114472 0.00223977 -0.00875162 -0.00224172 -0.0009818 -9.41902e-05 0.000412806 -0.00392534 -0.0004385 0.00221452 -0.000321772 0.000454082 -0.000181952 0.00536776 0.000176845 -0.00159309 -0.000479391 -0.000871683 -0.000246566 -0.00233497 -0.00331067 0.00199254 -0.000758454 0.000350868 -0.000561675 0.00571929 0.0160654 0.000129537 0.0012432 -0.000209901 -0.00062756 -0.00639169 -0.00986454 -0.000250575 -0.00142968 0.00108519 -0.000283789 -0.00298312 0.00241513 0.00310311 -0.000238956 0.000834619 -3.41822e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 824 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 174.642 0 0 newEnergyL 0 lastEnergy: 176.422 0 0 lastEnergyL: 0mActiveResiduals: 824 Input.cpp[readImages,206]: Got image from sensor!164 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.08997e-12 -8.76973e-15 2.34004e-12 -4.93534e-12 -0.00132849 -0.00635959 0.00444841 -0.000697091 -0.000346452 -0.000377217 -0.00684952 0.00370169 0.00356419 0.000449743 0.000198002 -0.000952129 0.0047777 0.00479953 -0.005138 0.000906115 -0.00100951 -0.000200808 -0.003094 -0.000229601 -1.87228e-05 0.000706305 0.000265231 -0.000214061 0.0029186 -0.000236384 -0.00286539 0.000698132 -0.000705189 0.000321053 -0.00424164 -0.00782725 0.000217869 -0.000349404 -0.000349682 0.000293257 0.00981177 0.0134772 0.00236419 0.00223677 -0.00162505 0.000526724 0.00162079 -0.0101032 -0.000644767 -0.000253242 -0.00108694 0.00062842 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 824 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 172.403 0 0 newEnergyL 0 lastEnergy: 174.642 0 0 lastEnergyL: 0mActiveResiduals: 824 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.87378e-12 7.2367e-13 -2.46269e-12 4.19396e-12 0.00134257 0.00485952 -0.0034763 0.000711124 -8.06484e-05 -0.000210768 0.00374672 -0.00156618 -0.00476387 -0.000251676 3.51927e-05 0.000419271 -0.000955836 -0.00175224 0.00540627 -0.000488785 0.00059817 -0.000161687 0.00200052 0.00193171 -0.000145883 -0.000314505 -0.000209933 -0.000312986 -0.00163078 0.000136226 0.00290341 -0.000552961 0.000466162 -0.000851321 0.00214543 0.00859543 -0.00127537 0.000733864 0.00041647 -0.000745976 -0.00847322 -0.00834949 -0.000150855 -0.00124107 0.00158493 -0.000158054 -0.00122282 -0.00131262 0.000937762 -0.000529135 0.00117913 -0.00020169 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 824 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 171.753 0 0 newEnergyL 0 lastEnergy: 172.403 0 0 lastEnergyL: 0mActiveResiduals: 824 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 3.38519e-12 -3.46683e-12 -9.87482e-14 -4.41618e-12 -0.00136188 -0.00309881 0.00544908 -0.000668643 0.000128144 -0.000167857 -0.00271499 0.00456635 0.00534207 0.000550149 -0.000109959 -0.000590571 0.00254716 0.00242222 -0.00686042 0.000584546 -0.000945605 1.28183e-06 0.00119617 -0.000410017 -0.000623933 0.000543663 -0.000333 0.000272078 0.000268104 0.00282485 -0.00475255 0.00092917 -0.00058612 0.000658274 -0.0010746 -0.0056518 0.00182485 -0.000483293 -0.000652418 0.000756324 0.000626296 0.00269896 0.00185782 0.000476525 -0.000930712 -0.000153929 0.00424155 -0.00621816 0.000759958 0.000271043 -0.00141391 0.000869267 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 824 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 167.055 0 0 newEnergyL 0 lastEnergy: 171.753 0 0 lastEnergyL: 0mActiveResiduals: 824 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 167.055 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 824 INF|LocalMapper.cpp[optimize,345]: End Energy: 167.055 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.457252 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.457252 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 28 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 28 with idx: 2 and allID: 70 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->28 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 23<->28 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 28<->28 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->28 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 36<->28 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 37<->28 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 38<->28 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 39<->28 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 28 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 70: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 27/56: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 27 allId: 56 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.999411 -0.0279978 -0.0198367 0.0564667 0.0268348 0.998033 -0.0566498 0.00428858 0.0213837 0.0560841 0.998197 0.00106124 worldPose: 0.324609 0.111804 0.939217 0.266738 0.497341 0.82446 -0.270033 1.26841 -0.804538 0.554766 0.212022 0.629799 after: 0.324609 0.111804 0.939217 0.266738 0.497341 0.82446 -0.270033 1.26841 -0.804538 0.554766 0.212022 0.629799 worldPose of new: 0.302657 0.0670889 0.950736 0.248351 0.479322 0.851482 -0.212672 1.23791 -0.823802 0.520075 0.225549 0.673847 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.999411 -0.0279978 -0.0198367 0.0564667 0.0268348 0.998033 -0.0566498 0.00428858 0.0213837 0.0560841 0.998197 0.00106124 INF|Mapper.cpp[changeRefFrame,578]: Updating: 71 from old kf id: 28/70 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 72 from old kf id: 28/70 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 73 from old kf id: 28/70 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 74 from old kf id: 28/70 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 75 from old kf id: 28/70 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 76 from old kf id: 28/70 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 77 from old kf id: 28/70 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 78 from old kf id: 28/70 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 79 from old kf id: 28/70 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 80 from old kf id: 28/70 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 81 from old kf id: 28/70 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 82 from old kf id: 28/70 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 83 from old kf id: 28/70 with new ref frame: 56/27 INF|Mapper.cpp[changeRefFrame,578]: Updating: 84 from old kf id: 28/70 with new ref frame: 56/27 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 70 after changeRefFrame: 0.999411 -0.0279978 -0.0198367 0.0564667 0.0268348 0.998033 -0.0566498 0.00428858 0.0213837 0.0560841 0.998197 0.00106124 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 28 to normal frame with refFrame: 27 frame id kf: 70 newref id: 56 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 28 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6721 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x3939da0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 39 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 165 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 15 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 9 with distance 0.302Found rest min at: 13 with distance 0.192 overall min: 0.192 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 675 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 39 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 684 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 164 keyframes 40 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 534 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.090967 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999982 0.00094309 0.00589713 0.00357295 -0.000942728 1 -6.41565e-05 0.00915133 -0.00589719 5.8596e-05 0.999983 0.00380555 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.090967) and 163(1311875578.056522) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999982 0.00094309 0.00589713 0.00357295 -0.000942728 1 -6.41565e-05 0.00915133 -0.00589719 5.8596e-05 0.999983 0.00380555 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!165 INF|Input.cpp[getImages,132]: mNbReceivedImages!166 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.99949 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:875/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.090967) and 163(1311875578.056522) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999966 -0.00283625 0.00779141 -0.0151082 0.00283336 0.999996 0.000382119 -0.00514248 -0.00779246 -0.00036003 0.99997 0.00619218 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999911 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:820/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.090967) and 163(1311875578.056522) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999953 -0.00213647 0.0094821 -0.0153662 0.00209689 0.999989 0.00418214 -0.0136041 -0.00949093 -0.00416206 0.999946 0.00812792 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 8,0.999031 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:851/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.403805 resInfo good: 1900, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3010/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999967 -0.00156242 0.00798219 -0.00173468 0.00154489 0.999996 0.00220176 0.00191649 -0.00798561 -0.00218936 0.999966 0.00616236 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!164 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!165 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 166 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.153477 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999926 -0.00235018 0.0119718 -0.00258467 0.00231073 0.999992 0.00330724 0.00287881 -0.0119795 -0.00327933 0.999923 0.00924711 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.153477) and 163(1311875578.056522) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999926 -0.00235018 0.0119718 -0.00258467 0.00231073 0.999992 0.00330724 0.00287881 -0.0119795 -0.00327933 0.999923 0.00924711 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!166 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999273 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Input.cpp[getImages,132]: mNbReceivedImages!167 INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:288/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.153477) and 163(1311875578.056522) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999895 -0.0102038 0.010328 0.00786622 0.010232 0.999944 -0.00268292 0.00982032 -0.0103001 0.00278831 0.999943 0.0118743 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.99937 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:656/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.153477) and 163(1311875578.056522) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999887 -0.00826445 0.0125882 0.0086686 0.00822903 0.999962 0.00286276 -0.0103818 -0.0126114 -0.00275885 0.999917 0.0123942 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:698/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.590552 resInfo good: 1903, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2039/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999872 -0.00751896 0.0140936 0.00399987 0.00745188 0.999961 0.00480637 -0.0132162 -0.0141292 -0.00470073 0.999889 0.014689 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!165 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!166 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 167 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.187204 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999798 -0.0105029 0.0171433 0.0069204 0.0103993 0.999927 0.00612217 -0.0207616 -0.0172064 -0.00594266 0.999834 0.0189533 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.187204) and 163(1311875578.056522) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999798 -0.0105029 0.0171433 0.0069204 0.0103993 0.999927 0.00612217 -0.0207616 -0.0172064 -0.00594266 0.999834 0.0189533 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999401 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:427/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.187204) and 163(1311875578.056522) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999768 -0.0119936 0.0178782 0.00987394 0.0119195 0.99992 0.00424817 -0.0277091 -0.0179277 -0.00403409 0.999831 0.0116467 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!167 INF|Input.cpp[getImages,132]: mNbReceivedImages!168 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 10,0.99944 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1109/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.187204) and 163(1311875578.056522) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999743 -0.0110096 0.0198067 0.00796362 0.0109412 0.999934 0.0035596 -0.0140007 -0.0198446 -0.00334198 0.999797 0.0137009 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999995 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:638/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.707559 resInfo good: 1900, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2552/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999712 -0.0103787 0.0216479 0.00253101 0.0102659 0.999933 0.00531403 -0.0166866 -0.0217016 -0.00509027 0.999752 0.0175047 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!166 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!167 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 168 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.219469 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999607 -0.0118096 0.025424 0.00180826 0.0116714 0.999916 0.00557583 -0.0184229 -0.0254877 -0.00527691 0.999661 0.0189172 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.219469) and 163(1311875578.056522) on lvl: 2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!168 INF|Input.cpp[getImages,132]: mNbReceivedImages!169 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999607 -0.0118096 0.025424 0.00180826 0.0116714 0.999916 0.00557583 -0.0184229 -0.0254877 -0.00527691 0.999661 0.0189172 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:900/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.219469) and 163(1311875578.056522) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999557 -0.0145611 0.0259705 0.0067015 0.0144612 0.999887 0.00403202 -0.0213706 -0.0260263 -0.00365467 0.999655 0.0200694 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999759 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1075/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.219469) and 163(1311875578.056522) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999499 -0.0139038 0.0284302 0.00161445 0.0136916 0.999877 0.00764751 -0.028456 -0.028533 -0.00725443 0.999567 0.0226601 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:864/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.79747 resInfo good: 1886, 17 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3205/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999582 -0.0129101 0.0258749 0.0205064 0.012782 0.999905 0.00511015 -0.00983274 -0.0259384 -0.00477728 0.999652 0.0189184 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!167 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 452 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!168 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 169 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.253955 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!169 INF|Input.cpp[getImages,132]: mNbReceivedImages!170 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999508 -0.0141753 0.0279885 0.0294898 0.0140404 0.999889 0.0050122 -0.00638902 -0.0280564 -0.00461676 0.999596 0.0195974 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.253955) and 163(1311875578.056522) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999508 -0.0141753 0.0279885 0.0294898 0.0140404 0.999889 0.0050122 -0.00638902 -0.0280564 -0.00461676 0.999596 0.0195974 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999989 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:867/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.253955) and 163(1311875578.056522) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999359 -0.0188361 0.0304369 0.0197975 0.0189583 0.999813 -0.00373128 0.0019751 -0.030361 0.00430592 0.99953 0.0216966 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 10): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1319/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.253955) and 163(1311875578.056522) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999363 -0.0176231 0.0310372 0.0242958 0.0175101 0.999839 0.00390973 -0.0241567 -0.0311011 -0.00336377 0.999511 0.0264357 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.99962 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:574/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.903918 resInfo good: 1820, 83 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3129/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999414 -0.0166397 0.029929 0.0341887 0.0165357 0.999856 0.00371806 -0.0165448 -0.0299865 -0.00322098 0.999545 0.0256301 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!168 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!169 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 170 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.285849 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!170 INF|Input.cpp[getImages,132]: mNbReceivedImages!171 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999318 -0.018502 0.0319577 0.0410494 0.0184146 0.999826 0.00302772 -0.0198854 -0.0320082 -0.00243717 0.999485 0.0289613 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.285849) and 163(1311875578.056522) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999318 -0.018502 0.0319577 0.0410494 0.0184146 0.999826 0.00302772 -0.0198854 -0.0320082 -0.00243717 0.999485 0.0289613 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999425 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:922/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.285849) and 163(1311875578.056522) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999255 -0.0219299 0.0317448 0.0340146 0.0221471 0.999734 -0.00650529 -0.00425933 -0.0315937 0.0072035 0.999475 0.0181369 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999223 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:717/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.285849) and 163(1311875578.056522) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999291 -0.0206956 0.0314459 0.0448867 0.0207901 0.99978 -0.00268225 -0.01406 -0.0313835 0.00333411 0.999502 0.0224728 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:693/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.952666 resInfo good: 1745, 158 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2689/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999261 -0.0198111 0.032936 0.0421779 0.0198705 0.999801 -0.0014767 -0.0122319 -0.0329002 0.00213007 0.999456 0.0286819 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!169 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!170 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 171 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.319274 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!171 INF|Input.cpp[getImages,132]: mNbReceivedImages!172 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999178 -0.0213906 0.0344455 0.0461708 0.0215434 0.99976 -0.0040703 -0.0100721 -0.0343502 0.00480903 0.999398 0.0302074 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.319274) and 163(1311875578.056522) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999178 -0.0213906 0.0344455 0.0461708 0.0215434 0.99976 -0.0040703 -0.0100721 -0.0343502 0.00480903 0.999398 0.0302074 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999543 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:666/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.319274) and 163(1311875578.056522) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999135 -0.0249475 0.0332667 0.0388155 0.02535 0.99961 -0.0117325 0.00238693 -0.032961 0.0125656 0.999378 0.0185963 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999998 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:913/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.319274) and 163(1311875578.056522) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999104 -0.0234806 0.0352154 0.0375788 0.0237392 0.999694 -0.00694269 -0.00812073 -0.0350416 0.00777245 0.999356 0.0236851 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999106 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:239/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.965206 resInfo good: 1713, 190 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2172/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999132 -0.0221503 0.0352663 0.0425963 0.0224071 0.999725 -0.00690131 -0.00135624 -0.0351038 0.00768554 0.999354 0.0276472 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!170 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 469 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!171 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 172 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.356359 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!172 INF|Input.cpp[getImages,132]: mNbReceivedImages!173 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999064 -0.023315 0.0364362 0.042795 0.0236798 0.999673 -0.00961132 0.00408407 -0.0362002 0.0104651 0.99929 0.027152 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.356359) and 163(1311875578.056522) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999064 -0.023315 0.0364362 0.042795 0.0236798 0.999673 -0.00961132 0.00408407 -0.0362002 0.0104651 0.99929 0.027152 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999203 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:740/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.356359) and 163(1311875578.056522) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998924 -0.0275708 0.0372952 0.0358575 0.0279363 0.999566 -0.00931467 3.55473e-05 -0.0370223 0.0103465 0.999261 0.0115181 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999186 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:722/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.356359) and 163(1311875578.056522) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998869 -0.026038 0.0397875 0.0303018 0.0263334 0.999629 -0.00691754 -5.36697e-05 -0.0395926 0.00795746 0.999184 0.0159134 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:765/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.940474 resInfo good: 1679, 224 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2575/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998803 -0.02521 0.0419256 0.0239154 0.0255299 0.999649 -0.00711088 0.00742319 -0.0417316 0.00817272 0.999095 0.0221237 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!171 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!172 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 173 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!173 INF|Input.cpp[getImages,132]: mNbReceivedImages!174 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.386638 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998803 -0.02521 0.0419256 0.0239154 0.0255299 0.999649 -0.00711088 0.00742319 -0.0417316 0.00817272 0.999095 0.0221237 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.386638) and 163(1311875578.056522) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998803 -0.02521 0.0419256 0.0239154 0.0255299 0.999649 -0.00711088 0.00742319 -0.0417316 0.00817272 0.999095 0.0221237 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999731 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:643/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.386638) and 163(1311875578.056522) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998483 -0.0333365 0.0438293 0.0339697 0.0337136 0.9994 -0.00789214 -0.00512251 -0.0435399 0.0093578 0.999008 0.0298345 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999992 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:951/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 39 to 29824608 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.386638) and 163(1311875578.056522) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99844 -0.0316479 0.0460009 0.0290568 0.0319556 0.999471 -0.00596993 -0.00206757 -0.0457877 0.00743061 0.998924 0.0337986 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999808 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:502/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.06069 resInfo good: 1644, 259 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2455/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998625 -0.030613 0.0425552 0.0515495 0.0309144 0.999501 -0.00644262 0.00707416 -0.0423368 0.00774933 0.999073 0.029173 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875578.386638 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875578.386638 to keyframe with id: 29824608 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875578.386638 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 773 size: 1968 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId29824608 timestamp: 1311875578.386638 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -10.1979 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 39 keyframeId: 23 score: -11.6463 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -13.5879 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 144 keyframeId: 36 score: -18.8564 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 150 keyframeId: 37 score: -19.5217 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 158 keyframeId: 38 score: -16.2583 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 40 = 40 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1c71680 fh1 0x20f1be0fh->id: 16 40 172goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1c71680 fh1 0x2ae6dc0fh->id: 23 40 172goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1c71680 fh1 0x1cb7520fh->id: 33 40 172goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1c71680 fh1 0x218a8e0fh->id: 36 40 172goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1c71680 fh1 0x1ccb0e0fh->id: 37 40 172goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1c71680 fh1 0x20c2640fh->id: 38 40 172goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1c71680 fh1 0x3939da0fh->id: 39 40 172goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew40 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 93 out of 96 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 96 newEdgePixels: 96 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 669 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 87 lastEnergy: 191.791 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 17 INF|LocalMapper.cpp[optimize,276]: Start Energy: 191.791 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.96496e-12 4.92999e-12 -2.81973e-12 -1.36774e-13 0.000743436 0.000943959 -0.00328266 0.000260585 0.000192885 0.000910017 0.00190201 -0.000322141 0.000970961 -0.000123347 -0.000111544 0.000829957 -0.00167504 -0.00016863 -0.00085886 -0.00078425 -0.000159058 -0.000224497 -0.00247584 0.00164998 0.0162471 -0.000954328 0.000759669 -0.000413639 -0.00345203 -0.00165424 0.0163582 -0.000831912 0.000717022 -0.00104155 -0.010341 0.00623632 0.0108269 -0.000225032 0.00136968 -0.000271091 -0.000346333 -0.017932 0.0214373 -0.00246233 0.00092816 0.000242531 -0.000562781 -0.00914697 0.0215032 -0.00165027 0.00112061 -0.000999885 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 669 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 161.132 0 0 newEnergyL 0 lastEnergy: 191.791 0 0 lastEnergyL: 0mActiveResiduals: 669 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.17487e-12 -3.03743e-12 -4.38167e-12 -2.97438e-12 0.000938271 0.00025662 2.22778e-05 7.15438e-06 -0.000105702 6.98615e-05 -0.00372156 -0.00319296 -0.00491611 -0.00019564 0.000435747 -0.000385637 0.00990961 0.001993 -0.00721506 0.000921823 -0.000698808 0.000943549 0.00100341 0.00216402 -0.00448378 0.00110749 0.000162513 0.000905996 -0.00356678 0.00665372 -0.00548331 0.00114648 0.000541133 0.000632871 -0.000342125 0.00520142 -0.00919356 0.00128542 0.000241906 0.000403019 0.00632236 -0.0044018 -0.00662874 0.000534903 -0.000326418 0.000910422 -0.00753528 0.00314002 -0.00171347 0.00113204 0.00132547 0.000606216 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 669 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 150.527 0 0 newEnergyL 0 lastEnergy: 161.132 0 0 lastEnergyL: 0mActiveResiduals: 669 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -2.27419e-12 1.25338e-12 7.87453e-12 2.83725e-12 -0.00318914 0.0030877 -0.00502777 0.000672924 0.000609545 0.000209416 0.00303988 0.00268571 0.0016526 -0.000124126 0.000209936 0.000935589 -0.00598521 0.000235679 0.00106465 -0.000820327 0.00121601 -0.000505527 0.000799678 -0.00285457 0.0013343 -0.00115266 0.000560787 -9.46398e-05 0.00324111 -0.00746398 0.00155179 -0.00131116 0.000193917 0.000607914 -0.00354675 -0.000904162 0.00644897 -0.000786893 0.000976124 3.85177e-05 -0.00209161 0.00639484 0.00106702 0.000132314 0.000708452 0.000369007 0.00342239 0.000333797 -0.00790704 -0.000426084 -0.000362529 0.000630012 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 669 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 149.713 0 0 newEnergyL 0 lastEnergy: 150.527 0 0 lastEnergyL: 0mActiveResiduals: 669 Input.cpp[readImages,206]: Got image from sensor!173 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -3.11251e-13 -1.56602e-12 -5.1756e-12 -1.91591e-12 0.00182998 0.000138511 0.00485904 -0.000301741 -0.000299343 -0.000189244 -0.00385685 -0.00128013 -0.00104352 -3.34292e-05 1.88508e-05 -0.000871015 0.00753431 -0.000123517 -0.00194726 0.000676927 -0.00131351 0.000218291 -0.00289208 0.00195828 0.00265376 0.000914728 -4.00205e-05 0.000103352 -0.000716397 0.0103414 -0.000488143 0.00136954 -0.000209894 -0.000637606 0.000964676 0.000134746 -0.00372334 0.00069816 -0.000552108 -0.000103621 0.00234909 -0.00861155 -0.00376254 -0.000309443 -0.000603866 -0.00017018 -0.00206018 -0.0043444 0.00574077 0.000111498 0.000197425 -0.000632315 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 669 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 145.845 0 0 newEnergyL 0 lastEnergy: 149.713 0 0 lastEnergyL: 0mActiveResiduals: 669 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -6.64189e-13 3.32306e-12 7.53767e-12 2.03754e-12 -0.00156318 0.000588523 -0.00503684 0.000292078 -0.000199515 -7.79154e-05 0.00103263 -0.0019509 0.000249043 -0.000419054 -0.000187445 0.000703665 -0.00538204 0.000571108 -0.00142449 -0.00050874 0.000854991 -0.000688635 0.00421272 -0.00304304 -0.0030656 -0.00103249 -0.000376491 -0.000252271 0.00310932 -0.00600361 0.00194761 -0.000901269 -0.000269338 0.000472377 0.000755032 0.0038759 0.00453828 -0.00017781 3.56342e-06 0.000179957 -0.00607457 -0.00421892 0.00639829 -0.000765287 0.000644136 0.000599147 0.00101907 0.0121423 -0.00530225 0.000450449 -0.000224695 0.000497013 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 669 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 146.641 0 0 newEnergyL 0 lastEnergy: 145.845 0 0 lastEnergyL: 0mActiveResiduals: 669 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 3.53795e-12 -4.15857e-12 -8.97109e-12 1.32324e-12 0.00110478 0.000272892 0.00540708 -0.000303151 9.53764e-05 -0.000178205 0.0015128 0.00412558 0.000968259 0.000579919 -0.000357686 -0.000545725 0.0117735 0.000635378 -0.00317961 0.000563707 -0.00197382 0.000642921 -0.00356671 0.00387663 0.00471156 0.00100707 0.000139233 0.000191061 -0.00572793 0.00636042 -0.00440103 0.000799361 0.000371211 -0.000485661 -0.0101623 0.00100775 -0.0047889 0.000436041 0.00068024 -0.000321101 0.00441285 -0.0102731 -0.00316269 -0.000659667 -0.000653027 -0.000328678 0.00427687 -0.00765578 0.00785645 -0.000231901 -0.000229401 -0.00025767 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 669 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 144.597 0 0 newEnergyL 0 lastEnergy: 146.641 0 0 lastEnergyL: 0mActiveResiduals: 669 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 144.597 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 669 INF|LocalMapper.cpp[optimize,345]: End Energy: 144.597 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.470208 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.470208 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 37 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 37 with idx: 4 and allID: 150 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->37 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 23<->37 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->37 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 36<->37 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 37<->37 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 38<->37 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 39<->37 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 40<->37 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 37 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 150: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 36/144: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 35/138: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 35 allId: 138 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.997379 -0.00954027 -0.0717169 -0.0892892 0.00724171 0.999454 -0.0322424 -0.00698064 0.0719853 0.0316386 0.996904 -0.0338698 worldPose: 0.307688 0.159214 0.938072 0.247112 0.51089 0.804083 -0.304044 1.16923 -0.802695 0.572802 0.166066 0.69087 after: 0.307688 0.159214 0.938072 0.247112 0.51089 0.804083 -0.304044 1.16923 -0.802695 0.572802 0.166066 0.69087 worldPose of new: 0.238087 0.131109 0.962354 0.30188 0.523685 0.817146 -0.240886 1.21354 -0.817966 0.561322 0.125892 0.626017 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.997379 -0.00954027 -0.0717169 -0.0892892 0.00724171 0.999454 -0.0322424 -0.00698064 0.0719853 0.0316386 0.996904 -0.0338698 INF|Mapper.cpp[changeRefFrame,578]: Updating: 151 from old kf id: 37/150 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 152 from old kf id: 37/150 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 153 from old kf id: 37/150 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 154 from old kf id: 37/150 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 155 from old kf id: 37/150 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 156 from old kf id: 37/150 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 157 from old kf id: 37/150 with new ref frame: 138/35 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 150 after changeRefFrame: 0.997379 -0.00954027 -0.0717169 -0.0892892 0.00724171 0.999454 -0.0322424 -0.00698064 0.0719853 0.0316386 0.996904 -0.0338698 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 37 to normal frame with refFrame: 35 frame id kf: 150 newref id: 138 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 37 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6352 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1c71680 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 40 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 15 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 10 with distance 0.274Found rest min at: 13 with distance 0.18 overall min: 0.18 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 700 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 40 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 708 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 173 keyframes 41 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 174 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 536 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.420515 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 40 to 13982663905013399552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.420515) and 172(1311875578.386638) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!174 INF|Input.cpp[getImages,132]: mNbReceivedImages!175 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1004/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 40 to 13982663905013399552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.420515) and 172(1311875578.386638) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999976 -0.0066738 0.00161431 -0.00156223 0.00667317 0.999978 0.000397592 -0.0357069 -0.00161693 -0.00038681 0.999999 -0.00956321 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 7): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1236/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 40 to 13982663905013399552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.420515) and 172(1311875578.386638) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999984 -0.00532078 0.00189413 -0.000395451 0.00531998 0.999986 0.000428045 -0.0247582 -0.00189638 -0.000417962 0.999998 0.00235704 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 10): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1395/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.325641 resInfo good: 1968, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4017/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999985 -0.00519161 0.00189383 0.00268853 0.0051998 0.999977 -0.00434789 0.00509857 -0.00187122 0.00435767 0.999989 -0.00226526 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!173 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!174 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 175 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.488178 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!175 INF|Input.cpp[getImages,132]: mNbReceivedImages!176 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 40 to 13982663905013399552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.488178) and 172(1311875578.386638) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999303 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1039/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 40 to 13982663905013399552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.488178) and 172(1311875578.386638) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999869 -0.0160131 0.00248365 -0.00647151 0.0159992 0.999857 0.00552589 -0.00786608 -0.00257178 -0.00548543 0.999982 -0.0100573 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999318 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:610/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 40 to 13982663905013399552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.488178) and 172(1311875578.386638) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99987 -0.0159009 0.00284998 -0.00406966 0.0158823 0.999853 0.00642717 -0.0014205 -0.00295176 -0.00638107 0.999975 -0.0029994 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 8,0.999851 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1172/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.440201 resInfo good: 1963, 5 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3224/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999885 -0.014834 0.00304055 -0.00379217 0.0148178 0.999876 0.00529679 0.011342 -0.00311875 -0.00525113 0.999981 -0.00150346 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!174 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!175 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 176 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.520437 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!176 INF|Input.cpp[getImages,132]: mNbReceivedImages!177 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999885 -0.014834 0.00304055 -0.00379217 0.0148178 0.999876 0.00529679 0.011342 -0.00311875 -0.00525113 0.999981 -0.00150346 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 40 to 13982663905013399552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.520437) and 172(1311875578.386638) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999885 -0.014834 0.00304055 -0.00379217 0.0148178 0.999876 0.00529679 0.011342 -0.00311875 -0.00525113 0.999981 -0.00150346 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 15): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1221/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 40 to 13982663905013399552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.520437) and 172(1311875578.386638) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.995597 -0.0852012 0.0390909 -0.0697724 0.0857765 0.996226 -0.0132819 -0.112059 -0.0378118 0.0165765 0.999147 -0.0383408 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999857 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:377/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 40 to 13982663905013399552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.520437) and 172(1311875578.386638) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.995764 -0.0833767 0.0387545 -0.0653465 0.0839602 0.996375 -0.0136761 -0.0992931 -0.0374737 0.016872 0.999155 -0.0280276 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999126 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:459/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.2268 resInfo good: 1809, 159 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2428/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.995833 -0.0819227 0.0400708 -0.0708973 0.082513 0.996501 -0.0133018 -0.0924548 -0.0388409 0.0165527 0.999108 -0.0198486 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875578.520437 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875578.520437 to keyframe with id: 13982663905013399552 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875578.520437 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 731 size: 1793 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId13982663905013399552 timestamp: 1311875578.520437 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -10.1431 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 39 keyframeId: 23 score: -15.1324 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -13.3262 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 144 keyframeId: 36 score: -16.2276 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 158 keyframeId: 38 score: -17.498 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 163 keyframeId: 39 score: -16.5845 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 41 = 41 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21a7260 fh1 0x20f1be0fh->id: 16 41 175goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21a7260 fh1 0x2ae6dc0fh->id: 23 41 175goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21a7260 fh1 0x1cb7520fh->id: 33 41 175goodE: 51 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21a7260 fh1 0x218a8e0fh->id: 36 41 175goodE: 28 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21a7260 fh1 0x20c2640fh->id: 38 41 175goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21a7260 fh1 0x3939da0fh->id: 39 41 175goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21a7260 fh1 0x1c71680fh->id: 40 41 175goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew41 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 60 out of 61 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 61 newEdgePixels: 61 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 753 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 110 lastEnergy: 195.712 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 17 INF|LocalMapper.cpp[optimize,276]: Start Energy: 195.712 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.73969e-12 -2.97976e-13 6.29676e-13 1.40093e-12 -0.000792252 -0.00384903 -0.000318165 -0.000299589 8.4473e-05 0.000157075 0.00299044 -0.00847895 0.00504029 -0.00103352 -0.000441885 0.000426622 -0.00491469 -0.00815632 0.00858037 -0.00116783 0.000605577 -0.000311528 0.00318016 -0.00515231 0.0080955 -0.00104298 -0.000556384 -0.00038277 0.00915389 0.000636319 0.0139868 -0.000715631 -0.00107714 0.000397307 -0.00329998 -0.000373886 0.0120518 -0.000961888 -2.02941e-05 -2.67491e-05 -0.00350954 -0.0121515 0.0204744 -0.00213175 0.000672766 0.000503806 -0.0029753 -0.00659163 0.013261 -0.0014239 0.00016112 0.000249805 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 753 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 183.285 0 0 newEnergyL 0 lastEnergy: 195.712 0 0 lastEnergyL: 0mActiveResiduals: 753 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 5.66088e-12 -5.96356e-12 -1.13659e-12 2.72016e-12 0.000872171 -0.0021029 1.72462e-05 -0.000222828 -8.40961e-05 -3.53842e-05 0.00102154 0.0132814 -0.00302564 0.00161465 -2.11856e-05 -0.000181657 0.0069432 0.00145784 -0.0112256 0.000567543 -0.000985985 0.000266934 0.00190102 0.00677532 -0.00936821 0.00107889 -0.000186976 4.21203e-05 -0.00246081 -0.00773826 -0.0142809 -0.000266007 0.000387318 -0.000482721 0.000613166 -0.00393198 -0.00900812 -7.61867e-05 9.88878e-05 -0.000375242 0.000860693 -0.00538798 -0.00646375 6.23373e-05 -0.000218784 -0.000477471 0.0072332 0.0114055 -0.00728593 0.00166794 -0.00103476 0.000165899 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 753 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 178.797 0 0 newEnergyL 0 lastEnergy: 183.285 0 0 lastEnergyL: 0mActiveResiduals: 753 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -7.51304e-12 6.9759e-12 7.95621e-12 -6.98531e-12 -0.00374785 0.00414285 -0.00817585 0.000155627 0.0001159 0.000714119 0.000180241 -0.0107482 -0.00293667 -0.00127712 -0.000152701 0.00064217 -0.00560964 -0.00565596 7.74769e-05 -0.00104837 0.00063648 -0.000514395 0.00143903 -0.00405126 -0.00335506 -0.000830634 -8.29734e-05 0.000248896 0.00644524 0.00971791 0.00608442 0.000462513 -0.00058391 0.000544443 -0.00234135 -0.00399924 0.00351566 -0.000773698 0.000257245 0.000516252 -0.00123364 0.000864481 0.00378942 -0.00037302 0.00036706 0.000628678 -0.00137405 0.0136736 -0.00103426 0.000735559 -0.000128837 -0.000176358 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 753 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 172.371 0 0 newEnergyL 0 lastEnergy: 178.797 0 0 lastEnergyL: 0mActiveResiduals: 753 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 7.18859e-12 -6.62354e-12 -8.07651e-12 6.19995e-12 0.00363495 -0.00109937 0.00930982 8.4326e-05 -0.000437343 -0.000600073 0.000542813 0.0159307 0.00200575 0.00161426 -0.000119557 -0.000398954 0.00620462 0.00433161 -0.00282229 0.000856982 -0.00102341 0.000568498 -0.00331398 0.00348701 0.00237372 0.000673573 4.05945e-05 -0.000116986 -0.00264448 -0.0131654 -0.00711437 -0.000901196 6.817e-05 -0.000337036 -0.00168656 -0.000908493 -0.00031604 -3.15143e-05 -2.39223e-05 -0.000535008 -0.000591642 -0.0043167 -0.000552512 -3.09781e-05 -0.000241237 -0.000479042 0.00340159 -0.00745326 0.00147852 -0.000678624 -0.000978746 -0.000609979 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 753 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 170.783 0 0 newEnergyL 0 lastEnergy: 172.371 0 0 lastEnergyL: 0mActiveResiduals: 753 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -7.91711e-12 7.11182e-12 4.98165e-12 -6.02546e-12 -0.000651894 -0.00206293 -0.00882208 -0.000308784 -0.000110611 -0.000153269 -0.00420785 -0.0109333 -0.00433882 -0.000818608 0.000138036 -0.000144945 -0.00923189 0.00028926 0.001517 3.82917e-05 0.000902734 -0.000862754 0.00631447 -0.00864505 -0.0081079 -0.000761025 -0.000758558 -7.53955e-05 0.00484927 0.0185448 0.00977338 0.00175624 -0.000379422 1.0499e-05 -0.00175336 -0.00109868 0.00272763 4.06805e-06 2.66198e-05 -4.43917e-05 -0.00103706 -0.00687161 0.00529272 -0.000623034 0.000186541 1.47032e-05 0.000801529 0.0152627 -0.00354976 0.00163142 -0.000258692 -0.000333684 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 753 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 168.583 0 0 newEnergyL 0 lastEnergy: 170.783 0 0 lastEnergyL: 0mActiveResiduals: 753 Input.cpp[readImages,206]: Got image from sensor!176 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 3.24009e-12 -4.56767e-12 -6.63102e-12 2.76793e-12 0.00261929 -0.000203449 0.00896183 -0.000258134 -0.000229259 -0.000331626 0.00432866 0.0126575 0.00611304 0.00133115 -0.000420499 0.000148356 0.00702263 0.00199548 -0.00580901 0.000334889 -0.00175807 0.000555437 -0.00405635 0.00335721 0.00779003 0.00045854 1.27355e-06 -0.000227901 -0.00385451 -0.00933344 -0.0118534 -0.000718057 -3.52272e-05 -0.0001256 -0.000500498 -0.00634831 -0.000690308 -0.000548884 -8.44802e-05 -0.000296224 -0.00415783 0.000110527 0.00109836 0.000142265 0.000154434 -0.000286698 0.00429982 -0.0064602 -0.00162256 1.00382e-05 -0.000752843 0.000569983 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 753 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 170.039 0 0 newEnergyL 0 lastEnergy: 168.583 0 0 lastEnergyL: 0mActiveResiduals: 753 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 170.039 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 753 INF|LocalMapper.cpp[optimize,345]: End Energy: 170.039 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.48869 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.48869 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 177 INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 38 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 38 with idx: 4 and allID: 158 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->38 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 23<->38 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->38 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 36<->38 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 38<->38 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 39<->38 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 40<->38 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 41<->38 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 38 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 158: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 37/150: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 36/144: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 35/138: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 35 allId: 138 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.99654 0.00365211 -0.0830342 -0.123868 -0.0091926 0.997748 -0.0664413 -0.0422576 0.0826046 0.0669747 0.994329 -0.0631384 worldPose: 0.315553 0.196137 0.928416 0.206087 0.494463 0.801085 -0.337296 1.12935 -0.809897 0.565502 0.155802 0.695668 after: 0.315553 0.196137 0.928416 0.206087 0.494463 0.801085 -0.337296 1.12935 -0.809897 0.565502 0.155802 0.695668 worldPose of new: 0.238087 0.131109 0.962354 0.30188 0.523685 0.817146 -0.240886 1.21354 -0.817966 0.561322 0.125892 0.626017 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.99654 0.00365211 -0.0830342 -0.123868 -0.0091926 0.997748 -0.0664413 -0.0422576 0.0826046 0.0669747 0.994329 -0.0631384 INF|Mapper.cpp[changeRefFrame,578]: Updating: 159 from old kf id: 38/158 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 160 from old kf id: 38/158 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 161 from old kf id: 38/158 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 162 from old kf id: 38/158 with new ref frame: 138/35 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 158 after changeRefFrame: 0.99654 0.00365211 -0.0830342 -0.123868 -0.0091926 0.997748 -0.0664413 -0.0422576 0.0826046 0.0669747 0.994329 -0.0631384 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 38 to normal frame with refFrame: 35 frame id kf: 158 newref id: 138 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 38 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 9967 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x21a7260 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 41 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 15 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 11 with distance 0.268Found rest min at: 13 with distance 0.178 overall min: 0.178 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 672 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 41 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 679 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 176 keyframes 42 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 537 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.554302 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!177 INF|Input.cpp[getImages,132]: mNbReceivedImages!178 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999226 -0.0336276 0.0204191 -0.0386404 0.0337819 0.999403 -0.00726081 -0.0633019 -0.0201627 0.00794498 0.999765 -0.00367484 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 41 to 18446744073709551615 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.554302) and 175(1311875578.520437) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999226 -0.0336276 0.0204191 -0.0386404 0.0337819 0.999403 -0.00726081 -0.0633019 -0.0201627 0.00794498 0.999765 -0.00367484 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999021 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:579/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 41 to 18446744073709551615 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.554302) and 175(1311875578.520437) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999609 -0.00528072 0.0274556 -0.0935274 0.00498908 0.999931 0.0106799 -0.144878 -0.0275101 -0.0105388 0.999566 0.0410478 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999846 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:461/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 41 to 18446744073709551615 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.554302) and 175(1311875578.520437) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999612 -0.00420079 0.0275382 -0.0907381 0.00389517 0.99993 0.0111425 -0.141066 -0.0275831 -0.0110309 0.999559 0.0440335 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999412 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:300/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.969863 resInfo good: 1793, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1712/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999692 -0.00381508 0.0245051 -0.070249 0.00357832 0.999947 0.00969818 -0.131752 -0.0245408 -0.00960751 0.999653 0.0396064 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!176 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!177 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 178 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.590329 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!178 INF|Input.cpp[getImages,132]: mNbReceivedImages!179 INF|Tracker.cpp[trackFrames,78]: initPose: 0.997233 -0.0121445 0.0733389 -0.206191 0.0100147 0.999519 0.029339 -0.394803 -0.07366 -0.0285234 0.996875 0.127708 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 41 to 18446744073709551615 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.590329) and 175(1311875578.520437) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.997233 -0.0121445 0.0733389 -0.206191 0.0100147 0.999519 0.029339 -0.394803 -0.07366 -0.0285234 0.996875 0.127708 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:547/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 41 to 18446744073709551615 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.590329) and 175(1311875578.520437) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99753 0.00705261 0.0698934 -0.206803 -0.00651321 0.999947 -0.00794232 -0.148693 -0.0699457 0.00746746 0.997523 0.0652908 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 4): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:785/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 41 to 18446744073709551615 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.590329) and 175(1311875578.520437) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.997535 0.00748095 0.0697725 -0.202176 -0.00699943 0.99995 -0.00714327 -0.145371 -0.0698224 0.00663729 0.997537 0.0742841 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999254 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:391/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.40356 resInfo good: 1664, 129 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2101/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.997677 0.00833826 0.0676128 -0.188534 -0.00823635 0.999964 -0.00178592 -0.167457 -0.0676252 0.00122489 0.99771 0.0801734 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875578.590329 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875578.590329 to keyframe with id: 18446744073709551615 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875578.590329 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 639 size: 1237 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId18446744073709551615 timestamp: 1311875578.590329 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -11.7781 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 39 keyframeId: 23 score: -13.7798 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -12.0418 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 144 keyframeId: 36 score: -13.2107 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 163 keyframeId: 39 score: -18.585 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 172 keyframeId: 40 score: -17.5324 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 42 = 42 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x394b8e0 fh1 0x20f1be0fh->id: 16 42 177goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x394b8e0 fh1 0x2ae6dc0fh->id: 23 42 177goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x394b8e0 fh1 0x1cb7520fh->id: 33 42 177goodE: 39 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x394b8e0 fh1 0x218a8e0fh->id: 36 42 177goodE: 25 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x394b8e0 fh1 0x3939da0fh->id: 39 42 177goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x394b8e0 fh1 0x1c71680fh->id: 40 42 177goodE: 41 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x394b8e0 fh1 0x21a7260fh->id: 41 42 177goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew42 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 47 out of 47 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 47 newEdgePixels: 47 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 782 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 115 lastEnergy: 215.882 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 18 INF|LocalMapper.cpp[optimize,276]: Start Energy: 215.882 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -8.06986e-12 8.10577e-12 1.29995e-11 -7.54692e-12 -0.000209313 -0.000791951 -0.000795646 0.000332111 0.000464441 0.000293951 -0.00666213 -0.0083941 0.00262751 -0.00106178 0.00141778 0.000255667 -0.00574297 -0.00128867 0.00752474 -0.000467446 0.00215196 -0.00034973 -0.00137759 -0.00740435 -0.00233364 -0.00107897 0.00103234 -3.08024e-05 -0.000852997 0.00400004 0.00879336 9.71878e-05 0.0011019 0.000647557 0.000273715 -0.00210503 0.00992109 -0.00108416 0.000961004 0.000529675 -0.00254812 0.00439447 0.0064039 0.000205693 0.00145922 0.000111796 -0.0133369 0.00178707 0.0170037 -0.000589215 0.00271447 0.000564809 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 782 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 206.484 0 0 newEnergyL 0 lastEnergy: 215.882 0 0 lastEnergyL: 0mActiveResiduals: 782 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -6.99678e-12 -1.79907e-12 -4.63794e-12 -2.44975e-13 2.10067e-05 -0.000617083 5.64032e-05 -8.03188e-05 -9.96814e-06 3.90482e-05 0.0053196 0.00153018 -0.00156656 0.000307799 -0.000492841 3.18487e-05 0.000494557 0.00303141 -0.00962187 0.000827063 -0.000310438 0.000861007 0.00210713 0.00254049 -0.00441477 0.00067538 -0.000271247 0.000428193 -0.00715288 -0.00658993 -0.00829113 3.32537e-05 0.000668633 -8.86435e-05 -0.00419888 -0.010596 -0.00708655 -0.000284091 0.000239833 -0.000234123 0.00130773 -0.00157598 -0.00254034 0.000360816 -0.000409844 0.000309232 -0.00112657 -0.0157995 -0.000664794 -0.00073934 9.12972e-05 0.000490204 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 782 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 200.987 0 0 newEnergyL 0 lastEnergy: 206.484 0 0 lastEnergyL: 0mActiveResiduals: 782 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.48709e-12 4.75309e-12 5.78661e-12 -1.81195e-12 -0.00409394 1.56001e-05 -0.00902093 -0.00137326 0.000540529 0.000529927 -0.00428608 -0.00401355 -0.0127789 -0.00147914 0.000784658 -0.000131101 -0.00097692 -0.00299587 0.00419119 -0.00164259 0.00086296 -0.00119031 0.000262589 -0.00255674 -0.00283863 -0.00136172 0.000647168 -0.000796193 0.00491638 0.00213596 0.00562393 -0.00100111 0.000398341 8.87381e-05 0.00536661 0.0101235 0.00302398 -0.000337912 0.00048354 -5.01111e-06 -0.000699478 0.000659897 0.000706262 -0.000973086 0.00101944 -0.000260208 -0.0060415 0.00263119 0.01073 -0.00098243 0.00120093 0.000626856 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 782 Input.cpp[readImages,206]: Got image from sensor!178 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 193.654 0 0 newEnergyL 0 lastEnergy: 200.987 0 0 lastEnergyL: 0mActiveResiduals: 782 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -5.09562e-12 -4.06375e-12 -4.43689e-12 -2.46088e-12 0.000782228 0.00176201 0.0020075 -0.000430903 0.000128399 -0.000535202 0.000788166 -0.00376483 0.00617056 -0.000911187 0.000209887 -0.000664908 -0.000607062 0.00550091 -0.00437975 0.000745392 5.19368e-05 0.000223996 -0.00016525 0.00315801 -0.000126366 0.000112241 3.60431e-05 -0.000296 0.00156734 -0.00240681 -0.00548651 -0.000199278 -0.000115652 -0.000853036 -0.00659181 -0.0131223 -0.00221429 -0.00130955 0.000492962 -0.000855927 0.00549546 0.00376283 0.000517342 0.000107738 -0.000717895 5.36361e-05 0.00133377 0.00338558 0.00342325 0.000215943 0.000108525 -0.00112688 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 782 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 191.181 0 0 newEnergyL 0 lastEnergy: 193.654 0 0 lastEnergyL: 0mActiveResiduals: 782 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 5.40559e-12 2.19854e-12 4.75281e-12 2.96255e-12 0.000610198 0.00278836 -0.00563527 -0.000234863 -9.04403e-05 0.0011097 -0.000769239 -0.00535349 -0.00515154 -0.00079186 0.000215802 0.000759981 -0.00178495 -0.00741251 0.00101374 -0.0017317 0.000153793 -0.000455959 -0.00363377 -0.00814083 -0.00277286 -0.00145319 0.000488361 -0.000147234 0.00108875 0.00570288 0.00489243 -0.00020931 0.00031937 0.000745266 0.00587242 0.0163695 0.00350546 0.000781888 4.27306e-07 0.000674245 -0.00794569 -0.00366855 0.000274359 -0.000634143 0.00124652 0.000235706 0.00272127 0.00327588 0.000261913 0.000386355 -0.000470148 0.00195803 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 782 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 189.529 0 0 newEnergyL 0 lastEnergy: 191.181 0 0 lastEnergyL: 0mActiveResiduals: 782 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.5081e-12 -4.35803e-12 -4.50905e-12 3.86097e-13 -0.000190949 0.00280717 0.00475166 -6.54977e-05 0.000173941 -0.00143531 -0.00140318 -0.00309464 0.00445043 -0.000818449 0.000435755 -0.00154025 0.00145361 0.0148462 -0.00239084 0.00187681 0.000173557 -0.000960708 0.00380778 0.00519677 0.00250254 0.000597781 -0.000207494 -0.00107375 -0.00106225 -0.0128064 -0.00510118 -0.000956907 -1.77479e-05 -0.00153938 -0.00773144 -0.0179916 -0.00461844 -0.00162114 0.000335308 -0.00167415 0.009988 0.00332942 -0.000620617 -5.16015e-05 -0.00116148 -0.000713816 -0.00215748 0.00510505 0.00431445 0.000146444 0.000888362 -0.00201742 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 782 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 189.238 0 0 newEnergyL 0 lastEnergy: 189.529 0 0 lastEnergyL: 0mActiveResiduals: 782 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 189.238 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 782 INF|LocalMapper.cpp[optimize,345]: End Energy: 189.238 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.507758 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.507758 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 39 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 39 with idx: 4 and allID: 163 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->39 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 23<->39 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->39 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 36<->39 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 39<->39 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 40<->39 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 41<->39 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 42<->39 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 39 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 163: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 38/158: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 37/150: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 36/144: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 35/138: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 35 allId: 138 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.994859 0.00795917 -0.100959 -0.146464 -0.0176444 0.995282 -0.0954059 -0.0139464 0.0997229 0.0966967 0.990306 -0.0948082 worldPose: 0.330518 0.225442 0.916479 0.173941 0.482553 0.794166 -0.369382 1.14828 -0.811111 0.564337 0.153699 0.726056 after: 0.330518 0.225442 0.916479 0.173941 0.482553 0.794166 -0.369382 1.14828 -0.811111 0.564337 0.153699 0.726056 worldPose of new: 0.238087 0.131109 0.962354 0.30188 0.523685 0.817146 -0.240886 1.21354 -0.817966 0.561322 0.125892 0.626017 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.994859 0.00795917 -0.100959 -0.146464 -0.0176444 0.995282 -0.0954059 -0.0139464 0.0997229 0.0966967 0.990306 -0.0948082 INF|Mapper.cpp[changeRefFrame,578]: Updating: 164 from old kf id: 39/163 with new ref frame: 138/35 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 179 INF|Mapper.cpp[changeRefFrame,578]: Updating: 165 from old kf id: 39/163 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 166 from old kf id: 39/163 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 167 from old kf id: 39/163 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 168 from old kf id: 39/163 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 169 from old kf id: 39/163 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 170 from old kf id: 39/163 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 171 from old kf id: 39/163 with new ref frame: 138/35 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 163 after changeRefFrame: 0.994859 0.00795917 -0.100959 -0.146464 -0.0176444 0.995282 -0.0954059 -0.0139464 0.0997229 0.0966967 0.990306 -0.0948082 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 39 to normal frame with refFrame: 35 frame id kf: 163 newref id: 138 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 39 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 27169 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x394b8e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 42 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 15 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 12 with distance 0.248Found rest min at: 13 with distance 0.176 overall min: 0.176 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 12 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 665 INF|LoopCloser.cpp[loopCloserLinear,145]: No loop because too close!42 with: 0.248 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 672 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 178 keyframes 43 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 529 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.653936 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999779 0.00655435 0.0199894 -0.0532166 -0.00643892 0.999962 -0.00583308 -0.0166127 -0.0200268 0.00570308 0.999783 0.0109333 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 42 to 13830000039352525948 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.653936) and 177(1311875578.590329) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999779 0.00655435 0.0199894 -0.0532166 -0.00643892 0.999962 -0.00583308 -0.0166127 -0.0200268 0.00570308 0.999783 0.0109333 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!179 INF|Input.cpp[getImages,132]: mNbReceivedImages!180 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999972 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:643/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 42 to 13830000039352525948 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.653936) and 177(1311875578.590329) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999978 -0.00236034 0.00613 0.00333688 0.00242331 0.999944 -0.0102862 -0.00170755 -0.00610538 0.0103008 0.999928 -0.0125106 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 6): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:743/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 42 to 13830000039352525948 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.653936) and 177(1311875578.590329) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999975 -0.00112841 0.00702258 0.00449808 0.00119444 0.999955 -0.00940444 0.00693155 -0.00701165 0.00941259 0.999931 -0.00611645 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:514/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.51806 resInfo good: 1237, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2147/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99997 -0.000808634 0.00772315 0.00324902 0.000882693 0.999954 -0.00959069 0.0131061 -0.00771504 0.00959721 0.999924 -0.00666598 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!178 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 449 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!179 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 180 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.687092 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999932 -0.00118514 0.0115874 0.00485017 0.00135177 0.999896 -0.0143831 0.019684 -0.0115691 0.0143978 0.999829 -0.00996108 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 42 to 13830000039352525948 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.687092) and 177(1311875578.590329) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999932 -0.00118514 0.0115874 0.00485017 0.00135177 0.999896 -0.0143831 0.019684 -0.0115691 0.0143978 0.999829 -0.00996108 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999695 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:507/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 42 to 13830000039352525948 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.687092) and 177(1311875578.590329) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999909 -0.00389159 0.0129363 0.00122439 0.00409104 0.999873 -0.0154267 0.000308126 -0.0128746 0.0154782 0.999797 -0.0165885 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!180 INF|Input.cpp[getImages,132]: mNbReceivedImages!181 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999989 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:558/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 42 to 13830000039352525948 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.687092) and 177(1311875578.590329) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999904 -0.00375876 0.013331 0.00436631 0.00395289 0.999886 -0.0145659 0.00667952 -0.0132747 0.0146172 0.999805 -0.00453817 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:437/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.625804 resInfo good: 1237, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1766/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999903 -0.0036992 0.013451 0.00563193 0.00389052 0.999891 -0.0142253 0.0100194 -0.0133969 0.0142763 0.999808 -0.00354178 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!179 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!180 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 181 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!181 INF|Input.cpp[getImages,132]: mNbReceivedImages!182 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.721488 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999854 -0.00513441 0.0163198 0.00683346 0.00540429 0.999849 -0.0165361 0.00847324 -0.0162324 0.0166219 0.99973 -0.0019902 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 42 to 13830000039352525948 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.721488) and 177(1311875578.590329) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999854 -0.00513441 0.0163198 0.00683346 0.00540429 0.999849 -0.0165361 0.00847324 -0.0162324 0.0166219 0.99973 -0.0019902 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 4): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:573/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 42 to 13830000039352525948 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.721488) and 177(1311875578.590329) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999753 -0.00477496 0.0217245 -0.0171374 0.00508317 0.999887 -0.0141544 -0.0246908 -0.0216544 0.0142613 0.999664 -0.0126015 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999334 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:687/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 42 to 13830000039352525948 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.721488) and 177(1311875578.590329) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999803 -0.00175659 0.0197866 -0.00628828 0.00204063 0.999895 -0.0143441 -0.00828108 -0.0197593 0.0143816 0.999701 0.00111009 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999406 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:256/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.724075 resInfo good: 1237, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1783/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999849 -0.00199568 0.0172897 0.0134251 0.0022877 0.999855 -0.0168869 0.0086216 -0.0172535 0.0169239 0.999708 -0.00121993 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!180 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 472 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!181 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 182 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.753649 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!182 INF|Input.cpp[getImages,132]: mNbReceivedImages!183 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999777 -0.000281999 0.0211235 0.0212248 0.00069516 0.999809 -0.0195545 0.00720492 -0.021114 0.0195648 0.999586 0.00106808 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 42 to 13830000039352525948 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.753649) and 177(1311875578.590329) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999777 -0.000281999 0.0211235 0.0212248 0.00069516 0.999809 -0.0195545 0.00720492 -0.021114 0.0195648 0.999586 0.00106808 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999296 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:421/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 42 to 13830000039352525948 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.753649) and 177(1311875578.590329) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999734 -0.00356035 0.0228082 0.013738 0.00405215 0.99976 -0.0215526 -0.0118943 -0.022726 0.0216392 0.999508 -0.00995918 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:690/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 42 to 13830000039352525948 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.753649) and 177(1311875578.590329) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999733 -0.00212037 0.023017 0.0175923 0.00258409 0.999794 -0.0201358 -0.00498942 -0.0229695 0.0201899 0.999532 -0.00151295 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.99991 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:396/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.840846 resInfo good: 1223, 14 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1768/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999735 -0.00079257 0.0230261 0.0215781 0.00124638 0.999805 -0.019701 0.00105084 -0.023006 0.0197245 0.999541 0.000263892 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!181 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!182 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 183 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.790490 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!183 INF|Input.cpp[getImages,132]: mNbReceivedImages!184 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999586 0.000426584 0.0287584 0.0297312 0.000221279 0.999746 -0.0225209 -0.00653291 -0.0287607 0.0225179 0.999333 0.0016796 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 42 to 13830000039352525948 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.790490) and 177(1311875578.590329) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999586 0.000426584 0.0287584 0.0297312 0.000221279 0.999746 -0.0225209 -0.00653291 -0.0287607 0.0225179 0.999333 0.0016796 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 14,0.999082 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:715/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 42 to 13830000039352525948 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.790490) and 177(1311875578.590329) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99952 -0.00601367 0.0303782 0.0252213 0.00681852 0.999627 -0.0264606 -0.0440416 -0.0302077 0.0266551 0.999188 -0.00247626 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999838 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:442/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 42 to 13830000039352525948 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.790490) and 177(1311875578.590329) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999522 -0.00483114 0.0305214 0.0287134 0.00558655 0.999679 -0.0247137 -0.0354057 -0.0303922 0.0248724 0.999229 0.00544704 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999906 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:361/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.07341 resInfo good: 1134, 103 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1771/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999543 -0.00386946 0.0299756 0.0343446 0.00451712 0.999757 -0.0215686 -0.0461328 -0.0298849 0.0216941 0.999318 0.00447669 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875578.790490 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875578.790490 to keyframe with id: 13830000039352525948 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875578.790490 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 604 size: 1121 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId13830000039352525948 timestamp: 1311875578.790490 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -13.3869 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 39 keyframeId: 23 score: -22.2171 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -12.7188 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 144 keyframeId: 36 score: -17.0641 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 172 keyframeId: 40 score: -20.1363 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 175 keyframeId: 41 score: -18.0281 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 43 = 43 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51e2b20 fh1 0x20f1be0fh->id: 16 43 182goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51e2b20 fh1 0x2ae6dc0fh->id: 23 43 182goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51e2b20 fh1 0x1cb7520fh->id: 33 43 182goodE: 26 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51e2b20 fh1 0x218a8e0fh->id: 36 43 182goodE: 25 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51e2b20 fh1 0x1c71680fh->id: 40 43 182goodE: 40 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51e2b20 fh1 0x21a7260fh->id: 41 43 182goodE: 25 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51e2b20 fh1 0x394b8e0fh->id: 42 43 182goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew43 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 51 out of 51 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 51 newEdgePixels: 51 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 707 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 109 lastEnergy: 226.494 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 17 INF|LocalMapper.cpp[optimize,276]: Start Energy: 226.494 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 8.07455e-12 -2.56245e-12 -3.09784e-12 1.09873e-13 0.00423467 -0.00257122 0.00760371 0.00256771 -0.000905289 0.000507262 -0.00140718 -0.00029384 0.00309944 0.00231284 -0.000894433 0.00132151 -0.0130924 -0.0076386 0.0149144 0.00054768 0.000503153 0.00125896 -0.0113616 -0.00670312 0.00448146 0.00116437 3.85117e-05 0.00170896 -0.00418506 -0.00304029 0.0149143 0.00142975 5.88272e-05 0.00153787 -0.0173027 0.00712164 0.0114018 0.00288184 0.00147008 0.00161311 -0.00723584 -0.00246456 0.00554595 0.00211675 0.000140533 0.0024696 -0.0010452 -0.00254315 0.00136001 0.00207381 -0.00030536 0.00353282 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 707 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 211.807 0 0 newEnergyL 0 lastEnergy: 226.494 0 0 lastEnergyL: 0mActiveResiduals: 707 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.49192e-12 -2.94249e-12 4.34523e-12 2.16333e-12 -0.00227563 0.000900453 -0.000299002 0.000101425 0.000245921 3.65051e-05 0.00181921 -0.00407756 0.00730048 -0.000553557 -0.000406205 -1.86813e-06 0.00719141 -0.000910176 0.00558284 -0.000231798 -0.00113382 0.00066064 0.00511382 0.00279495 0.0147995 -3.59866e-05 -0.0006385 0.000451727 0.005895 -0.000570384 0.0103761 -0.000336755 -0.000828879 0.000591909 0.00606225 -0.00597929 0.0106183 -0.0010547 -0.000621645 0.000523588 0.00100026 0.0056624 0.0174904 0.000452702 0.000347777 0.000569392 0.00460717 -0.000697277 0.00505971 -9.3218e-05 -0.000390095 0.000173482 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 707 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 199.128 0 0 newEnergyL 0 lastEnergy: 211.807 0 0 lastEnergyL: 0mActiveResiduals: 707 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.79241e-12 -8.16883e-13 -7.59085e-13 -1.22742e-12 0.000503605 -0.00228242 0.0027332 0.00049986 -0.000429535 -0.000652335 0.00423177 0.00901382 0.000888717 0.00145339 -0.000721418 -0.000327825 0.000630324 0.001993 0.00468927 0.000753385 -0.000154683 2.76205e-05 -0.0003677 -0.00792202 -0.00391674 -0.000182807 -0.000506134 -5.68851e-05 -3.39261e-05 0.0030004 0.00293297 0.00091431 -0.000429435 0.00023301 -0.00672637 -9.57139e-05 0.00321767 0.000596091 0.000325636 9.36791e-05 0.0020704 -0.00619031 -0.010356 0.000169131 -0.000631498 0.00156038 -8.71167e-05 0.00104963 0.000815462 0.000966724 -0.000128705 0.00175501 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 707 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 196.364 0 0 newEnergyL 0 lastEnergy: 199.128 0 0 lastEnergyL: 0mActiveResiduals: 707 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.63046e-12 1.17358e-12 -1.33614e-12 -4.05121e-14 0.000556204 -0.00109277 -0.00178738 -0.00145635 0.000564348 -0.000317165 -0.00386362 -0.00634476 -0.00319517 -0.00125868 0.000859101 -0.000914456 0.000226721 0.00227721 -0.00303426 -0.000239705 6.99468e-05 -0.00108817 0.00203326 0.00462876 0.00143707 -0.000118438 0.000254435 -0.00112635 0.00383494 -0.00726732 -0.00405181 -0.00115705 2.57318e-05 -0.00123779 0.00475487 0.0025333 -0.00190537 -0.000637612 -0.000218385 -0.00110906 -0.00774631 0.00679199 0.011546 0.000113468 0.00147 -0.00138534 0.000759899 -0.000598742 2.73476e-05 -0.000421243 0.000511246 -0.00127507 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 707 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 192.492 0 0 newEnergyL 0 lastEnergy: 196.364 0 0 lastEnergyL: 0mActiveResiduals: 707 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 2.21113e-12 -1.18097e-12 -2.62234e-12 9.60325e-13 -3.52694e-05 0.00208893 -0.00116097 0.00065977 -0.000536362 -0.0001212 0.00611948 0.00507615 0.00293912 0.000742952 -0.00113381 0.000579338 -0.00166897 -0.00546822 -0.000944047 -0.000328945 -0.000409244 0.000729604 -0.00233179 -0.00420038 -0.000366269 -0.00021786 -0.000362525 0.000582454 -0.0029321 0.00848597 0.00681876 0.00107401 -5.7034e-05 0.00102844 -0.00646047 -0.00219117 0.00444508 0.000295629 0.000312705 0.00108148 0.00373291 -0.00229551 -0.00818299 0.000417806 -0.00106171 0.00170347 0.00190003 -0.00109139 -0.00399701 0.00090659 -0.000814325 0.00200292 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 707 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 189.743 0 0 newEnergyL 0 lastEnergy: 192.492 0 0 lastEnergyL: 0mActiveResiduals: 707 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.39849e-12 1.53791e-12 -1.2281e-12 6.13794e-13 0.00157025 -0.00270758 0.000702084 -0.00129888 0.000288881 -8.49352e-05 -0.00465299 -0.00208001 -0.00304111 -0.000697786 0.000733667 -0.000823485 0.00136912 2.78351e-05 -0.0028293 -0.00032235 -8.15517e-05 -0.000564434 -0.000945121 0.00506736 0.00116212 5.05392e-05 0.000363168 -0.000729321 0.00460562 -0.00794891 -0.00542095 -0.00103503 2.73525e-05 -0.000770892 0.00643393 0.00436224 -0.00217326 -0.000248798 -0.000283191 -0.000697613 -0.00500173 -0.000576825 0.00730051 -0.000440207 0.000927721 -0.00146821 -0.00147306 0.00397273 0.0038567 0.000468077 0.000899637 -0.00113212 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 707 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 184.731 0 0 newEnergyL 0 lastEnergy: 189.743 0 0 lastEnergyL: 0mActiveResiduals: 707 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 184.731 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 707 INF|LocalMapper.cpp[optimize,345]: End Energy: 184.731 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.527455 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.527455 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 23 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 23 with idx: 1 and allID: 39 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->23 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 23->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 23<->23 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->23 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 36<->23 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 40<->23 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 41<->23 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 42<->23 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->23 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 23 with: 1 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 23 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6266 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x51e2b20 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 43 Input.cpp[readImages,206]: Got image from sensor!183 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 15 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 12 with distance 0.222Found rest min at: 13 with distance 0.19 overall min: 0.19 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 12 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 686 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 43 into DB 0.222 12 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 12 and real id(27) current kf: 43(182) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.975156 0.0922956 -0.201376 0.102369 -0.119219 0.984849 -0.125934 0.266318 0.186702 0.146813 0.971385 -0.0300539 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 27 currFrame: 43 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.975156 0.0922956 -0.201376 0.102369 -0.119219 0.984849 -0.125934 0.266318 0.186702 0.146813 0.971385 -0.0300539 avg 0.0128405 eye: 0.0189834 edge: 43 to 27 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 314 < 807 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 43 and 27 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 43 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 43 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 855 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 183 keyframes 44 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 530 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 184 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.818569 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!184 INF|Input.cpp[getImages,132]: mNbReceivedImages!185 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999965 -0.00154012 0.00824531 0.0039737 0.00154829 0.999998 -0.00098525 -0.0471871 -0.00824377 0.000997981 0.999966 0.0128768 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 43 to 29915008 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.818569) and 182(1311875578.790490) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999965 -0.00154012 0.00824531 0.0039737 0.00154829 0.999998 -0.00098525 -0.0471871 -0.00824377 0.000997981 0.999966 0.0128768 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999495 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:319/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 43 to 29915008 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.818569) and 182(1311875578.790490) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999962 0.00276811 0.00824102 0.00176869 -0.00273703 0.999989 -0.00378103 -0.0795954 -0.0082514 0.00375833 0.999959 0.0109724 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:655/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 43 to 29915008 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.818569) and 182(1311875578.790490) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999956 0.00250859 0.00900981 0.00573637 -0.00248221 0.999993 -0.00293771 -0.069969 -0.00901711 0.00291522 0.999955 0.0107452 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 9,0.999026 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:397/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.707508 resInfo good: 1104, 17 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1606/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999955 0.00319481 0.00889756 0.00807537 -0.00311761 0.999957 -0.00867693 -0.0314279 -0.0089249 0.00864881 0.999923 0.0109294 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!183 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1251 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!184 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 185 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.855007 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!185 INF|Input.cpp[getImages,132]: mNbReceivedImages!186 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999598 0.00981391 0.0266048 0.0242121 -0.00911919 0.999617 -0.0261095 -0.0946368 -0.0268509 0.0258564 0.999305 0.031753 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 43 to 29915008 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.855007) and 182(1311875578.790490) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999598 0.00981391 0.0266048 0.0242121 -0.00911919 0.999617 -0.0261095 -0.0946368 -0.0268509 0.0258564 0.999305 0.031753 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999894 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:302/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 43 to 29915008 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.855007) and 182(1311875578.790490) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999846 0.00497173 0.0168367 0.0223643 -0.00444669 0.999507 -0.0310798 -0.0496068 -0.0169829 0.0310001 0.999375 0.0225822 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999997 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:385/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 43 to 29915008 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.855007) and 182(1311875578.790490) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999841 0.00390622 0.0174174 0.0262315 -0.0033971 0.999569 -0.0291654 -0.043658 -0.0175238 0.0291015 0.999423 0.0244474 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999355 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:245/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.04161 resInfo good: 1054, 67 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1176/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999831 0.00257841 0.0182082 0.0264478 -0.00208983 0.999639 -0.0268017 -0.0506695 -0.0182707 0.0267591 0.999475 0.0201658 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875578.855007 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875578.855007 to keyframe with id: 29915008 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875578.855007 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 718 size: 828 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId29915008 timestamp: 1311875578.855007 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -12.1934 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -13.0038 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 144 keyframeId: 36 score: -15.8955 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 172 keyframeId: 40 score: -15.6583 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 175 keyframeId: 41 score: -14.2525 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 177 keyframeId: 42 score: -7.81177 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 44 = 44 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2197140 fh1 0x20f1be0fh->id: 16 44 184goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2197140 fh1 0x1cb7520fh->id: 33 44 184goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2197140 fh1 0x218a8e0fh->id: 36 44 184goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2197140 fh1 0x1c71680fh->id: 40 44 184goodE: 43 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2197140 fh1 0x21a7260fh->id: 41 44 184goodE: 23 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2197140 fh1 0x394b8e0fh->id: 42 44 184goodE: 24 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2197140 fh1 0x51e2b20fh->id: 43 44 184goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew44 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 28 out of 28 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 28 newEdgePixels: 28 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 672 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 122 lastEnergy: 208.159 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 17 INF|LocalMapper.cpp[optimize,276]: Start Energy: 208.159 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 9.04691e-12 -6.23256e-12 7.42156e-14 4.41589e-12 -0.00237874 0.000505269 0.000121409 0.00125957 8.12467e-05 0.00100504 -0.000564502 0.000392344 0.00636184 3.47714e-07 0.000932704 0.000862693 0.00278578 -0.00846414 -0.00334283 -0.000868367 0.000229261 0.00112636 -0.00584605 0.000755423 0.0040496 0.000383885 0.000911304 0.00110395 -0.00836037 -0.011544 0.000371234 -0.00107865 0.00133584 0.0011933 0.00432494 0.00138569 -0.0112929 -3.10074e-05 7.59051e-05 0.00193 0.00146305 0.00447593 -0.00838437 0.000965114 7.75007e-05 0.00315518 0.00779677 0.0375164 0.00912517 0.00474367 -0.00108942 0.00265457 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 672 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 193.864 0 0 newEnergyL 0 lastEnergy: 208.159 0 0 lastEnergyL: 0mActiveResiduals: 672 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -7.84234e-12 2.52378e-12 -2.52418e-12 -1.49445e-12 0.00130094 -0.00103467 2.06376e-05 -0.000109815 -0.000128275 -3.49855e-05 0.0011093 0.00081398 -0.0100197 0.000457748 9.28129e-05 0.000205051 0.00339946 0.00185596 -0.0086786 0.000526251 -0.00028619 0.000218785 0.0022614 -0.000816235 -0.0126145 0.000284481 -0.000165305 0.000151944 0.00205173 0.00394749 -0.0109878 0.000609089 -0.000120449 -0.000243133 -0.00668857 0.00207614 -0.00678595 0.000376331 0.000668875 -0.000824939 -0.00848064 -0.0137482 -0.00404414 -0.000835609 0.00126837 -1.44557e-05 0.00401247 0.00576845 -0.000388454 0.00120715 -0.000421146 0.000228375 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 672 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 186.751 0 0 newEnergyL 0 lastEnergy: 193.864 0 0 lastEnergyL: 0mActiveResiduals: 672 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 6.16397e-12 -3.08297e-13 -7.49143e-13 9.49036e-13 -0.00163016 0.00688054 -0.00195926 0.000687703 -0.000120066 0.000782501 -0.00238804 -0.00299521 0.000546904 -0.000841261 -0.000271834 0.00105846 -0.00360183 -0.00470247 -0.000275242 -0.000992974 5.18734e-05 0.000626988 -0.000710182 0.00486419 0.00851561 0.000296933 0.000265147 0.000837814 -0.000899973 -0.00139465 0.00262207 -0.000272758 6.95276e-05 0.00066144 0.00320226 -0.0126152 -0.00601449 -0.00107347 -0.000852964 0.00144348 0.00178372 0.00719379 -0.000920313 0.00131777 -0.000825274 0.00143539 0.000715551 0.00486998 -0.00147639 0.0012434 -0.000367226 0.001244 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 672 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 186.054 0 0 newEnergyL 0 lastEnergy: 186.751 0 0 lastEnergyL: 0mActiveResiduals: 672 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -8.74172e-12 3.31964e-12 5.33807e-12 -8.6211e-12 -0.000376641 -0.00460157 -0.00436894 -0.00238528 0.00114208 -0.000342378 -0.00343365 0.00671534 0.00156356 -5.26884e-06 0.00116603 -0.00163737 0.00145864 0.00735494 -0.000701934 4.15948e-05 0.000781696 -0.00132553 0.00216526 -0.0113006 -0.0067361 -0.00203064 0.00072495 -0.0012337 0.00265872 -0.000549269 -0.00324357 -0.000859421 0.000428113 -0.00062174 -0.00847741 0.00983724 0.00616713 0.000293306 0.00143318 -0.00157539 0.00232113 -0.0123581 -0.0010192 -0.00175266 0.000761811 -0.000511403 0.00427863 0.0058777 0.00656697 0.00036936 0.000110887 -0.000374843 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 672 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 180.486 0 0 newEnergyL 0 lastEnergy: 186.054 0 0 lastEnergyL: 0mActiveResiduals: 672 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.78756e-12 9.41337e-13 -3.61229e-12 2.78869e-12 0.00800626 0.00618964 0.00559938 0.00256032 -0.00175727 -0.000763537 0.000345465 -0.0085187 -0.00155266 0.000223771 -0.000691187 0.000732638 -0.00187592 -0.00923695 -0.000234168 0.000116057 -0.000747742 0.000673599 -0.00432668 0.00849637 0.0056452 0.00196645 -0.000588786 0.000404133 -0.00431621 -0.000932724 0.00270514 0.000981807 -0.000202171 0.000205273 0.00446119 -0.00782287 -0.00629094 -0.000238524 -0.000891273 0.000745385 0.000367391 0.0113138 -0.0032641 0.00195467 -0.00091961 0.000307234 -0.00295068 -0.000609922 -0.00423151 0.000674104 -0.000334196 0.00110274 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 672 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 177.59 0 0 newEnergyL 0 lastEnergy: 180.486 0 0 lastEnergyL: 0mActiveResiduals: 672 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.58654e-12 -1.34816e-13 8.85569e-13 -1.31357e-12 -0.0074849 -0.00144075 -0.00210841 -0.000442622 0.00104762 0.000410688 0.00211299 0.00412722 0.0016022 0.000245142 -5.16787e-05 -0.000275998 0.00213184 0.00566998 0.00235025 0.000450665 9.76889e-06 -2.68327e-05 0.000235389 -0.00623012 -0.000366102 -0.000945886 5.3363e-05 3.03005e-05 0.00540393 0.00165709 -0.00168115 -0.000203341 -0.000458021 1.56438e-05 -0.000758278 0.00810389 0.00564908 0.000781465 0.000101595 -0.000520786 -0.00296984 -0.00938356 0.0017712 -0.0013734 0.000714579 -0.000211957 0.000235107 -0.00207737 -0.00340049 -0.00041426 0.00041161 -0.00058086 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 672 Input.cpp[readImages,206]: Got image from sensor!185 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 176.229 0 0 newEnergyL 0 lastEnergy: 177.59 0 0 lastEnergyL: 0mActiveResiduals: 672 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 176.229 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 672 INF|LocalMapper.cpp[optimize,345]: End Energy: 176.229 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.532284 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.532284 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 36 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 36 with idx: 2 and allID: 144 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->36 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->36 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 36<->36 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 40<->36 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 41<->36 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 42<->36 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->36 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 44<->36 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 36 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 144: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 35/138: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 35 allId: 138 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.999244 -0.00224817 -0.038823 -0.0385231 0.00177384 0.999923 -0.012248 -0.003217 0.0388476 0.0121698 0.999171 -0.0109126 worldPose: 0.275524 0.142275 0.950707 0.281785 0.51538 0.812975 -0.271026 1.19336 -0.811461 0.56465 0.150668 0.654348 after: 0.275524 0.142275 0.950707 0.281785 0.51538 0.812975 -0.271026 1.19336 -0.811461 0.56465 0.150668 0.654348 worldPose of new: 0.238087 0.131109 0.962354 0.30188 0.523685 0.817146 -0.240886 1.21354 -0.817966 0.561322 0.125892 0.626017 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.999244 -0.00224817 -0.038823 -0.0385231 0.00177384 0.999923 -0.012248 -0.003217 0.0388476 0.0121698 0.999171 -0.0109126 INF|Mapper.cpp[changeRefFrame,578]: Updating: 145 from old kf id: 36/144 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 146 from old kf id: 36/144 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 147 from old kf id: 36/144 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 148 from old kf id: 36/144 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 149 from old kf id: 36/144 with new ref frame: 138/35 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 144 after changeRefFrame: 0.999244 -0.00224817 -0.038823 -0.0385231 0.00177384 0.999923 -0.012248 -0.003217 0.0388476 0.0121698 0.999171 -0.0109126 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 36 to normal frame with refFrame: 35 frame id kf: 144 newref id: 138 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 36 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6339 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2197140 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 44 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 16 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 12 with distance 0.206Found rest min at: 15 with distance 0.076 overall min: 0.076 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 12 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 670 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 44 into DB 0.206 12 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 12 and real id(27) current kf: 44(184) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.971591 0.0897651 -0.218984 0.0944359 -0.114901 0.987826 -0.104868 0.345722 0.206905 0.12705 0.970077 -0.041328 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 27 currFrame: 44 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.971591 0.0897651 -0.218984 0.0944359 -0.114901 0.987826 -0.104868 0.345722 0.206905 0.12705 0.970077 -0.041328 avg 0.0292455 eye: 0.0390624 edge: 44 to 27 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 161 < 667 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 44 and 27 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 44 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 44 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 818 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 185 keyframes 45 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 186 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!186 INF|Input.cpp[getImages,132]: mNbReceivedImages!187 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.885622 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999928 -0.000561815 0.0119739 0.00799265 0.000689642 0.999943 -0.0106741 -0.0508426 -0.0119672 0.0106815 0.999871 -0.000959948 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 44 to 13980875630955200512 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.885622) and 184(1311875578.855007) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999928 -0.000561815 0.0119739 0.00799265 0.000689642 0.999943 -0.0106741 -0.0508426 -0.0119672 0.0106815 0.999871 -0.000959948 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 3): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:354/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 44 to 13980875630955200512 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.885622) and 184(1311875578.855007) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999935 0.00213988 0.0112058 0.00238543 -0.00200519 0.999926 -0.0120172 -0.0482781 -0.0112307 0.0119939 0.999865 -0.00829466 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:422/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 44 to 13980875630955200512 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.885622) and 184(1311875578.855007) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999932 0.00290236 0.0113384 0.0085161 -0.00276101 0.999919 -0.0124621 -0.0327587 -0.0113736 0.01243 0.999858 0.00338424 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:347/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.710644 resInfo good: 828, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1305/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999915 0.00428275 0.0123026 0.00722785 -0.00411236 0.999896 -0.0138419 -0.0195515 -0.0123606 0.0137901 0.999829 0.00514839 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!185 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!186 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 187 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.919067 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!187 INF|Input.cpp[getImages,132]: mNbReceivedImages!188 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999661 0.00873435 0.0245428 0.0144347 -0.00805286 0.999583 -0.0277306 -0.039202 -0.0247748 0.0275235 0.999314 0.00993694 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 44 to 13980875630955200512 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.919067) and 184(1311875578.855007) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999661 0.00873435 0.0245428 0.0144347 -0.00805286 0.999583 -0.0277306 -0.039202 -0.0247748 0.0275235 0.999314 0.00993694 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:414/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 44 to 13980875630955200512 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.919067) and 184(1311875578.855007) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999643 0.00434175 0.0263711 -9.53341e-06 -0.00350353 0.99949 -0.0317493 -0.0443307 -0.0264955 0.0316455 0.999148 -0.0241687 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:425/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 44 to 13980875630955200512 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.919067) and 184(1311875578.855007) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999668 0.00624735 0.0249792 0.00939874 -0.00548429 0.99952 -0.0305004 -0.0386833 -0.0251578 0.0303533 0.999223 -0.00062669 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.99909 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:161/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.976328 resInfo good: 826, 2 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1192/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999681 0.00715138 0.0242306 0.015286 -0.00639166 0.99949 -0.0312876 -0.0270165 -0.0244419 0.0311227 0.999217 0.00934258 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!186 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!187 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 188 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.957394 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!188 INF|Input.cpp[getImages,132]: mNbReceivedImages!189 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999296 0.0102261 0.0361031 0.0233736 -0.00845955 0.998775 -0.0487496 -0.0345736 -0.0365574 0.0484099 0.998158 0.0133092 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 44 to 13980875630955200512 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.957394) and 184(1311875578.855007) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999296 0.0102261 0.0361031 0.0233736 -0.00845955 0.998775 -0.0487496 -0.0345736 -0.0365574 0.0484099 0.998158 0.0133092 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999876 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:283/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 44 to 13980875630955200512 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.957394) and 184(1311875578.855007) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999463 0.00748873 0.0318985 0.012791 -0.00585089 0.998675 -0.0511326 -0.0254406 -0.0322392 0.0509186 0.998182 -0.0100186 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 7): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:436/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 44 to 13980875630955200512 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.957394) and 184(1311875578.855007) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999209 0.00847676 0.0388448 -0.004139 -0.00673658 0.998977 -0.0447123 -0.0462249 -0.0391841 0.0444153 0.998244 -0.0269426 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999556 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:163/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.15394 resInfo good: 800, 28 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1067/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999137 0.00950438 0.0404254 -0.00797838 -0.00777221 0.999054 -0.0427919 -0.0493351 -0.0407939 0.0424408 0.998266 -0.0279802 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875578.957394 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875578.957394 to keyframe with id: 13980875630955200512 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875578.957394 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 620 size: 1286 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId13980875630955200512 timestamp: 1311875578.957394 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -11.8933 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -11.8426 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 172 keyframeId: 40 score: -14.6555 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 175 keyframeId: 41 score: -13.6961 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 177 keyframeId: 42 score: -14.3987 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -12.5531 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 45 = 45 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ae06a0 fh1 0x20f1be0fh->id: 16 45 187goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ae06a0 fh1 0x1cb7520fh->id: 33 45 187goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ae06a0 fh1 0x1c71680fh->id: 40 45 187goodE: 42 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ae06a0 fh1 0x21a7260fh->id: 41 45 187goodE: 16 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ae06a0 fh1 0x394b8e0fh->id: 42 45 187goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ae06a0 fh1 0x51e2b20fh->id: 43 45 187goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ae06a0 fh1 0x2197140fh->id: 44 45 187goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew45 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 30 out of 30 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 30 newEdgePixels: 30 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 599 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 100 lastEnergy: 193.643 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 16 INF|LocalMapper.cpp[optimize,276]: Start Energy: 193.643 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.24389e-11 -4.35972e-12 -4.91715e-12 9.67276e-12 0.00172325 -0.00365096 0.00210231 -8.56209e-05 -0.000315842 -3.52152e-06 -0.00308578 -0.00309613 0.00622207 -0.00054637 4.71814e-05 -0.00053713 -0.00342531 -0.00385566 0.00627105 -0.000346762 -0.000158031 9.91564e-05 -3.02849e-05 -0.00163153 0.00041619 0.000322853 -0.000614848 8.91974e-05 0.00569765 -0.0171569 -0.00647666 -0.00211627 -0.000986104 0.00066547 0.00836166 -0.00219311 6.08905e-05 -6.3358e-05 -0.00167415 0.00119539 0.011791 -0.00395158 0.00807281 -0.000588364 -0.00209766 0.00296027 0.00771553 -0.00876437 -0.00313092 -5.7526e-05 -0.00160317 0.0023241 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 599 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 180.532 0 0 newEnergyL 0 lastEnergy: 193.643 0 0 lastEnergyL: 0mActiveResiduals: 599 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -8.52621e-12 3.4728e-12 2.56095e-12 -3.90205e-12 1.94613e-06 0.000717339 -0.00012835 6.91992e-05 -6.96764e-07 3.83028e-05 -0.00225936 0.00122798 0.00473293 9.21756e-05 0.000128025 -0.000139821 0.00183062 -0.00626435 0.000116623 -0.000742542 -0.000202569 -0.000194686 0.00348786 0.00672161 0.00406281 0.000638796 -0.000543876 -0.000318527 -0.00209742 0.0109718 0.0108639 0.00100672 0.000303473 -0.000660617 -0.000991645 0.000645833 0.00578922 -0.000287766 0.000223351 -0.000623823 0.00318213 0.00111028 0.00957691 6.5115e-05 -6.32964e-05 -8.20487e-05 0.00783052 0.00846489 0.00677625 0.00120497 -0.00121054 4.65008e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 599 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 176.43 0 0 newEnergyL 0 lastEnergy: 180.532 0 0 lastEnergyL: 0mActiveResiduals: 599 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 5.41054e-12 -2.87436e-12 -9.89946e-15 8.93694e-13 -0.00336223 0.000935203 0.00116044 0.0013855 9.8422e-05 -0.000275167 0.00244837 0.00562341 0.00213158 0.00151075 -0.00101945 0.000660797 -0.00528562 0.00264855 0.00748521 0.00147791 -4.69544e-05 0.00035641 -0.00295647 -0.00258185 0.00367954 0.000904865 -0.000156419 0.00045222 0.00528898 -0.00472018 -0.00129031 0.000668543 -0.00121588 0.0010199 0.00235869 0.00183916 0.00354491 0.00142678 -0.000855487 0.000447533 0.00414709 0.00475561 -0.00204882 0.00217472 -0.000981201 0.00114734 -0.00450344 -0.00747853 -0.0131223 0.000862964 0.000447961 0.00195906 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 599 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 172.222 0 0 newEnergyL 0 lastEnergy: 176.43 0 0 lastEnergyL: 0mActiveResiduals: 599 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -3.86578e-12 3.52137e-12 -9.98332e-13 6.3713e-13 -0.00285236 0.00308244 0.00478168 0.000305232 0.000134763 -0.000310149 0.000427616 -0.00238439 -1.4789e-05 -0.000249239 0.00012894 -0.000175346 0.00488945 -0.0122361 -0.0031673 -0.00137097 -0.000460405 2.30382e-05 0.00280294 0.00516042 -0.00254535 0.000499324 -0.000299899 -0.000172032 -0.00295271 0.000672711 0.00116424 -0.000161615 0.000387355 -0.0011009 0.00268 0.00232442 0.00410308 -0.000337751 -0.000170798 -0.000481203 0.00260892 -0.00443163 0.00485346 -0.000775726 -3.31759e-05 -0.000302755 -0.00707882 0.00618211 -0.00465238 0.000886417 0.00147539 -0.000460763 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 599 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 168.547 0 0 newEnergyL 0 lastEnergy: 172.222 0 0 lastEnergyL: 0mActiveResiduals: 599 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 4.1563e-12 -1.40623e-12 9.85748e-13 1.12022e-12 0.000516426 0.00189957 0.00462459 0.00300702 -0.000356146 -0.00106548 -0.00120181 0.00159327 0.00565953 0.00258179 -0.000822523 0.00117781 -0.00124375 0.0070677 0.00705289 0.003347 -0.000864551 0.000493651 -0.00713904 -0.010494 0.00837846 0.00149628 -1.3155e-05 0.000559952 0.00772142 0.000273637 0.00345488 0.00242922 -0.00130586 0.00121017 0.00282288 0.001421 -0.00528733 0.00269079 -0.00119518 0.000526833 -0.000892532 0.00413704 -0.011216 0.00319846 -0.000384129 0.000158674 -0.00321402 -0.00590553 -0.0124521 0.0014188 -0.000188175 0.000776319 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 599 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 167.554 0 0 newEnergyL 0 lastEnergy: 168.547 0 0 lastEnergyL: 0mActiveResiduals: 599 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -3.48944e-12 4.9446e-13 -4.33047e-12 -1.24538e-12 -0.00209301 0.00374387 -0.00332336 -0.0032394 0.000706991 0.00126914 -0.00162206 0.00116868 -0.00703436 -0.00270676 0.000690255 -0.00109984 0.00217292 -0.0129576 -0.00527643 -0.00417773 0.000961767 -0.000478458 0.00694999 0.00303568 -0.00526952 -0.00231682 3.48292e-05 -0.000631961 -0.0109545 0.00108335 -0.00120141 -0.00227478 0.00120851 -0.00142262 0.000357411 -0.00676726 0.00516772 -0.00290294 0.000639779 -0.000675543 0.00540528 -0.000479975 0.0130706 -0.00183088 -4.24185e-05 2.31363e-05 0.00168697 0.0119483 0.00608776 -0.000148094 0.000397566 0.000248269 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 599 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 167.106 0 0 newEnergyL 0 lastEnergy: 167.554 0 0 lastEnergyL: 0mActiveResiduals: 599 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 167.106 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 599 INF|LocalMapper.cpp[optimize,345]: End Energy: 167.106 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.53956 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.53956 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 40 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 40 with idx: 2 and allID: 172 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->40 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->40 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 40<->40 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 41<->40 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 42<->40 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->40 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 44<->40 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 45<->40 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 40 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 172: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 39/163: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 38/158: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 37/150: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 36/144: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 35/138: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 35 allId: 138 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.989191 0.0384537 -0.141502 -0.205664 -0.0510914 0.994916 -0.08679 -0.028655 0.137445 0.0930814 0.986126 -0.104553 worldPose: 0.361085 0.229175 0.903934 0.14854 0.443167 0.810707 -0.382567 1.1076 -0.8205 0.538732 0.191172 0.764996 after: 0.361085 0.229175 0.903934 0.14854 0.443167 0.810707 -0.382567 1.1076 -0.8205 0.538732 0.191172 0.764996 worldPose of new: 0.238087 0.131109 0.962354 0.30188 0.523685 0.817146 -0.240886 1.21354 -0.817966 0.561322 0.125892 0.626017 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.989191 0.0384537 -0.141502 -0.205664 -0.0510914 0.994916 -0.08679 -0.028655 0.137445 0.0930814 0.986126 -0.104553 INF|Mapper.cpp[changeRefFrame,578]: Updating: 173 from old kf id: 40/172 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 174 from old kf id: 40/172 with new ref frame: 138/35 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 172 after changeRefFrame: 0.989191 0.0384537 -0.141502 -0.205664 -0.0510914 0.994916 -0.08679 -0.028655 0.137445 0.0930814 0.986126 -0.104553 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 40 to normal frame with refFrame: 35 frame id kf: 172 newref id: 138 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 40 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6485 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2ae06a0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 45 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 17 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 8 with distance 0.178Found rest min at: 16 with distance 0.122 overall min: 0.122 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 8 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 667 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 45 into DB 0.178 8 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 8 and real id(23) current kf: 45(187) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.995688 0.0524407 -0.0765204 0.172897 -0.064458 0.984326 -0.164157 0.399087 0.0667125 0.168382 0.983462 0.0558899 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 23 currFrame: 45 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.0162279 eye: 0.0630216 edge: 45 to 23 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 332 < 954 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 45 and 23 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 45 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 45 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 833 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 188 keyframes 46 Input.cpp[readImages,206]: Got image from sensor!188 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 479 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 189 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875578.988759 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!189 INF|Input.cpp[getImages,132]: mNbReceivedImages!190 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999977 0.00150852 0.00658184 -0.0055806 -0.0014767 0.999987 -0.00483677 -0.0122633 -0.00658905 0.00482694 0.999967 -0.0078668 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 45 to 4792105538559148288 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.988759) and 187(1311875578.957394) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999977 0.00150852 0.00658184 -0.0055806 -0.0014767 0.999987 -0.00483677 -0.0122633 -0.00658905 0.00482694 0.999967 -0.0078668 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 7): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:797/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 45 to 4792105538559148288 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.988759) and 187(1311875578.957394) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999963 -0.00588504 0.00630345 -0.0110754 0.00594554 0.999936 -0.00962305 -0.00708552 -0.00624642 0.00966017 0.999934 -0.0258085 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 6): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:715/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 45 to 4792105538559148288 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875578.988759) and 187(1311875578.957394) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999983 -0.00502352 0.00288002 0.00684071 0.0050424 0.999966 -0.00658541 -0.00808666 -0.00284684 0.00659982 0.999974 -0.00277247 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:591/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.463678 resInfo good: 1286, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2389/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999978 -0.00454108 0.00474026 0.00384085 0.00456292 0.999979 -0.00460728 -0.0109497 -0.00471924 0.00462881 0.999978 -0.00274616 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!188 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!189 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 190 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.019263 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999914 -0.00906003 0.00950124 0.00771832 0.0091474 0.999916 -0.00919272 -0.021869 -0.00941716 0.00927884 0.999913 -0.00556106 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 45 to 4792105538559148288 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.019263) and 187(1311875578.957394) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999914 -0.00906003 0.00950124 0.00771832 0.0091474 0.999916 -0.00919272 -0.021869 -0.00941716 0.00927884 0.999913 -0.00556106 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999921 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:391/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 45 to 4792105538559148288 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.019263) and 187(1311875578.957394) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999926 -0.0106491 0.00584571 0.00207487 0.010743 0.99981 -0.0162736 -0.0158396 -0.0056713 0.0163352 0.99985 -0.0180528 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!190 INF|Input.cpp[getImages,132]: mNbReceivedImages!191 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 4): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:631/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 45 to 4792105538559148288 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.019263) and 187(1311875578.957394) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999932 -0.0108613 0.00417668 0.015819 0.0109323 0.99979 -0.017346 0.00139038 -0.0039874 0.0173905 0.999841 -0.00463061 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999991 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:547/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.61904 resInfo good: 1286, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1859/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999948 -0.00911907 0.00462938 0.0149468 0.00919452 0.999821 -0.0165483 0.00389343 -0.00447764 0.01659 0.999852 -0.00086069 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!189 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1672 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!190 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 191 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.057396 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999896 -0.0136979 0.00457317 0.0259844 0.0138227 0.999499 -0.0284873 0.0187636 -0.00418066 0.0285476 0.999584 0.00120428 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 45 to 4792105538559148288 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.057396) and 187(1311875578.957394) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999896 -0.0136979 0.00457317 0.0259844 0.0138227 0.999499 -0.0284873 0.0187636 -0.00418066 0.0285476 0.999584 0.00120428 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999984 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:564/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 45 to 4792105538559148288 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.057396) and 187(1311875578.957394) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99988 -0.0148702 0.0044537 0.0222581 0.0149973 0.999438 -0.0299901 0.0050092 -0.00400523 0.0300533 0.99954 -0.0126448 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!191 INF|Input.cpp[getImages,132]: mNbReceivedImages!192 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:754/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 45 to 4792105538559148288 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.057396) and 187(1311875578.957394) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999867 -0.0145176 0.00749514 0.0166504 0.0146943 0.999602 -0.0240815 -0.0102626 -0.00714256 0.0241884 0.999682 -0.0157821 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999938 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:721/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.751268 resInfo good: 1286, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2328/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999861 -0.0145276 0.00820749 0.0177195 0.0147147 0.999622 -0.0232169 -0.00805114 -0.00786711 0.0233345 0.999697 -0.0124166 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!190 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 450 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!191 INF|System.cpp[startSystem,229]: input is still active! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 192 INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.086106 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999802 -0.0172226 0.01001 0.0191153 0.0174831 0.999495 -0.0265434 -0.0139886 -0.00954781 0.0267132 0.999598 -0.0182281 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 45 to 4792105538559148288 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.086106) and 187(1311875578.957394) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999802 -0.0172226 0.01001 0.0191153 0.0174831 0.999495 -0.0265434 -0.0139886 -0.00954781 0.0267132 0.999598 -0.0182281 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:654/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 45 to 4792105538559148288 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.086106) and 187(1311875578.957394) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999761 -0.01956 0.00976238 0.0185027 0.0198264 0.999412 -0.0279819 -0.0176749 -0.00920931 0.0281688 0.999561 -0.0260606 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 10,0.999878 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:762/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 45 to 4792105538559148288 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.086106) and 187(1311875578.957394) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999795 -0.0181044 0.0091026 0.0272344 0.0183373 0.999489 -0.0261915 -0.0130349 -0.00862376 0.026353 0.999616 -0.0145988 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 15,0.999125 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1039/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.800379 resInfo good: 1285, 1 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2729/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999738 -0.0188506 0.0130209 0.0161949 0.019172 0.999503 -0.0250176 -0.0138053 -0.0125428 0.0252606 0.999602 -0.0268174 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!191 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!192 INF|Input.cpp[getImages,132]: mNbReceivedImages!193 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 643 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!192 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 193 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!193 INF|Input.cpp[getImages,132]: mNbReceivedImages!194 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.120184 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999572 -0.0231638 0.0178417 0.0146279 0.0236372 0.999361 -0.0267966 -0.0195397 -0.0172096 0.0272069 0.999482 -0.0412215 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 45 to 4792105538559148288 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.120184) and 187(1311875578.957394) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999572 -0.0231638 0.0178417 0.0146279 0.0236372 0.999361 -0.0267966 -0.0195397 -0.0172096 0.0272069 0.999482 -0.0412215 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999373 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:456/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 45 to 4792105538559148288 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.120184) and 187(1311875578.957394) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999743 -0.0215469 0.00699256 0.0474671 0.0218031 0.999005 -0.038899 0.0080698 -0.00614745 0.0390415 0.999219 -0.00219918 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:838/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 45 to 4792105538559148288 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.120184) and 187(1311875578.957394) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999698 -0.0226064 0.00964232 0.0444728 0.0229212 0.999163 -0.0338849 -0.00336322 -0.00886823 0.0340957 0.999379 -0.00571095 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 9,0.999788 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:613/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.942446 resInfo good: 1282, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2178/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999683 -0.0223314 0.0115852 0.040397 0.0226882 0.999242 -0.0316352 -0.00749489 -0.01087 0.031888 0.999432 -0.00811647 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!192 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!193 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 194 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.155803 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!194 INF|Input.cpp[getImages,132]: mNbReceivedImages!195 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999531 -0.0293205 0.00878323 0.0886502 0.0296861 0.998551 -0.0448809 0.00500003 -0.00745458 0.0451206 0.998954 0.029522 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 45 to 4792105538559148288 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.155803) and 187(1311875578.957394) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999531 -0.0293205 0.00878323 0.0886502 0.0296861 0.998551 -0.0448809 0.00500003 -0.00745458 0.0451206 0.998954 0.029522 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999848 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:581/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 45 to 4792105538559148288 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.155803) and 187(1311875578.957394) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999753 -0.018371 0.0124788 0.0455398 0.0189651 0.998605 -0.0492842 -0.0154633 -0.011556 0.0495087 0.998707 -0.00581376 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999896 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:605/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 45 to 4792105538559148288 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.155803) and 187(1311875578.957394) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999686 -0.0199914 0.0150862 0.0424936 0.0206752 0.998699 -0.0466159 -0.0158645 -0.0141347 0.0469132 0.998799 -0.0118673 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:620/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.08989 resInfo good: 1278, 8 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2081/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999694 -0.0205077 0.0138237 0.0506884 0.0211228 0.998721 -0.0459288 -0.00846441 -0.0128642 0.0462068 0.998849 -0.00398878 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875579.155803 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875579.155803 to keyframe with id: 4792105538559148288 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875579.155803 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 564 size: 1457 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId4792105538559148288 timestamp: 1311875579.155803 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -9.83269 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -11.8036 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 175 keyframeId: 41 score: -12.2798 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 177 keyframeId: 42 score: -18.5339 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -17.9462 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 184 keyframeId: 44 score: -10.3599 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 46 = 46 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x293a940 fh1 0x20f1be0fh->id: 16 46 193goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x293a940 fh1 0x1cb7520fh->id: 33 46 193goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x293a940 fh1 0x21a7260fh->id: 41 46 193goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x293a940 fh1 0x394b8e0fh->id: 42 46 193goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x293a940 fh1 0x51e2b20fh->id: 43 46 193goodE: 16 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x293a940 fh1 0x2197140fh->id: 44 46 193goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x293a940 fh1 0x2ae06a0fh->id: 45 46 193goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew46 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 69 out of 70 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 70 newEdgePixels: 70 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 495 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 74 lastEnergy: 147.275 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 11 INF|LocalMapper.cpp[optimize,276]: Start Energy: 147.275 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 4.72823e-12 6.59855e-13 -1.11125e-12 8.18458e-12 0.00522566 -0.00899019 -0.00643277 -0.00139145 -0.000365021 0.000503424 0.00640403 -0.00723285 -0.00233369 -0.00111948 0.000752162 -0.00102929 0.00264862 -0.00212131 -0.00675102 -0.00146355 0.000295796 -0.00108726 0.0115232 -0.013782 -0.011338 -0.00279224 -0.000469898 -0.000132421 0.000434631 -0.00871499 -0.0198806 -0.00194365 0.000465469 0.000331944 -0.00248779 -0.0185364 -0.0331382 -0.00333185 0.00120819 0.00018646 0.00536731 -0.0166432 -0.0259336 -0.00388858 8.56212e-05 0.00060349 0.00330281 -0.0149524 -0.0137767 -0.00310094 -0.000513902 -0.00292889 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 495 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 129.816 0 0 newEnergyL 0 lastEnergy: 147.275 0 0 lastEnergyL: 0mActiveResiduals: 495 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.03011e-12 -1.14567e-12 -5.48019e-13 -1.77729e-12 0.000680843 0.000542597 -0.000142295 4.56393e-05 -6.74319e-05 2.64473e-05 0.000643223 -0.00305779 -0.00474141 -0.000126595 -0.00010228 5.04341e-05 0.000330008 -0.00353008 -0.00297979 -0.000109317 -3.00445e-05 -0.000186744 -0.00375122 -0.00593502 -0.00248865 -0.000760309 0.000230508 -0.000380219 0.00154432 -0.00189535 -0.00124219 -8.13835e-05 -0.000200182 -0.000208647 0.00336781 0.00577359 0.00152146 0.00107893 -0.000839589 0.000744456 -0.00777243 0.00748741 -0.00365584 0.00141061 0.000628989 0.000257341 -0.000350901 0.00683402 -0.00430323 0.00180711 -0.000364567 -0.000915525 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 495 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 121.459 0 0 newEnergyL 0 lastEnergy: 129.816 0 0 lastEnergyL: 0mActiveResiduals: 495 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.10419e-12 5.42046e-13 1.16869e-12 -1.54879e-12 -0.00409845 0.000150975 -0.000912007 0.000446264 0.000350471 0.000546782 -0.00149574 0.00171769 0.00175978 2.80681e-05 0.00030879 0.000998672 -0.00256555 0.00305083 0.00140597 0.000340359 0.000538647 0.000975836 0.00281948 -0.000593762 0.00134147 0.000229405 -0.000169389 0.00101195 -0.000439831 0.00225036 0.00565809 0.00057564 0.000309859 0.00147496 -0.00528695 -0.00458973 -0.00718507 -0.000142462 0.0009325 0.00119826 0.00720352 -0.0136272 -4.24022e-05 -0.0014931 -0.000622296 0.00125421 0.00207625 0.0124395 -0.00139913 0.00185867 -0.000271422 0.00144338 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 495 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 119.09 0 0 newEnergyL 0 lastEnergy: 121.459 0 0 lastEnergyL: 0mActiveResiduals: 495 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 3.32389e-13 -1.78276e-12 -1.32178e-12 1.26383e-12 0.00433136 -0.0010407 -0.000613775 -0.000330846 -0.000153377 -0.000158984 -0.000302504 0.00226669 0.000780479 0.000500001 0.000104903 -0.000881237 -0.00169129 -0.0042545 -0.00089909 -0.000417005 7.48867e-05 -0.00125443 -0.00124982 0.00232522 -0.00123458 0.000116088 3.14146e-05 -0.00106679 7.54671e-05 -0.00341362 -0.00448476 -0.000452837 -3.17734e-05 -0.001354 0.00701137 0.00379673 0.0053558 0.000767246 -0.000919935 -0.00068533 -0.00620726 0.0102918 0.0002887 0.00182869 0.000761585 -0.000989847 -0.00139318 -0.0099389 -0.00128257 -0.0012761 0.000399619 -0.00132848 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 495 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 116.789 0 0 newEnergyL 0 lastEnergy: 119.09 0 0 lastEnergyL: 0mActiveResiduals: 495 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.58345e-12 2.7869e-12 1.02538e-12 -3.6583e-12 -0.00618588 0.000981164 0.00115668 0.000662923 0.000512639 0.0006469 -0.000921723 -0.00272133 0.00130337 -0.000426502 0.000187295 0.00137885 0.00157474 0.00476545 2.99165e-06 0.000586562 4.75736e-06 0.00173225 0.00110911 0.000303124 0.00284713 0.000287566 0.000170108 0.00147908 -0.00031937 0.00422657 0.0042101 0.000737336 0.000167246 0.00197348 -0.00773496 -0.00683436 -0.00762409 -0.000762711 0.00107176 0.000920731 0.00879604 -0.0062996 -0.00179198 -0.00125914 -0.00111499 0.00107254 0.0024067 0.00548491 0.00178893 0.00127278 -0.000610221 0.00156659 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 495 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 118.651 0 0 newEnergyL 0 lastEnergy: 116.789 0 0 lastEnergyL: 0mActiveResiduals: 495 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.79475e-12 -4.13225e-12 -2.04621e-13 3.73984e-12 0.0058843 -0.000474726 -0.00288572 -0.00100134 -0.000541388 -7.95102e-05 0.00108543 0.0017016 -0.00304154 -0.00013961 -0.000258922 -0.00127711 -0.00312835 -0.00186464 0.0022685 -0.000745002 0.000242302 -0.00146821 -0.00265984 -0.000631444 -0.0040821 -0.000560917 -8.79888e-05 -0.00102109 0.000130195 -0.0070563 -0.00432537 -0.00127146 -0.000103726 -0.00159405 0.011095 0.00726946 0.0128484 0.000600727 -0.00166422 -0.000950799 -0.00942973 0.0048762 -0.00184186 0.001106 0.00111533 -0.000654867 -0.00218348 -0.00301811 -0.000915342 -0.00105696 0.000625779 -0.00151561 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 495 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 116.617 0 0 newEnergyL 0 lastEnergy: 118.651 0 0 lastEnergyL: 0mActiveResiduals: 495 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 116.617 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 495 INF|LocalMapper.cpp[optimize,345]: End Energy: 116.617 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.492902 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.492902 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 42 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 42 with idx: 3 and allID: 177 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->42 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->42 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 41<->42 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 42<->42 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->42 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 44<->42 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 45<->42 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 46<->42 isInFernDb: 0, inLoop: 0 Input.cpp[readImages,206]: Got image from sensor!194 INF|LocalMapper.cpp[marginalizeFrame,801]: 42 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 177: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 41/175: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 40/172: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 39/163: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 38/158: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 37/150: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 36/144: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 35/138: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 35 allId: 138 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.962962 0.110147 -0.246113 0.0951937 -0.1297 0.989443 -0.0646501 0.23748 0.236394 0.0941763 0.967083 -0.0918084 worldPose: 0.439758 0.246581 0.863603 0.267328 0.341361 0.843517 -0.414671 1.47956 -0.830714 0.477156 0.28677 0.669897 after: 0.439758 0.246581 0.863603 0.267328 0.341361 0.843517 -0.414671 1.47956 -0.830714 0.477156 0.28677 0.669897 worldPose of new: 0.238087 0.131109 0.962354 0.30188 0.523685 0.817146 -0.240886 1.21354 -0.817966 0.561322 0.125892 0.626017 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.962962 0.110147 -0.246113 0.0951937 -0.1297 0.989443 -0.0646501 0.23748 0.236394 0.0941763 0.967083 -0.0918084 INF|Mapper.cpp[changeRefFrame,578]: Updating: 178 from old kf id: 42/177 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 179 from old kf id: 42/177 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 180 from old kf id: 42/177 with new ref frame: 138/35 INF|Mapper.cpp[changeRefFrame,578]: Updating: 181 from old kf id: 42/177 with new ref frame: 138/35 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 177 after changeRefFrame: 0.962962 0.110147 -0.246113 0.0951937 -0.1297 0.989443 -0.0646501 0.23748 0.236394 0.0941763 0.967083 -0.0918084 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 42 to normal frame with refFrame: 35 frame id kf: 177 newref id: 138 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 42 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 5788 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x293a940 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 46 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 18 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 8 with distance 0.124Found rest min at: 17 with distance 0.108 overall min: 0.108 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 8 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 680 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 46 into DB 0.124 8 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 8 and real id(23) current kf: 46(193) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.992896 0.0806161 -0.0875085 0.125514 -0.0906185 0.988977 -0.117101 0.410834 0.0771036 0.1242 0.989257 0.0471097 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 23 currFrame: 46 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.992896 0.0806161 -0.0875085 0.125514 -0.0906185 0.988977 -0.117101 0.410834 0.0771036 0.1242 0.989257 0.0471097 avg 0.0153045 eye: 0.0291786 edge: 46 to 23 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 311 < 1146 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 46 and 23 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 46 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 46 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 884 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 194 keyframes 47 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 546 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 195 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!195 INF|Input.cpp[getImages,132]: mNbReceivedImages!196 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.188900 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999986 -0.00351776 0.00382979 0.00729938 0.00356528 0.999916 -0.0124728 -0.00568598 -0.0037856 0.0124862 0.999915 -0.0024954 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 46 to 35265696 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.188900) and 193(1311875579.155803) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999986 -0.00351776 0.00382979 0.00729938 0.00356528 0.999916 -0.0124728 -0.00568598 -0.0037856 0.0124862 0.999915 -0.0024954 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.99953 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:400/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 46 to 35265696 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.188900) and 193(1311875579.155803) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999994 -0.000364365 0.00345196 0.00493592 0.000409903 0.999913 -0.0132006 -0.00806995 -0.00344685 0.0132019 0.999907 -0.0147149 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999063 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:637/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 46 to 35265696 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.188900) and 193(1311875579.155803) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999976 0.00066081 0.00696761 -0.00214374 -0.000582092 0.999936 -0.0112938 -0.00575781 -0.00697463 0.0112894 0.999912 -0.0180232 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999468 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:399/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.523035 resInfo good: 1457, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1729/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999975 0.000741089 0.00698971 0.0026407 -0.00067739 0.999958 -0.00911118 -0.0107356 -0.00699617 0.00910622 0.999934 -0.0128702 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!194 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 469 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!195 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 196 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.217800 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!196 INF|Input.cpp[getImages,132]: mNbReceivedImages!197 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999901 0.00154578 0.013972 0.00518341 -0.00129099 0.999833 -0.0182261 -0.0213552 -0.0139979 0.0182063 0.999736 -0.0258558 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 46 to 35265696 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.217800) and 193(1311875579.155803) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999901 0.00154578 0.013972 0.00518341 -0.00129099 0.999833 -0.0182261 -0.0213552 -0.0139979 0.0182063 0.999736 -0.0258558 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999802 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:551/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 46 to 35265696 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.217800) and 193(1311875579.155803) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999921 -2.98852e-05 0.0125495 0.000688162 0.000264361 0.999825 -0.0186829 -0.0238182 -0.0125467 0.0186848 0.999747 -0.0260972 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999428 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:853/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 46 to 35265696 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.217800) and 193(1311875579.155803) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99992 0.00177815 0.0125496 0.00531888 -0.00163777 0.999936 -0.011187 -0.0475877 -0.0125687 0.0111655 0.999859 -0.0151638 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999944 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:452/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.829868 resInfo good: 1457, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2159/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999908 0.00265263 0.0133089 0.00561318 -0.00254727 0.999965 -0.00792706 -0.0568163 -0.0133295 0.00789243 0.99988 -0.0102871 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!195 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 475 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!196 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 197 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.253668 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999797 0.00455645 0.0196298 0.00851654 -0.00442461 0.999967 -0.00675478 -0.102899 -0.01966 0.00666656 0.999784 -0.00766728 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 46 to 35265696 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.253668) and 193(1311875579.155803) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999797 0.00455645 0.0196298 0.00851654 -0.00442461 0.999967 -0.00675478 -0.102899 -0.01966 0.00666656 0.999784 -0.00766728 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!197 INF|Input.cpp[getImages,132]: mNbReceivedImages!198 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999977 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:549/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 46 to 35265696 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.253668) and 193(1311875579.155803) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999861 0.000845609 0.0166575 0.00602827 -0.000438915 0.999702 -0.0244035 -0.0343478 -0.0166732 0.0243928 0.999563 -0.0229806 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999404 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:841/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 46 to 35265696 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.253668) and 193(1311875579.155803) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999869 0.00161982 0.0161085 0.0120136 -0.00122851 0.999705 -0.0242723 -0.0226338 -0.016143 0.0242493 0.999576 -0.0136954 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 8,0.999893 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:665/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.783265 resInfo good: 1457, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2353/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999861 0.00170576 0.0165946 0.0143147 -0.00126795 0.999652 -0.0263577 -0.00753094 -0.0166338 0.026333 0.999515 -0.0135555 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!196 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!197 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 198 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.287838 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999802 0.000819664 0.019897 0.0229575 7.20644e-05 0.998997 -0.0447751 0.0418153 -0.0199138 0.0447677 0.998799 -0.0159423 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 46 to 35265696 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.287838) and 193(1311875579.155803) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999802 0.000819664 0.019897 0.0229575 7.20644e-05 0.998997 -0.0447751 0.0418153 -0.0199138 0.0447677 0.998799 -0.0159423 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:907/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 46 to 35265696 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.287838) and 193(1311875579.155803) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999906 -0.00252838 0.0135059 0.0250188 0.00315865 0.998897 -0.0468508 0.0401092 -0.0133726 0.0468891 0.998811 -0.0207825 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!198 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999991 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Input.cpp[getImages,132]: mNbReceivedImages!199 INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:623/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 46 to 35265696 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.287838) and 193(1311875579.155803) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99988 0.000603368 0.0154607 0.0213054 -4.33764e-05 0.999345 -0.0361951 -0.000322296 -0.0154724 0.0361901 0.999225 -0.0179379 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999457 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:587/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.849689 resInfo good: 1455, 2 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2443/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999851 0.00135939 0.0171952 0.0179899 -0.000762377 0.999398 -0.0346788 -0.00266233 -0.017232 0.0346606 0.999251 -0.0182311 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!197 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!198 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 199 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!199 INF|Input.cpp[getImages,132]: mNbReceivedImages!200 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.321877 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999841 0.00101803 0.0177986 0.0216606 -0.000251841 0.999075 -0.0429972 0.00224642 -0.0178259 0.0429859 0.998917 -0.0228681 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 46 to 35265696 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.321877) and 193(1311875579.155803) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999841 0.00101803 0.0177986 0.0216606 -0.000251841 0.999075 -0.0429972 0.00224642 -0.0178259 0.0429859 0.998917 -0.0228681 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999945 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:392/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 46 to 35265696 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.321877) and 193(1311875579.155803) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999855 0.00116772 0.0169638 0.0185808 -0.000435516 0.999071 -0.0431021 0.00157016 -0.0169984 0.0430885 0.998927 -0.0352618 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999663 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:566/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 46 to 35265696 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.321877) and 193(1311875579.155803) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999872 0.00118338 0.0159392 0.0244578 -0.00052421 0.999147 -0.0412959 0.00456534 -0.0159745 0.0412823 0.99902 -0.0229425 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 8): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1244/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.90564 resInfo good: 1454, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2499/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999846 0.00235941 0.0174181 0.0240322 -0.0016992 0.999283 -0.0378219 -0.00557511 -0.0174949 0.0377864 0.999133 -0.0236828 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!198 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!199 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 200 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.354496 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!200 INF|Input.cpp[getImages,132]: mNbReceivedImages!201 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999831 0.00436152 0.0178546 0.0361039 -0.00357033 0.99902 -0.0441074 -0.0113674 -0.0180295 0.0440362 0.998867 -0.0346182 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 46 to 35265696 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.354496) and 193(1311875579.155803) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999831 0.00436152 0.0178546 0.0361039 -0.00357033 0.99902 -0.0441074 -0.0113674 -0.0180295 0.0440362 0.998867 -0.0346182 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 10,0.999169 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:872/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 46 to 35265696 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.354496) and 193(1311875579.155803) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999848 0.000752898 0.0174281 0.0291175 -0.00012642 0.999355 -0.0359196 -0.0653483 -0.0174439 0.035912 0.999203 -0.0306822 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 12): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1154/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 46 to 35265696 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.354496) and 193(1311875579.155803) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999724 0.00250561 0.0233713 0.0140403 -0.00171083 0.999422 -0.033965 -0.0637326 -0.0234429 0.0339156 0.99915 -0.0445889 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999968 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:492/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.11066 resInfo good: 1425, 32 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2820/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999723 0.00257463 0.0233921 0.0169766 -0.00184468 0.999512 -0.0311731 -0.0703739 -0.023461 0.0311213 0.99924 -0.040275 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875579.354496 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875579.354496 to keyframe with id: 35265696 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875579.354496 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 643 size: 1867 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId35265696 timestamp: 1311875579.354496 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -9.51252 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -11.0858 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 175 keyframeId: 41 score: -11.3511 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -13.5191 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 184 keyframeId: 44 score: -14.5555 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 187 keyframeId: 45 score: -11.8517 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 47 = 47 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21a1cc0 fh1 0x20f1be0fh->id: 16 47 199goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21a1cc0 fh1 0x1cb7520fh->id: 33 47 199goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21a1cc0 fh1 0x21a7260fh->id: 41 47 199goodE: 42 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21a1cc0 fh1 0x51e2b20fh->id: 43 47 199goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21a1cc0 fh1 0x2197140fh->id: 44 47 199goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21a1cc0 fh1 0x2ae06a0fh->id: 45 47 199goodE: 31 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21a1cc0 fh1 0x293a940fh->id: 46 47 199goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew47 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 32 out of 35 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 35 newEdgePixels: 35 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 537 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 99 lastEnergy: 134.004 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 13 INF|LocalMapper.cpp[optimize,276]: Start Energy: 134.004 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -3.38443e-12 2.77937e-12 1.24024e-12 1.85844e-13 -0.000293182 -0.00107796 0.00332511 8.13837e-05 -0.00012613 -0.0010145 0.00280417 -0.000356687 0.000185065 0.000269765 -0.000436743 0.00014764 0.00444224 0.00207913 -0.00704727 0.0003091 -0.000737026 0.000122762 0.00650771 0.0115115 0.00212527 0.00119045 -0.000776035 -0.000341737 -0.00747055 -0.0140776 -0.0165118 -0.0020094 0.00116005 0.000279191 0.0118532 -8.84314e-05 -0.00216152 -0.00119173 -0.00164957 -0.000871113 0.00553201 0.00546604 0.000497698 0.000182931 -0.00107716 3.50891e-05 -0.0197911 -0.0186956 -0.0299258 -0.00266036 0.00210517 0.0014021 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 537 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 124.966 0 0 newEnergyL 0 lastEnergy: 134.004 0 0 lastEnergyL: 0mActiveResiduals: 537 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -2.3751e-12 -2.37677e-13 -6.42609e-12 -2.34405e-13 0.000603837 0.00181986 -0.00027224 0.000172076 -6.18442e-05 9.39472e-05 -0.00094171 -0.00076813 -0.00107067 8.80667e-05 -8.83431e-05 -0.000392604 -0.00873853 0.000600987 0.00964436 -0.000182511 0.00083227 -0.00110104 -0.00109419 0.00312772 -0.00137357 -0.000270246 -0.000137413 -0.00109035 0.00800136 0.00942455 0.0104161 0.000707381 -0.00106009 0.000169457 -0.00752539 0.00476395 0.00351868 0.000792627 0.000825843 -0.000101757 0.00295489 0.00641748 0.00375373 0.000333338 -3.41888e-05 -0.000355586 0.00275417 -0.00383412 -0.00224161 -0.000469403 0.000270428 0.000571044 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 537 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 121.288 0 0 newEnergyL 0 lastEnergy: 124.966 0 0 lastEnergyL: 0mActiveResiduals: 537 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.12478e-12 -3.29324e-13 4.39275e-12 -4.8416e-12 0.00109749 -0.000620595 0.00189406 -0.000341097 0.000405396 -0.00072869 -0.0024837 0.00339108 0.000767456 0.00054585 0.000242075 -0.000462013 0.00597518 -0.00590722 -0.00671255 -0.000432821 -0.000604919 -0.000229137 0.00146548 0.00526361 0.00600231 0.00121207 0.000168412 -0.00022979 -0.00415524 -0.0116121 -0.0063111 -0.00113265 0.000782792 -0.00106787 0.00946131 -0.00123644 0.00264604 -0.000494783 -0.00062493 -0.000623457 -0.00137988 0.00628716 0.00310153 0.000678844 0.00016905 -0.000661347 -0.00852745 0.00351333 -0.000526865 0.000277136 0.00104933 -0.000145911 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 537 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 121.561 0 0 newEnergyL 0 lastEnergy: 121.288 0 0 lastEnergyL: 0mActiveResiduals: 537 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 4.20482e-12 9.57942e-13 -1.7731e-12 3.47878e-12 0.000450468 -0.00303945 -0.00403976 0.000300802 -0.000631618 -0.00057331 0.00382181 0.000512698 -2.16647e-05 0.000684036 -0.000538449 -2.19624e-05 -0.00721839 0.00874533 0.00953921 0.00124808 0.000739656 -0.000640832 -0.00178711 -0.00391576 -0.00471165 -0.000689904 -8.28865e-05 -0.000675275 0.000818456 0.00693059 0.00269751 0.00105731 -0.000258294 0.000661226 -0.0046405 -0.000176286 0.000839329 0.00054634 0.000181775 0.000493738 0.00322363 0.00104753 -0.00141469 0.000316843 -0.000187078 -5.85417e-05 0.00317594 -0.00840548 -0.00539091 -0.000520015 -0.000119208 -6.65173e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 537 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 117.804 0 0 newEnergyL 0 lastEnergy: 121.561 0 0 lastEnergyL: 0mActiveResiduals: 537 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -4.53064e-12 -1.25943e-12 6.93851e-13 -4.69705e-12 0.00104939 0.00131591 0.000661124 -0.000575694 0.000182646 -0.000258558 -0.00264536 0.000582204 5.5288e-05 -0.000356194 0.000190668 -0.000551957 0.00602597 -0.00688044 -0.00517892 -0.000930422 -0.000732022 3.84397e-06 0.00331995 0.00637813 0.00790086 0.00090766 -1.03928e-05 -0.000126606 -0.000557153 -0.00513722 -0.00954191 -0.000942134 0.00055886 -0.00147088 0.00388033 -0.00767614 0.0031906 -0.00150586 0.000126233 -0.00132465 -0.00252173 0.0118336 0.00180939 0.000992466 0.000328704 -0.000541563 -0.00783902 -0.000900311 0.00246183 -0.000509144 0.00107828 -0.000658112 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 537 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 120.962 0 0 newEnergyL 0 lastEnergy: 117.804 0 0 lastEnergyL: 0mActiveResiduals: 537 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.07171e-12 2.16337e-12 9.92586e-13 4.33269e-12 -0.00263159 -0.00138003 -0.000400044 0.00112912 2.10512e-05 1.42658e-05 0.000491486 -0.00457687 0.0035266 0.000674022 0.000134429 0.000669322 -0.00197681 0.0113219 0.00533231 0.00204072 0.000446964 0.00016681 -0.00400829 -0.00473576 -0.00674036 -0.000305659 0.000138073 5.53133e-06 0.00244265 0.00416568 0.00910464 0.00116077 -0.000773471 0.00167668 -0.00333046 0.00847037 -0.00369125 0.00206628 2.64219e-05 0.00158584 0.00201863 -0.00826623 -0.00435334 -0.000499266 1.35887e-05 0.00126024 0.00414741 -0.00400608 -0.00378767 0.000469723 -0.000659778 0.000422779 Input.cpp[readImages,206]: Got image from sensor!200 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 537 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 114.679 0 0 newEnergyL 0 lastEnergy: 120.962 0 0 lastEnergyL: 0mActiveResiduals: 537 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 114.679 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 537 INF|LocalMapper.cpp[optimize,345]: End Energy: 114.679 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.469162 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.469162 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 44 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 44 with idx: 4 and allID: 184 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->44 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 44->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->44 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 41<->44 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->44 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 44->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 44<->44 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 45<->44 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 44->45 INF|LocalMapper.cpp[marginalizeFrame,801]: 44 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 44 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6074 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x21a1cc0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 47 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 19 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 7 with distance 0.122Found rest min at: 18 with distance 0.102 overall min: 0.102 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 7 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 676 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 47 into DB 0.122 7 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 7 and real id(22) current kf: 47(199) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.993536 0.0907382 -0.0682078 0.123754 -0.0974098 0.990018 -0.101861 0.450697 0.0582842 0.107847 0.992458 0.0865628 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 22 currFrame: 47 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.993536 0.0907382 -0.0682078 0.123754 -0.0974098 0.990018 -0.101861 0.450697 0.0582842 0.107847 0.992458 0.0865628 avg 0.00475859 eye: 0.00465894 edge: 47 to 22 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 770 < 1097 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 47 and 22 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 47 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 47 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 903 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 200 keyframes 48 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 527 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 201 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!201 INF|Input.cpp[getImages,132]: mNbReceivedImages!202 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.390929 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999988 0.00384435 0.00296493 0.0220194 -0.0038517 0.99999 0.00247702 -0.0743807 -0.00295538 -0.00248841 0.999993 0.0100752 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 47 to 43017568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.390929) and 199(1311875579.354496) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999988 0.00384435 0.00296493 0.0220194 -0.0038517 0.99999 0.00247702 -0.0743807 -0.00295538 -0.00248841 0.999993 0.0100752 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999987 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:681/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 47 to 43017568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.390929) and 199(1311875579.354496) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999912 -0.000648427 0.0132141 -0.0105091 0.000785212 0.999946 -0.0103489 -0.0252918 -0.0132067 0.0103584 0.999859 -0.037351 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999226 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:762/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 47 to 43017568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.390929) and 199(1311875579.354496) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99996 0.00109249 0.00889353 0.0112537 -0.00100456 0.999951 -0.00988443 -0.0178449 -0.00890389 0.0098751 0.999912 -0.0129582 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999835 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:772/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.603301 resInfo good: 1867, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2577/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999953 0.00170285 0.00953661 0.0107144 -0.0016073 0.999949 -0.0100186 -0.0106918 -0.00955318 0.0100028 0.999904 -0.010466 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!200 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!201 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 202 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.421444 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!202 INF|Input.cpp[getImages,132]: mNbReceivedImages!203 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999894 0.00259001 0.0142981 0.0160273 -0.00237501 0.999884 -0.0150331 -0.0160048 -0.0143354 0.0149976 0.999785 -0.0157773 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 47 to 43017568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.421444) and 199(1311875579.354496) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999894 0.00259001 0.0142981 0.0160273 -0.00237501 0.999884 -0.0150331 -0.0160048 -0.0143354 0.0149976 0.999785 -0.0157773 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 2): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:658/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 47 to 43017568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.421444) and 199(1311875579.354496) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999912 0.000398106 0.0132501 0.0129622 -0.000176122 0.99986 -0.0167502 -0.0207392 -0.0132549 0.0167464 0.999772 -0.025263 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999847 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:488/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 47 to 43017568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.421444) and 199(1311875579.354496) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99994 0.00122628 0.0108446 0.0286029 -0.00106196 0.999885 -0.0151452 -0.0167218 -0.010862 0.0151328 0.999826 -0.00921254 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999116 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:486/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.772511 resInfo good: 1867, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2034/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999924 0.00185159 0.0121999 0.0274927 -0.00168197 0.999902 -0.0138983 -0.0168002 -0.0122245 0.0138767 0.999829 -0.00595299 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!201 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!202 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 203 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.487393 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999888 0.00201064 0.0148626 0.0442823 -0.00174628 0.99984 -0.0177779 -0.0229278 -0.014896 0.01775 0.999731 -0.00150841 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 47 to 43017568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.487393) and 199(1311875579.354496) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999888 0.00201064 0.0148626 0.0442823 -0.00174628 0.99984 -0.0177779 -0.0229278 -0.014896 0.01775 0.999731 -0.00150841 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!203 INF|Input.cpp[getImages,132]: mNbReceivedImages!204 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1104/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 47 to 43017568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.487393) and 199(1311875579.354496) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999891 -0.000205414 0.0147881 0.0361587 0.000501232 0.9998 -0.0200029 -0.0370111 -0.0147811 0.0200081 0.999691 -0.0141693 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999338 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:884/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 47 to 43017568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.487393) and 199(1311875579.354496) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999879 0.000586901 0.0155211 0.0391717 -0.000287378 0.999814 -0.019293 -0.0294544 -0.0155296 0.0192862 0.999693 -0.00547289 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999107 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:578/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.914139 resInfo good: 1867, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2947/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999845 0.00110179 0.0175439 0.0349518 -0.00078817 0.99984 -0.017873 -0.0295306 -0.0175608 0.0178564 0.999686 -0.0068674 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!202 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!203 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 204 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.521657 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999738 0.000373278 0.0228903 0.0424163 0.00012683 0.999761 -0.0218427 -0.042251 -0.022893 0.0218399 0.999499 -0.00787234 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 47 to 43017568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.521657) and 199(1311875579.354496) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999738 0.000373278 0.0228903 0.0424163 0.00012683 0.999761 -0.0218427 -0.042251 -0.022893 0.0218399 0.999499 -0.00787234 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.99919 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:751/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 47 to 43017568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.521657) and 199(1311875579.354496) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999772 -0.00384956 0.020983 0.0369477 0.00437331 0.999679 -0.0249721 -0.0360488 -0.0208801 0.0250582 0.999468 -0.0266937 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!204 INF|Input.cpp[getImages,132]: mNbReceivedImages!205 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 11,0.999125 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1239/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 47 to 43017568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.521657) and 199(1311875579.354496) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999817 -0.00123291 0.0190779 0.0520799 0.00177721 0.999591 -0.0285397 -0.0108626 -0.0190349 0.0285683 0.999411 -0.0049983 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999636 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:752/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.982145 resInfo good: 1850, 17 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3134/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999743 -0.0008926 0.0226554 0.0421491 0.00150376 0.999635 -0.0269737 -0.011448 -0.0226231 0.0270008 0.999379 -0.0112177 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!203 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!204 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 205 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!205 INF|Input.cpp[getImages,132]: mNbReceivedImages!206 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.554736 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99961 -0.00284011 0.0277842 0.0492864 0.00384165 0.999342 -0.0360602 0.00668899 -0.0276635 0.0361528 0.998963 -0.0154388 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 47 to 43017568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.554736) and 199(1311875579.354496) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99961 -0.00284011 0.0277842 0.0492864 0.00384165 0.999342 -0.0360602 0.00668899 -0.0276635 0.0361528 0.998963 -0.0154388 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999116 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:321/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 47 to 43017568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.554736) and 199(1311875579.354496) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999754 -0.00744626 0.0209139 0.0583159 0.00830125 0.999121 -0.0410964 -0.00577975 -0.0205895 0.0412599 0.998936 -0.00811967 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 6): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:938/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 47 to 43017568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.554736) and 199(1311875579.354496) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999721 -0.00559766 0.0229616 0.0631974 0.00642548 0.999326 -0.0361385 -0.0136632 -0.0227438 0.0362759 0.999083 -0.00872932 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 4): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:755/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.10295 resInfo good: 1814, 53 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2378/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.99968 -0.00382926 0.0250055 0.057691 0.00468508 0.999402 -0.034257 -0.0150439 -0.0248594 0.0343632 0.9991 -0.00692428 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875579.554736 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875579.554736 to keyframe with id: 43017568 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875579.554736 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 612 size: 1650 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId43017568 timestamp: 1311875579.554736 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -9.57166 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -11.1861 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 175 keyframeId: 41 score: -11.4604 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -12.4513 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 187 keyframeId: 45 score: -13.7756 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 193 keyframeId: 46 score: -11.5613 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 48 = 48 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2906580 fh1 0x20f1be0fh->id: 16 48 204goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2906580 fh1 0x1cb7520fh->id: 33 48 204goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2906580 fh1 0x21a7260fh->id: 41 48 204goodE: 45 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2906580 fh1 0x51e2b20fh->id: 43 48 204goodE: 14 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2906580 fh1 0x2ae06a0fh->id: 45 48 204goodE: 32 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2906580 fh1 0x293a940fh->id: 46 48 204goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2906580 fh1 0x21a1cc0fh->id: 47 48 204goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew48 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 41 out of 44 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 44 newEdgePixels: 44 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 633 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 95 lastEnergy: 151.271 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 13 INF|LocalMapper.cpp[optimize,276]: Start Energy: 151.271 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -3.06265e-12 -2.37049e-12 -5.06412e-13 3.32133e-12 0.000249269 -0.000481162 0.00226204 -0.000914668 9.67937e-06 0.00133258 0.00281077 0.00635387 -0.00750862 -0.000990298 2.14996e-05 0.000935192 0.003535 -0.0056059 -0.00817229 -0.00158511 -0.000110508 0.00152928 0.00851257 0.0103668 0.00495823 0.000339393 -0.000415006 0.00221112 0.0161755 0.0124746 0.00684759 -0.000416415 -0.00122887 0.00184726 0.00378877 0.0097565 0.00532334 -0.00022135 -0.000658479 0.00132806 0.00165537 0.000377508 0.00571267 -0.000980532 -9.83496e-05 0.00198731 0.00583095 -0.00616209 -0.00561486 -0.00164207 -0.00117423 0.00252892 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 633 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 141.59 0 0 newEnergyL 0 lastEnergy: 151.271 0 0 lastEnergyL: 0mActiveResiduals: 633 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 5.48331e-14 8.43489e-13 -9.09067e-12 2.6102e-12 -0.000435598 -0.00017612 0.00017624 -2.00633e-05 3.45903e-05 1.39442e-05 0.00150165 -0.00177247 0.00012221 -0.000113941 -7.83387e-05 0.000113474 0.005079 0.0148269 0.00324784 0.00149892 -0.00024907 0.000139565 -0.00113148 -0.000875951 -0.00826329 -0.000432956 8.73228e-05 7.46959e-05 -0.00199972 0.00862215 -0.00416602 0.001517 -0.000109243 0.00145461 0.0100032 0.00268111 -0.00269813 0.000510366 -0.000986589 0.0014292 0.00079711 0.00264969 -0.0064922 0.000643007 -0.000247745 0.000540457 0.00488277 0.00711383 0.00460786 0.0010541 -0.000506646 0.000417841 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 633 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 138.569 0 0 newEnergyL 0 lastEnergy: 141.59 0 0 lastEnergyL: 0mActiveResiduals: 633 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 8.49535e-13 -1.75031e-12 3.24047e-12 -7.82723e-13 -0.00094833 0.000765766 0.00145261 -0.000803588 0.000180555 0.000803996 -0.000132812 -0.0030335 -0.00359706 -0.00135787 0.000164293 0.000208359 -0.000315321 -0.00566527 -0.00668436 -0.0015155 -2.78749e-05 0.000518075 0.00337955 0.0107246 0.00431691 0.000676559 -8.58399e-05 0.000604362 0.0047461 0.00384294 0.000644207 -0.000789558 -0.00026561 -0.00100483 -0.00568346 0.00729007 0.00257052 -6.46254e-05 0.000560514 -0.000585155 -0.000114824 -0.00547119 0.00272068 -0.00159376 0.000313837 -0.000678575 0.00131486 -0.00943655 -0.0022365 -0.00179963 -0.000222115 -0.000274236 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 633 Input.cpp[readImages,206]: Got image from sensor!205 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 134.88 0 0 newEnergyL 0 lastEnergy: 138.569 0 0 lastEnergyL: 0mActiveResiduals: 633 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.29492e-13 1.45372e-12 3.5922e-13 1.32589e-12 0.00223421 -0.00278035 -0.00166388 0.000769417 -0.000444658 -0.000608516 -0.00103426 0.00249323 0.00460264 0.00116266 -9.11182e-05 -5.97948e-05 -0.00228584 0.0057429 0.005776 0.00147423 0.000180941 -0.000317202 -0.00213926 -0.00482127 -0.00620549 3.8014e-05 -6.7197e-05 -0.000385963 -0.0042427 -0.00158609 0.000534146 0.00105923 9.55173e-05 0.000925865 -0.000565757 -0.00744402 -0.00931156 0.000179998 0.000222862 0.00029165 -0.00102049 -0.000446314 -0.00512051 0.00108889 -0.000353143 0.000423304 0.00692947 0.00939737 0.00943605 0.00206091 -0.00100836 -0.000132209 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 633 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 135.516 0 0 newEnergyL 0 lastEnergy: 134.88 0 0 lastEnergyL: 0mActiveResiduals: 633 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 2.03309e-12 -8.87004e-13 1.0654e-12 7.51325e-13 -0.00310289 -3.88692e-05 -0.00117482 -0.00157937 7.67918e-05 0.00164065 -0.000342653 -0.000527001 -0.007011 -0.00214645 0.000342666 0.000280523 0.00191619 -0.00491469 -0.00745836 -0.00240176 -0.000175279 0.000831274 0.000638256 0.00789484 0.00414142 -0.000662372 8.26144e-05 0.000805351 0.00381722 -0.000677593 -0.00116272 -0.00212957 -0.000141085 -0.000608637 -0.000281791 0.00814039 0.00750844 -0.000905608 -0.000320526 -0.000111021 -0.000688531 -0.00476956 0.00490679 -0.00247083 0.000402296 -0.000111452 0.00139404 -0.00596908 -0.000162728 -0.00253029 -0.000418451 -0.00016905 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 633 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 133.3 0 0 newEnergyL 0 lastEnergy: 135.516 0 0 lastEnergyL: 0mActiveResiduals: 633 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -2.17362e-13 -7.50698e-13 -1.55987e-12 -5.52844e-13 0.00340864 -0.00425207 0.00142517 0.00139579 -0.000258261 -0.00140618 0.000222875 0.0026158 0.00571181 0.00236676 -0.000401488 0.000132069 -0.00266549 0.00871958 0.00642039 0.0027425 4.51517e-05 -0.000440206 -0.00207992 -0.0114342 -0.00438625 0.000360628 -1.67104e-05 -0.000506865 -0.00581066 0.00137548 -0.00117127 0.00235261 0.000227893 0.000855231 0.000334108 -0.0042923 -0.0071983 0.00139218 8.87041e-05 0.000210778 -0.00138361 -8.57964e-05 -0.00644591 0.00207877 -0.000356367 0.000290091 0.00599346 0.00761519 0.00382659 0.00289359 -0.000875201 4.45086e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 633 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 133.446 0 0 newEnergyL 0 lastEnergy: 133.3 0 0 lastEnergyL: 0mActiveResiduals: 633 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 133.446 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 633 INF|LocalMapper.cpp[optimize,345]: End Energy: 133.446 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.466957 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.466957 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 45 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 45 with idx: 4 and allID: 187 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->45 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 45->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->45 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 41<->45 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->45 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 45->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 45<->45 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 46<->45 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 45->46 INF|LocalMapper.cpp[marginalizeFrame,801]: 45 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 45 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6166 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2906580 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 48 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 20 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 7 with distance 0.114Found rest min at: 19 with distance 0.094 overall min: 0.094 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 7 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 908 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 48 into DB 0.114 7 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 7 and real id(22) current kf: 48(204) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.991012 0.0952777 -0.0938981 0.0801477 -0.101593 0.992705 -0.0649325 0.470756 0.0870265 0.0738883 0.993462 0.0958983 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 22 currFrame: 48 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.991012 0.0952777 -0.0938981 0.0801477 -0.101593 0.992705 -0.0649325 0.470756 0.0870265 0.0738883 0.993462 0.0958983 avg 0.00620944 eye: 0.00533523 edge: 48 to 22 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 608 < 1042 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 48 and 22 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 48 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 48 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1134 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 205 keyframes 49 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 536 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 206 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!206 INF|Input.cpp[getImages,132]: mNbReceivedImages!207 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.587460 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999977 -0.00302816 0.00604848 0.00188943 0.00306538 0.999976 -0.00615347 -0.00898994 -0.0060297 0.00617187 0.999963 -0.00300127 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 48 to 51981344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.587460) and 204(1311875579.554736) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999977 -0.00302816 0.00604848 0.00188943 0.00306538 0.999976 -0.00615347 -0.00898994 -0.0060297 0.00617187 0.999963 -0.00300127 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999949 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:412/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 48 to 51981344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.587460) and 204(1311875579.554736) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999987 -0.00504855 -0.000424642 0.0217776 0.0050435 0.999925 -0.0111555 -0.0113775 0.000480929 0.0111532 0.999938 0.00481705 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 5): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:795/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 48 to 51981344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.587460) and 204(1311875579.554736) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999983 -0.00288372 0.0051206 0.00954791 0.00292262 0.999967 -0.0076044 -0.0161356 -0.0050985 0.00761923 0.999958 -0.00572422 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:632/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.55064 resInfo good: 1650, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2163/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999985 -0.000617095 0.00541448 0.0101952 0.000651611 0.999979 -0.00637536 -0.0148048 -0.00541043 0.00637879 0.999965 -0.00088886 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!205 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!206 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 207 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!207 INF|Input.cpp[getImages,132]: mNbReceivedImages!208 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.622959 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 6 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999866 -0.00174756 0.0162541 0.0305972 0.0020582 0.999815 -0.019114 -0.0443756 -0.0162176 0.0191449 0.999685 -0.00311522 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 48 to 51981344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.622959) and 204(1311875579.554736) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999866 -0.00174756 0.0162541 0.0305972 0.0020582 0.999815 -0.019114 -0.0443756 -0.0162176 0.0191449 0.999685 -0.00311522 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999995 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1514/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 48 to 51981344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.622959) and 204(1311875579.554736) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999716 -0.000899355 0.0238338 0.00491087 0.00171429 0.999414 -0.0341941 -0.0152211 -0.0237891 0.0342253 0.999131 -0.0250518 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999502 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1367/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 48 to 51981344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.622959) and 204(1311875579.554736) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999766 -0.00212571 0.0215228 0.0247079 0.00277137 0.999546 -0.0300135 -0.0180436 -0.0214492 0.0300661 0.999318 -0.00992674 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999344 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:935/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.960234 resInfo good: 1644, 6 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4447/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999809 -0.00159307 0.0194797 0.0350459 0.00213905 0.999605 -0.0280398 -0.0193748 -0.0194273 0.0280761 0.999417 0.000739256 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!206 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 774 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!207 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 208 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!208 INF|Input.cpp[getImages,132]: mNbReceivedImages!209 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.689013 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999646 -0.00196651 0.0265181 0.0474811 0.00299655 0.99924 -0.0388593 -0.0216605 -0.0264215 0.038925 0.998893 0.00138518 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 48 to 51981344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.689013) and 204(1311875579.554736) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999646 -0.00196651 0.0265181 0.0474811 0.00299655 0.99924 -0.0388593 -0.0216605 -0.0264215 0.038925 0.998893 0.00138518 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999636 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:783/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 48 to 51981344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.689013) and 204(1311875579.554736) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999323 0.000618634 0.0367767 -0.0099309 0.000886942 0.999163 -0.0409079 -0.0186926 -0.0367712 0.0409129 0.998486 -0.050366 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999575 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:797/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 48 to 51981344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.689013) and 204(1311875579.554736) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.9995 0.000343949 0.0316307 0.0169274 0.000911613 0.999212 -0.0396714 -0.0129115 -0.0316195 0.0396804 0.998712 -0.0224132 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999268 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:620/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.969907 resInfo good: 1575, 75 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2540/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999471 0.00158632 0.0324813 0.0163178 -0.000305791 0.999224 -0.0393905 -0.00933531 -0.0325186 0.0393598 0.998696 -0.0207427 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!207 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 485 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!208 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 209 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!209 INF|Input.cpp[getImages,132]: mNbReceivedImages!210 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.722556 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998261 0.00838311 0.0583529 -0.0218867 -0.0047475 0.998055 -0.0621658 0.0116166 -0.0587606 0.0617806 0.996359 -0.0626138 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 48 to 51981344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.722556) and 204(1311875579.554736) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998261 0.00838311 0.0583529 -0.0218867 -0.0047475 0.998055 -0.0621658 0.0116166 -0.0587606 0.0617806 0.996359 -0.0626138 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:854/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 48 to 51981344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.722556) and 204(1311875579.554736) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999087 0.000241077 0.0427299 0.0183896 0.00219528 0.998374 -0.0569615 -0.00815803 -0.0426742 0.0570032 0.997462 -0.0364408 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:920/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 48 to 51981344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.722556) and 204(1311875579.554736) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99901 0.000953243 0.0444763 0.0187522 0.00147699 0.998509 -0.0545763 -0.00765871 -0.044462 0.054588 0.997519 -0.0300544 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 11,0.999944 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1084/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.15841 resInfo good: 1563, 87 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3195/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999094 -0.0018369 0.0425119 0.0299982 0.00396474 0.99874 -0.0500229 -0.0181207 -0.0423665 0.0501462 0.997843 -0.0224148 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875579.722556 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875579.722556 to keyframe with id: 51981344 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875579.722556 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 643 size: 2040 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId51981344 timestamp: 1311875579.722556 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -9.46802 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -11.1506 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 175 keyframeId: 41 score: -11.3632 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -11.5314 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 193 keyframeId: 46 score: -13.0022 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 199 keyframeId: 47 score: -11.0057 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 49 = 49 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3192c40 fh1 0x20f1be0fh->id: 16 49 208goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3192c40 fh1 0x1cb7520fh->id: 33 49 208goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3192c40 fh1 0x21a7260fh->id: 41 49 208goodE: 43 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3192c40 fh1 0x51e2b20fh->id: 43 49 208goodE: 14 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3192c40 fh1 0x293a940fh->id: 46 49 208goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3192c40 fh1 0x21a1cc0fh->id: 47 49 208goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3192c40 fh1 0x2906580fh->id: 48 49 208goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew49 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 61 out of 62 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 62 newEdgePixels: 62 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 601 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 91 lastEnergy: 124.789 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 14 INF|LocalMapper.cpp[optimize,276]: Start Energy: 124.789 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -4.44931e-12 7.18638e-13 5.42132e-12 -4.34648e-12 -0.00198838 0.0080752 -0.000421152 0.000391469 0.000494897 -0.000356962 -0.00130753 -0.00233456 0.00640614 -0.000245197 -2.95484e-05 -0.000712911 0.0028107 -0.00939446 0.000597766 -0.00100801 -0.000413346 -0.000426544 0.00519433 0.0139516 0.0114787 0.00176079 -0.000466431 -0.000998696 0.00448115 -0.000693592 0.0119905 6.21809e-05 -0.000588188 -0.00118439 0.0045884 -0.00620372 0.00375084 -0.00132827 -0.000241254 -0.00109383 0.00635565 -0.00586247 0.00869887 -0.00109506 -0.000487143 -0.00114029 0.00544631 -0.0119768 0.00246739 -0.00196996 -0.000953397 -0.00020358 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 601 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 119.815 0 0 newEnergyL 0 lastEnergy: 124.789 0 0 lastEnergyL: 0mActiveResiduals: 601 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.18232e-12 1.03531e-12 -8.53548e-12 -2.16863e-12 0.00104468 -0.00291435 0.00033199 -0.000282103 -0.000104815 -0.000151435 0.00101462 0.00415364 -0.005912 0.000454744 0.000190582 0.000197836 -0.00489468 0.00755579 -0.000935699 0.000814408 0.000819234 -8.54987e-05 -0.00459284 -0.00597699 -0.00809439 -0.000759618 0.000394849 0.000466317 0.00218737 0.00511029 0.000663928 0.000580134 -0.000324777 -8.88155e-05 0.00270972 0.012085 0.00438419 0.00184496 -0.000589229 0.00113416 0.00357861 0.0146201 0.00650039 0.00215596 -0.00054357 0.000736173 -0.0101718 0.0163724 -0.00560583 0.00287935 0.0013832 -0.000644646 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 601 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 118.577 0 0 newEnergyL 0 lastEnergy: 119.815 0 0 lastEnergyL: 0mActiveResiduals: 601 Input.cpp[readImages,206]: Got image from sensor!209 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.65943e-12 -2.58513e-12 7.73574e-12 1.09142e-12 -0.00156528 0.00323235 0.000686979 0.0013078 0.000563703 -0.000924284 0.00266786 -0.00211134 0.00367494 0.00103064 -7.17083e-05 -0.000524743 0.00321961 -0.00826186 -0.000693117 7.48455e-05 -0.000446313 -0.000510652 0.00210338 0.0121927 0.00504903 0.00179587 0.000189875 -0.00132129 0.00022873 0.00377872 0.00473364 0.000430368 0.000444435 -0.000796016 -0.00424346 0.000962946 -0.00418118 -0.000621218 0.00127629 -0.00197418 -0.00250065 -0.00411089 -0.00342537 -0.00117931 0.000830548 -0.00171924 -0.00204945 -0.00484624 -0.00307302 -0.00187358 0.000589807 6.10303e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 601 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 120.164 0 0 newEnergyL 0 lastEnergy: 118.577 0 0 lastEnergyL: 0mActiveResiduals: 601 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 8.826e-13 3.61451e-12 -6.88072e-12 -4.70033e-13 -0.00316425 -0.00206503 -0.00273185 -0.000801053 -0.000385866 0.00162104 -0.00233865 0.00233561 -0.00236548 -0.00117384 0.000123535 0.00117236 -0.00553198 0.00859032 0.00395417 3.94291e-05 0.000661971 0.0012845 -0.00377477 -0.0112412 -0.00385592 -0.00190222 8.55175e-05 0.0014893 0.000959271 -0.00605074 -0.00664653 -0.000859435 -0.000576291 0.00129679 0.00549257 0.00802281 0.00222056 0.00135802 -0.00139184 0.00296579 0.000360502 -0.00334742 0.00156847 0.000107749 -0.000699541 0.00264233 0.00836969 0.00397723 0.00532458 0.00111061 -0.00143642 0.00203726 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 601 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 116.688 0 0 newEnergyL 0 lastEnergy: 120.164 0 0 lastEnergyL: 0mActiveResiduals: 601 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 3.11553e-13 -4.27592e-12 1.01847e-11 -4.63254e-13 0.00182911 -0.000678898 0.00221404 0.000164317 9.19397e-05 -0.000570062 0.00204233 -0.00159844 9.48313e-05 0.000278909 -0.000138014 -0.000451483 6.92858e-06 -0.00283583 -0.00663086 8.251e-05 -0.000191623 -0.000298791 0.00673373 0.00742217 0.000451182 0.0010748 -0.000552417 -0.000535355 -0.00432499 0.00425817 0.00657273 0.00011545 0.000833224 5.68147e-05 -0.00515598 0.000547562 -0.00178901 -0.000932699 0.000948165 -0.00181551 0.00179477 -0.0085485 0.000480555 -0.00177638 -3.73636e-05 -0.00208722 -0.00130551 -8.17582e-05 -0.00144993 -0.00110856 0.000160718 -0.00117777 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 601 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 121.725 0 0 newEnergyL 0 lastEnergy: 116.688 0 0 lastEnergyL: 0mActiveResiduals: 601 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.18703e-12 3.0784e-12 -6.6433e-12 2.25627e-12 -0.00497608 0.00140606 -0.00179067 -0.00018057 -0.000237922 0.00170807 -0.000729096 6.62992e-05 -0.000889325 -0.00130529 0.000185237 0.0011972 -0.00366909 0.00261248 0.00275296 -0.000783447 0.000365581 0.00126204 -0.00903852 -0.00730787 -0.00149731 -0.00186126 0.000615933 0.0015824 0.00477284 -0.00224703 -0.00883933 -0.00086901 -0.00135492 0.000487271 0.00341182 0.00458786 -0.00314471 0.000425272 -0.00108684 0.00281875 -0.00118668 0.00075994 -0.00035875 -7.65575e-05 -0.000555701 0.00282522 0.011724 -0.000515236 0.0133392 -0.000118448 -0.00227372 0.00317367 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 601 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 117.083 0 0 newEnergyL 0 lastEnergy: 121.725 0 0 lastEnergyL: 0mActiveResiduals: 601 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 117.083 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 601 INF|LocalMapper.cpp[optimize,345]: End Energy: 117.083 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.450464 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.450464 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 46 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 46 with idx: 4 and allID: 193 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->46 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 46->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->46 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 41<->46 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->46 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 46->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 46<->46 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 47<->46 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 46->47 INF|LocalMapper.cpp[marginalizeFrame,801]: 46 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 46 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6364 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x3192c40 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 49 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 21 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 5 with distance 0.092Found rest min at: 20 with distance 0.106 overall min: 0.092 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 5 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 749 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 49 into DB 0.092 5 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 5 and real id(20) current kf: 49(208) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.997323 0.0357499 -0.0637913 0.0800724 -0.0410472 0.99564 -0.0837606 0.705838 0.0605187 0.0861548 0.994442 0.194985 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 20 currFrame: 49 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.997323 0.0357499 -0.0637913 0.0800724 -0.0410472 0.99564 -0.0837606 0.705838 0.0605187 0.0861548 0.994442 0.194985 avg 0.00575733 eye: 0.00265639 edge: 49 to 20 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 637 < 1403 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 49 and 20 Input.cpp[readImages,215]: mInputFrameQueue: 1 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 49 to DB Input.cpp[readImages,218]: mNbOfImages: 210 INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 49 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1054 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 209 keyframes 50 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 561 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.791113 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.791113) and 208(1311875579.722556) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!210 INF|Input.cpp[getImages,132]: mNbReceivedImages!211 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999991 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:896/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.791113) and 208(1311875579.722556) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999996 -0.00269919 0.000627407 0.00412347 0.00270031 0.999995 -0.00178781 -0.00815747 -0.000622578 0.0017895 0.999998 -0.0175231 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999951 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:927/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.791113) and 208(1311875579.722556) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999995 -0.00285215 0.000947169 0.00621181 0.00285232 0.999996 -0.000178171 -0.00240325 -0.000946657 0.000180872 1 -0.01298 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:867/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.323385 resInfo good: 2040, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3073/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999988 -0.00141212 0.00461397 -0.00242515 0.00140989 0.999999 0.00048519 -0.00220327 -0.00461465 -0.000478679 0.999989 -0.0165012 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!209 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 497 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!210 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 211 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!211 INF|Input.cpp[getImages,132]: mNbReceivedImages!212 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.821684 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999988 -0.00141212 0.00461397 -0.00242515 0.00140989 0.999999 0.00048519 -0.00220327 -0.00461465 -0.000478679 0.999989 -0.0165012 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.821684) and 208(1311875579.722556) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999988 -0.00141212 0.00461397 -0.00242515 0.00140989 0.999999 0.00048519 -0.00220327 -0.00461465 -0.000478679 0.999989 -0.0165012 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1544/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.821684) and 208(1311875579.722556) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999971 -0.00646079 0.00410355 0.00202458 0.00647937 0.999969 -0.00453102 -0.0086801 -0.00407414 0.00455747 0.999981 -0.0249841 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999927 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:937/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.821684) and 208(1311875579.722556) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999982 -0.00446066 0.00410126 0.00846597 0.00447293 0.999986 -0.00298828 -0.00455084 -0.00408788 0.00300657 0.999987 -0.0158533 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 8,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1395/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.412631 resInfo good: 2040, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4317/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999982 -0.00337699 0.0050101 0.00817003 0.00338947 0.999991 -0.00248331 -0.0016211 -0.00500167 0.00250025 0.999984 -0.0146094 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!210 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 488 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!211 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 212 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!212 INF|Input.cpp[getImages,132]: mNbReceivedImages!213 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.889405 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999971 -0.00534067 0.00541206 0.0187648 0.00537017 0.999971 -0.005451 -0.00102373 -0.00538279 0.00547991 0.99997 -0.01272 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.889405) and 208(1311875579.722556) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999971 -0.00534067 0.00541206 0.0187648 0.00537017 0.999971 -0.005451 -0.00102373 -0.00538279 0.00547991 0.99997 -0.01272 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999307 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:628/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.889405) and 208(1311875579.722556) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999964 -0.00659121 0.00542825 0.0163609 0.00663798 0.999941 -0.00864385 -0.00755119 -0.00537096 0.00867957 0.999948 -0.0218248 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999963 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:972/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.889405) and 208(1311875579.722556) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999962 -0.00628086 0.00610184 0.0174935 0.00633198 0.999945 -0.00839522 -0.000540647 -0.00604878 0.00843353 0.999946 -0.0169959 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:865/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.535061 resInfo good: 2040, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2934/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999946 -0.00467932 0.00931272 0.00934606 0.00475868 0.999952 -0.00851787 0.00296602 -0.00927242 0.00856172 0.99992 -0.0212737 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!211 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 488 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!212 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 213 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!213 INF|Input.cpp[getImages,132]: mNbReceivedImages!214 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.921727 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99992 -0.00532069 0.0114669 0.00992107 0.00545294 0.999919 -0.0115328 0.00527525 -0.0114046 0.0115944 0.999868 -0.0245973 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.921727) and 208(1311875579.722556) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99992 -0.00532069 0.0114669 0.00992107 0.00545294 0.999919 -0.0115328 0.00527525 -0.0114046 0.0115944 0.999868 -0.0245973 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999197 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:552/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.921727) and 208(1311875579.722556) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999906 -0.00841401 0.010856 0.0078861 0.00856065 0.999872 -0.0135328 -0.000751729 -0.0107408 0.0136245 0.999849 -0.031589 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999998 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1166/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.921727) and 208(1311875579.722556) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999926 -0.00684172 0.0101083 0.0162667 0.00698188 0.999879 -0.0138964 0.00979179 -0.010012 0.0139659 0.999852 -0.0235287 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999857 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:695/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.643358 resInfo good: 2040, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2849/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999938 -0.00580581 0.00946287 0.0201964 0.00592245 0.999906 -0.0123442 0.00801812 -0.00939032 0.0123994 0.999879 -0.0188255 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!212 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 488 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!213 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 214 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.956142 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!214 INF|Input.cpp[getImages,132]: mNbReceivedImages!215 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99993 -0.00693172 0.00961734 0.0310413 0.00708665 0.999844 -0.0161701 0.013073 -0.00950375 0.0162371 0.999823 -0.0163594 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.956142) and 208(1311875579.722556) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99993 -0.00693172 0.00961734 0.0310413 0.00708665 0.999844 -0.0161701 0.013073 -0.00950375 0.0162371 0.999823 -0.0163594 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999548 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:722/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.956142) and 208(1311875579.722556) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999909 -0.00972661 0.00933217 0.0277655 0.00990007 0.999776 -0.0187246 0.00353251 -0.00914795 0.0188153 0.999781 -0.0249895 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1226/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.956142) and 208(1311875579.722556) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999867 -0.00645304 0.0149775 0.0112895 0.0066875 0.999855 -0.0156572 -0.00418457 -0.0148743 0.0157553 0.999765 -0.0323569 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999121 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:878/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.770601 resInfo good: 2040, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3261/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999935 -0.00695467 0.00905067 0.0373391 0.00708004 0.999878 -0.0138945 -0.00379833 -0.00895293 0.0139576 0.999863 -0.0136925 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!213 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 491 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!214 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 215 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875579.988884 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!215 INF|Input.cpp[getImages,132]: mNbReceivedImages!216 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99993 -0.00810415 0.00864024 0.0544932 0.00823694 0.999847 -0.0154452 -0.0156032 -0.00851375 0.0155153 0.999843 -0.00857055 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.988884) and 208(1311875579.722556) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99993 -0.00810415 0.00864024 0.0544932 0.00823694 0.999847 -0.0154452 -0.0156032 -0.00851375 0.0155153 0.999843 -0.00857055 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.99944 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:675/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.988884) and 208(1311875579.722556) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999774 -0.0132675 0.0165988 0.0178765 0.0136495 0.99964 -0.0231159 0.00217596 -0.0162861 0.0233373 0.999595 -0.0432359 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999156 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1099/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875579.988884) and 208(1311875579.722556) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999765 -0.0101222 0.0191902 0.0133124 0.0105851 0.999652 -0.0241737 0.0141427 -0.0189388 0.0243711 0.999524 -0.0383495 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999499 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:427/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.858107 resInfo good: 2040, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2640/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999878 -0.00950874 0.0123541 0.041633 0.00978765 0.999694 -0.0227158 0.0144335 -0.0121343 0.022834 0.999666 -0.01558 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!214 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 492 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!215 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 216 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.021742 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!216 INF|Input.cpp[getImages,132]: mNbReceivedImages!217 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999805 -0.0120333 0.0156798 0.0458733 0.0125231 0.999424 -0.0315264 0.0326926 -0.0152914 0.0317166 0.99938 -0.01732 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.021742) and 208(1311875579.722556) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999805 -0.0120333 0.0156798 0.0458733 0.0125231 0.999424 -0.0315264 0.0326926 -0.0152914 0.0317166 0.99938 -0.01732 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999428 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:552/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.021742) and 208(1311875579.722556) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999778 -0.0145763 0.0152151 0.0441511 0.0150736 0.999338 -0.0330965 0.0281863 -0.0147226 0.0333185 0.999336 -0.0243428 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999743 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:807/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.021742) and 208(1311875579.722556) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999763 -0.0133671 0.0172117 0.0421684 0.0138616 0.999485 -0.0289401 0.0199859 -0.016816 0.0291718 0.999433 -0.0236599 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1060/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.946607 resInfo good: 2040, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2850/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999798 -0.0123847 0.0158315 0.0498861 0.0128012 0.999567 -0.0264797 0.0135407 -0.0154967 0.026677 0.999524 -0.016596 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!215 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 491 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!216 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 217 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.053565 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999697 -0.0152472 0.0193196 0.0581383 0.0158272 0.999418 -0.0302326 0.0126763 -0.0188474 0.0305293 0.999356 -0.0176434 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.053565) and 208(1311875579.722556) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999697 -0.0152472 0.0193196 0.0581383 0.0158272 0.999418 -0.0302326 0.0126763 -0.0188474 0.0305293 0.999356 -0.0176434 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!217 INF|Input.cpp[getImages,132]: mNbReceivedImages!218 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:777/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.053565) and 208(1311875579.722556) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999663 -0.0182023 0.0185334 0.0561789 0.0187933 0.999304 -0.0322301 0.00587654 -0.0179338 0.0325676 0.999309 -0.0297429 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999691 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:991/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 49 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.053565) and 208(1311875579.722556) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999673 -0.0164282 0.0195941 0.0586869 0.0170166 0.999397 -0.0302513 0.00884546 -0.0190853 0.0305749 0.99935 -0.0223068 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999979 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:823/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.04537 resInfo good: 2038, 2 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3024/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999704 -0.0148581 0.0192707 0.0642122 0.0153481 0.999556 -0.0255309 -0.00353299 -0.0188828 0.0258191 0.999488 -0.0161371 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875580.053565 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875580.053565 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875580.053565 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 695 size: 2385 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875580.053565 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -9.48724 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -11.0876 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 175 keyframeId: 41 score: -11.3255 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -10.8579 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 199 keyframeId: 47 score: -12.5303 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 204 keyframeId: 48 score: -11.0653 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 50 = 50 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3134000 fh1 0x20f1be0fh->id: 16 50 216goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3134000 fh1 0x1cb7520fh->id: 33 50 216goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3134000 fh1 0x21a7260fh->id: 41 50 216goodE: 44 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3134000 fh1 0x51e2b20fh->id: 43 50 216goodE: 16 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3134000 fh1 0x21a1cc0fh->id: 47 50 216goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3134000 fh1 0x2906580fh->id: 48 50 216goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3134000 fh1 0x3192c40fh->id: 49 50 216goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew50 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 87 out of 96 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 96 newEdgePixels: 96 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 628 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 212 lastEnergy: 142.963 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 15 INF|LocalMapper.cpp[optimize,276]: Start Energy: 142.963 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.3971e-12 -2.25307e-12 7.15487e-12 -2.14351e-12 0.00630902 -0.00136086 0.00172331 -0.000440161 0.000120727 -0.00176129 0.0024972 -0.00105532 -0.00153002 0.00102084 -0.000497552 -0.00154322 0.0070854 -0.00435837 -0.00632366 0.000456768 -0.00081547 -0.00144701 0.0102809 -0.000731346 -0.00390883 0.000810096 -0.000977805 -0.00212444 0.00149183 0.00310252 0.00410434 0.000331599 0.000685362 -0.00352781 0.0126369 -0.0110637 0.0102754 -0.00130954 -0.000844298 -0.00502668 0.0170987 0.00536743 0.0136164 0.00111906 -0.000657424 -0.00569661 0.0557172 0.0144858 0.0238011 0.00259033 -0.00555159 -0.00383132 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 628 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 133.569 0 0 newEnergyL 0 lastEnergy: 142.963 0 0 lastEnergyL: 0mActiveResiduals: 628 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 6.02716e-12 -7.93058e-13 -5.61263e-12 8.79833e-12 0.000140288 0.0018376 -2.33108e-06 0.000175802 -2.65263e-05 0.000101002 0.000124091 -0.00260217 -0.00021837 -0.000119309 -5.94456e-05 -0.000266488 -0.0014869 -0.00154108 0.00298998 -0.000283736 0.000152433 -0.000661768 -0.000697402 0.00285716 -0.00213007 0.000301947 -0.000117203 -0.000158091 0.00918025 -0.00389957 -0.00489462 0.000410702 -0.00139099 0.000557162 -9.72993e-05 -0.00332627 -0.00944841 0.000170993 -0.000322069 0.00230415 -0.00513263 -0.00479717 -0.0087253 -0.000149662 0.00033364 0.00226426 -0.0120029 -0.012948 -0.00452834 -0.00162826 0.00138592 0.000972286 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 628 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 129.846 0 0 newEnergyL 0 lastEnergy: 133.569 0 0 lastEnergyL: 0mActiveResiduals: 628 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -6.95996e-12 -1.81855e-13 4.18336e-12 -8.80211e-12 -0.00215227 -0.000866155 -0.00304557 -0.0020539 -0.000869421 0.00265867 -0.00572796 0.00501449 -0.00412155 -0.00285786 0.000514369 0.00125451 0.00228882 -0.00908139 -0.00792014 -0.00330154 -0.00046837 0.00244174 -0.000610974 -0.00566341 -0.00442515 -0.00261688 -0.000329051 0.00242763 -0.0125605 -0.00140123 0.00204788 -0.00251884 0.000671378 0.00175611 -0.00376086 -0.00201194 0.000949496 -0.00200796 -0.000471065 9.29151e-05 0.000972593 0.00222406 0.00180741 -0.00144604 -0.000833366 0.000132384 0.0258785 0.00976299 0.0127589 0.00015286 -0.00430176 0.000789796 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 628 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 130.133 0 0 newEnergyL 0 lastEnergy: 129.846 0 0 lastEnergyL: 0mActiveResiduals: 628 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 4.06893e-12 -8.69198e-13 -6.22106e-12 8.98034e-12 0.00226654 0.00143465 0.00229116 0.00189808 0.000743873 -0.00338413 0.0047742 -0.00214714 0.00341642 0.00315066 -0.000387434 -0.00180223 0.000462135 0.002529 0.00787483 0.00250002 0.000100913 -0.00285979 0.000201989 0.00864064 0.00492745 0.00261671 0.000415133 -0.00265332 0.0141239 0.00361318 -0.00135719 0.00215086 -0.000936615 -0.00188417 -0.00164336 0.00127655 -0.00633648 0.00144547 0.00094508 -0.00063483 -0.000213951 -0.00544985 -0.000107411 0.00043474 0.000645357 -1.33237e-05 -0.0235475 -0.00798384 -0.00863924 -0.000551594 0.00397755 -0.0011922 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 628 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 127.476 0 0 newEnergyL 0 lastEnergy: 130.133 0 0 lastEnergyL: 0mActiveResiduals: 628 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -5.75772e-12 1.04352e-12 3.43302e-12 -1.0577e-11 -0.00290078 -0.0015385 -0.00387169 -0.0030438 -0.00119936 0.00413192 -0.00526447 0.0027696 -0.0074644 -0.00446602 0.000434071 0.00164204 -0.00130402 -0.00345369 -0.00936055 -0.00397406 -0.000242278 0.00292577 -0.0044288 -0.00994307 -0.00981482 -0.00428155 -0.000319682 0.00275243 -0.0126213 -0.00338377 0.00238496 -0.00319565 0.000301339 0.0026704 0.00237166 0.00284823 0.00781167 -0.00190829 -0.00154985 0.000907082 0.0111221 0.00715397 0.010014 -0.00132793 -0.00250987 0.00062355 0.0193168 0.00206046 0.00653313 -0.00111908 -0.00399646 0.00256418 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 628 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 127.402 0 0 newEnergyL 0 lastEnergy: 127.476 0 0 lastEnergyL: 0mActiveResiduals: 628 Input.cpp[readImages,206]: Got image from sensor!217 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 5.26673e-12 -3.69191e-13 -6.75921e-13 9.0397e-12 0.000579805 0.00250056 0.00101991 0.00312693 0.00157691 -0.00429542 0.00690845 -0.00108717 0.00997295 0.00467901 -0.00025473 -0.00200059 0.0017731 0.00395407 0.0103631 0.00387537 0.00033904 -0.00327725 0.00734652 0.0113143 0.00978353 0.0042296 0.000431094 -0.00314343 0.0148427 0.00361891 -0.000275004 0.0024655 -0.000219229 -0.00289488 -0.00305758 -0.00231665 -0.00816204 0.00128148 0.00192109 -0.00138287 -0.0143189 -0.0108232 -0.0107258 0.000259117 0.00312084 -0.00129463 -0.0220948 -0.00287228 -0.00671136 0.000366271 0.00454858 -0.00334775 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 628 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 129.411 0 0 newEnergyL 0 lastEnergy: 127.402 0 0 lastEnergyL: 0mActiveResiduals: 628 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 129.411 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 628 INF|LocalMapper.cpp[optimize,345]: End Energy: 129.411 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.462496 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.462496 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 47 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 47 with idx: 4 and allID: 199 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->47 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 47->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->47 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 41<->47 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->47 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 47->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 47<->47 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 48<->47 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 47->48 INF|LocalMapper.cpp[marginalizeFrame,801]: 47 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 47 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 8108 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x3134000 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 50 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 22 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 4 with distance 0.082Found rest min at: 21 with distance 0.072 overall min: 0.072 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 4 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 723 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 50 into DB 0.082 4 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 4 and real id(19) current kf: 50(216) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.998776 0.0391503 -0.0302381 -0.000900195 -0.0409935 0.997174 -0.0629541 0.681789 0.027688 0.0641166 0.997558 0.225212 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 19 currFrame: 50 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00901753 eye: 0.00144139 edge: 50 to 19 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 50 to 19 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 29(1311875573.388082) and 216(1311875580.053565) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999981 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:609/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 50 to 19 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 29(1311875573.388082) and 216(1311875580.053565) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999575 0.0191698 -0.021956 0.0348539 -0.0199169 0.999212 -0.0343292 0.0467461 0.0212806 0.0347519 0.999169 0.0529864 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999876 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:441/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 50 to 19 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 29(1311875573.388082) and 216(1311875580.053565) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999575 0.0191566 -0.0219557 0.0348657 -0.019904 0.999212 -0.034343 0.0466925 0.0212805 0.0347655 0.999169 0.052859 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 218 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999682 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:565/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.99934 0.0248725 0.0264628 -0.180867 -0.0239707 0.999139 -0.0338673 0.035036 -0.0272824 0.0332107 0.999076 0.0135892 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 18 end 21 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 10639 o[1]: 700 o[2]: 158 o[3]: 11 histWeights: 1 1 1.25 1.5overlap: 914 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 2385 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 19 and 50 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 50 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 50 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 4769 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 217 keyframes 51 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.087499 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!218 INF|Input.cpp[getImages,132]: mNbReceivedImages!219 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999968 -0.00265893 0.00749236 -0.00233237 0.00264464 0.999995 0.00191637 -0.021358 -0.00749742 -0.00189649 0.99997 -0.00821181 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 50 to 42929728 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.087499) and 216(1311875580.053565) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999968 -0.00265893 0.00749236 -0.00233237 0.00264464 0.999995 0.00191637 -0.021358 -0.00749742 -0.00189649 0.99997 -0.00821181 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999718 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:455/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 50 to 42929728 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.087499) and 216(1311875580.053565) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999964 -0.00489433 0.00695948 -0.00461714 0.00489044 0.999988 0.000575203 -0.0258546 -0.00696221 -0.000541147 0.999976 -0.00606289 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1255/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 50 to 42929728 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.087499) and 216(1311875580.053565) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999976 -0.00138536 0.00675362 0.00292049 0.0014113 0.999992 -0.00383699 -0.00324264 -0.00674825 0.00384643 0.99997 -0.00105371 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 4): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1857/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.462143 resInfo good: 2356, 29 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3996/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999983 -0.00230645 0.00534119 0.0112197 0.00231869 0.999995 -0.00228558 -0.00238241 -0.00533589 0.00229793 0.999983 0.00284153 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!217 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 979 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!218 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 219 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!219 INF|Input.cpp[getImages,132]: mNbReceivedImages!220 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.121549 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999932 -0.00460058 0.0106875 0.0224599 0.00464952 0.999979 -0.00455873 -0.00474529 -0.0106663 0.00460811 0.999932 0.00561766 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 50 to 42929728 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.121549) and 216(1311875580.053565) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999932 -0.00460058 0.0106875 0.0224599 0.00464952 0.999979 -0.00455873 -0.00474529 -0.0106663 0.00460811 0.999932 0.00561766 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.99938 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:269/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 50 to 42929728 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.121549) and 216(1311875580.053565) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999927 -0.0075485 0.00939458 0.0156585 0.00761829 0.999943 -0.00741484 -0.0157482 -0.00933808 0.00748587 0.999928 0.0144618 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999998 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:939/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 50 to 42929728 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.121549) and 216(1311875580.053565) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999902 -0.00467264 0.013162 0.0150522 0.00474153 0.999975 -0.00520744 -0.0111448 -0.0131373 0.00526934 0.9999 -0.000706489 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999781 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:518/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.646043 resInfo good: 2352, 33 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2169/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99989 -0.00466654 0.0140551 0.0146364 0.00472762 0.99998 -0.0043159 -0.00783087 -0.0140347 0.00438188 0.999892 0.00288052 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!218 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 469 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!219 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 220 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.154775 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!220 INF|Input.cpp[getImages,132]: mNbReceivedImages!221 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999716 -0.00700834 0.0227727 0.0180663 0.00715409 0.999954 -0.00632513 -0.0132712 -0.0227274 0.00648625 0.999721 0.00287853 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 50 to 42929728 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.154775) and 216(1311875580.053565) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999716 -0.00700834 0.0227727 0.0180663 0.00715409 0.999954 -0.00632513 -0.0132712 -0.0227274 0.00648625 0.999721 0.00287853 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999051 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:513/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 50 to 42929728 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.154775) and 216(1311875580.053565) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99975 -0.00188584 0.0222899 0.0155578 0.00230347 0.999822 -0.0187257 0.00980029 -0.0222506 0.0187724 0.999576 0.000386158 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.99916 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:832/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 50 to 42929728 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.154775) and 216(1311875580.053565) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999774 -0.00570562 0.0204615 0.0275119 0.00599408 0.999883 -0.0140642 -0.000219999 -0.0203789 0.0141837 0.999692 0.00644873 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999991 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:689/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.771533 resInfo good: 2353, 32 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2470/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999687 -0.00408033 0.024699 0.0144921 0.00441993 0.999896 -0.0137102 0.0023686 -0.0246405 0.0138151 0.999601 -0.000984343 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!219 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 471 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!220 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 221 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.188696 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99937 -0.00339376 0.0353342 0.0143121 0.00421192 0.999724 -0.0231061 0.012604 -0.035246 0.0232404 0.999108 -0.00475157 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 50 to 42929728 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.188696) and 216(1311875580.053565) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99937 -0.00339376 0.0353342 0.0143121 0.00421192 0.999724 -0.0231061 0.012604 -0.035246 0.0232404 0.999108 -0.00475157 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!221 INF|Input.cpp[getImages,132]: mNbReceivedImages!222 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 5): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1240/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 50 to 42929728 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.188696) and 216(1311875580.053565) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999412 -0.00655869 0.0336683 0.00931927 0.00733939 0.999706 -0.0231172 0.0103864 -0.0335068 0.0233507 0.999166 -0.0125929 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999216 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:907/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 50 to 42929728 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.188696) and 216(1311875580.053565) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999432 -0.00991418 0.0322208 0.0225973 0.010463 0.999802 -0.0169086 -0.00225954 -0.0320468 0.0172361 0.999338 -0.00394535 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999899 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:857/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.96125 resInfo good: 2384, 1 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3446/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999503 -0.0110305 0.029532 0.036342 0.0114701 0.999825 -0.0147597 -0.00387495 -0.029364 0.0150911 0.999455 0.00632519 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!220 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!221 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 222 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.225190 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!222 INF|Input.cpp[getImages,132]: mNbReceivedImages!223 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999247 -0.0179739 0.0343714 0.0582696 0.0185247 0.999704 -0.015775 -0.00997385 -0.0340777 0.0163998 0.999285 0.0135234 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 50 to 42929728 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.225190) and 216(1311875580.053565) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999247 -0.0179739 0.0343714 0.0582696 0.0185247 0.999704 -0.015775 -0.00997385 -0.0340777 0.0163998 0.999285 0.0135234 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999554 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:884/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 50 to 42929728 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.225190) and 216(1311875580.053565) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999252 -0.0173907 0.0345432 0.0693039 0.0181637 0.999589 -0.0221913 -0.0047342 -0.0341431 0.0228021 0.999157 0.0172105 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999974 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1012/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 50 to 42929728 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.225190) and 216(1311875580.053565) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998891 -0.0175134 0.0437086 0.0401575 0.0183547 0.999652 -0.018922 -0.0107717 -0.043362 0.0197033 0.998865 0.00294835 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999246 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1020/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.14084 resInfo good: 2383, 2 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3422/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998967 -0.0180721 0.0416917 0.0513534 0.0188231 0.999666 -0.017692 -0.0103062 -0.0413581 0.0184585 0.998974 0.00926218 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875580.225190 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875580.225190 to keyframe with id: 42929728 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875580.225190 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 681 size: 3119 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId42929728 timestamp: 1311875580.225190 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -9.53586 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -11.2341 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 175 keyframeId: 41 score: -11.411 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -10.704 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 204 keyframeId: 48 score: -12.8444 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 208 keyframeId: 49 score: -11.2553 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 51 = 51 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28f0e60 fh1 0x20f1be0fh->id: 16 51 221goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28f0e60 fh1 0x1cb7520fh->id: 33 51 221goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28f0e60 fh1 0x21a7260fh->id: 41 51 221goodE: 42 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28f0e60 fh1 0x51e2b20fh->id: 43 51 221goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28f0e60 fh1 0x2906580fh->id: 48 51 221goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28f0e60 fh1 0x3192c40fh->id: 49 51 221goodE: 25 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28f0e60 fh1 0x3134000fh->id: 50 51 221goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew51 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 102 out of 108 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 108 newEdgePixels: 108 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 637 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 90 lastEnergy: 140.311 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 11 INF|LocalMapper.cpp[optimize,276]: Start Energy: 140.311 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.91428e-12 2.77897e-12 -7.88679e-14 -1.23649e-11 0.00278228 -0.00214984 0.00327716 1.00788e-05 -0.000292111 0.000845027 -0.00423804 0.000891968 -0.000596684 -3.34854e-05 -4.2051e-05 0.000786365 -0.00264189 -0.00340241 -0.000734794 -1.46842e-05 0.000137152 0.000763306 -0.00930134 -0.00633587 0.00286082 -0.000369383 0.000430252 0.000172071 0.0150832 0.00893194 0.019742 0.00207289 -0.00178205 -0.000339632 0.0162568 0.0191976 0.0191414 0.00369612 -0.00146249 -0.0016924 0.0163063 0.00443248 0.0141169 0.00249247 -0.00162987 -0.0009703 0.0334607 0.00479431 0.0132501 0.00242664 -0.00398084 0.00056145 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 637 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 134.712 0 0 newEnergyL 0 lastEnergy: 140.311 0 0 lastEnergyL: 0mActiveResiduals: 637 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -4.02211e-12 -1.31624e-12 1.19938e-12 2.44414e-12 0.000680018 3.41595e-05 -6.94918e-05 1.40151e-05 -6.24989e-05 -5.23352e-05 -0.00149896 0.0016406 0.00416995 -6.08625e-05 2.99376e-05 0.000350797 0.000892867 0.0047814 0.00449387 0.000442813 -9.5894e-05 0.00057819 0.00448878 0.0028243 0.00500664 0.000476854 -0.00025296 0.000579871 0.00457492 -0.0210931 1.32265e-05 -0.00270186 -0.000963732 0.00214109 0.00462086 -0.0261265 -0.000659332 -0.00365896 -0.00135326 0.00311071 -0.0385261 -0.0320332 -0.0197053 -0.00397201 0.00439369 0.000912984 -0.0180847 -0.0227377 -0.00300592 -0.0030178 0.00187816 0.000908257 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 637 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 130.218 0 0 newEnergyL 0 lastEnergy: 134.712 0 0 lastEnergyL: 0mActiveResiduals: 637 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.83014e-12 8.65168e-13 -1.35022e-12 -7.88245e-12 -0.000474742 -0.00090332 -0.000461045 -0.000755496 -0.00130764 0.00296572 -0.00257412 -0.000363996 -0.00374753 -0.00246391 -4.27426e-05 0.00164911 -0.00360848 -0.00410469 -0.00363666 -0.00228101 -0.00016996 0.0019225 -0.0101385 -0.00560728 -0.00596064 -0.00236144 0.000119377 0.00206629 -0.0146711 -0.000490581 -0.00293995 -0.000587883 0.000892222 0.000993909 0.00270053 0.00527139 0.0054406 0.000294041 -0.00139319 0.000991143 0.0267723 0.0039207 0.0105553 0.000184006 -0.00463044 0.00233693 0.00533611 0.000524065 -0.00321345 2.4354e-05 -0.00191171 0.00217244 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 637 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 128.355 0 0 newEnergyL 0 lastEnergy: 130.218 0 0 lastEnergyL: 0mActiveResiduals: 637 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.49413e-12 -8.72177e-13 9.91982e-13 8.06705e-12 0.00295809 0.00215432 6.44665e-05 2.57248e-05 0.000850664 -0.00267189 0.000901764 -0.000621903 0.00138493 0.00162829 -3.43649e-05 -0.00180609 0.0033833 0.00347237 0.00243974 0.00151222 2.07453e-05 -0.00202025 0.00962378 0.00514232 0.00376614 0.00186027 -0.000334468 -0.0018839 0.0130186 -0.00172738 0.00172418 8.35025e-05 -0.000796404 -0.00143299 -0.00115981 -2.16521e-05 -0.00405275 0.000241505 0.00110403 -0.00177284 -0.0132029 -0.00094665 0.000886865 -0.00034594 0.00266224 -0.00199358 -0.0173775 -0.00671459 -0.00309322 -0.000980088 0.00334661 -0.00271189 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 637 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 126.77 0 0 newEnergyL 0 lastEnergy: 128.355 0 0 lastEnergyL: 0mActiveResiduals: 637 Input.cpp[readImages,206]: Got image from sensor!222 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -3.5729e-12 1.13819e-12 -5.39561e-13 -9.74176e-12 -0.00252544 -0.00223905 -0.00123321 -0.000582591 -0.00105775 0.0026811 -0.00206228 -0.000363963 -0.00279493 -0.00225176 0.000127585 0.00201236 -0.00575766 -0.00265534 -0.00222625 -0.00171303 0.000207886 0.00263634 -0.0102893 -0.00479936 -0.00381389 -0.0020326 0.000370337 0.0025193 -0.0103044 0.000387494 7.77185e-06 -0.000285411 0.000419199 0.00196108 -0.00293653 -0.000680358 0.00238889 -0.000406212 -0.000598253 0.00220789 0.0203471 0.00641437 0.00168438 0.000968484 -0.00361998 0.00251985 0.015346 0.00364461 0.00147102 0.000696734 -0.00303936 0.00268905 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 637 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 128.145 0 0 newEnergyL 0 lastEnergy: 126.77 0 0 lastEnergyL: 0mActiveResiduals: 637 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.35243e-12 -2.12068e-13 3.16296e-15 8.8721e-12 0.00142704 0.000735256 0.000296088 0.000659184 0.000934452 -0.00296221 0.00225942 -9.16922e-05 0.00322761 0.00242126 -0.000262197 -0.00207936 0.00434024 0.00512167 0.00251113 0.00208668 -0.000322626 -0.00271119 0.011123 0.00613894 0.00233759 0.00210217 -0.000641582 -0.00262786 0.00897474 0.000519502 9.38956e-05 9.11242e-05 -0.000386204 -0.00164988 -0.00223757 -0.000461871 -0.0058428 3.63256e-06 0.00110005 -0.00176752 -0.0173908 -0.00679046 -0.0013566 -0.00132335 0.00308625 -0.00204165 -0.0103323 -0.00481249 0.00177531 -0.00104035 0.002106 -0.00192414 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 637 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 125.374 0 0 newEnergyL 0 lastEnergy: 128.145 0 0 lastEnergyL: 0mActiveResiduals: 637 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 125.374 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 637 INF|LocalMapper.cpp[optimize,345]: End Energy: 125.374 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.447167 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.447167 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 48 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 48 with idx: 4 and allID: 204 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->48 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 48->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->48 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 41<->48 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->48 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 48->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 48<->48 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 49<->48 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 48->49 INF|LocalMapper.cpp[marginalizeFrame,801]: 48 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 48 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6204 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x28f0e60 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 51 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 23 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 4 with distance 0.106Found rest min at: 22 with distance 0.1 overall min: 0.1 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 4 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 686 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 51 into DB 0.106 4 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 4 and real id(19) current kf: 51(221) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.995759 0.0569195 -0.0722771 -0.0476087 -0.0599732 0.997366 -0.0408051 0.682605 0.0697641 0.0449668 0.99655 0.216254 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 19 currFrame: 51 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00858387 eye: 0.00151147 edge: 51 to 19 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 691 < 2428 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 51 and 19 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 51 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 51 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 998 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 222 keyframes 52 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 472 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 223 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!223 INF|Input.cpp[getImages,132]: mNbReceivedImages!224 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.287169 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999971 -0.00319433 0.00693396 0.00410676 0.00320518 0.999994 -0.00155321 -0.00335394 -0.00692896 0.00157539 0.999975 0.00138805 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 51 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.287169) and 221(1311875580.225190) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999971 -0.00319433 0.00693396 0.00410676 0.00320518 0.999994 -0.00155321 -0.00335394 -0.00692896 0.00157539 0.999975 0.00138805 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999021 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:811/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 51 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.287169) and 221(1311875580.225190) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999999 -0.00121349 -0.00117879 0.017834 0.00120242 0.999956 -0.00934672 0.00571277 0.00119008 0.00934529 0.999956 0.00181474 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 11): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2201/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 51 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.287169) and 221(1311875580.225190) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999989 -0.00108447 0.00462914 0.00281545 0.00111508 0.999978 -0.00661484 0.00413375 -0.00462186 0.00661992 0.999967 -0.00106498 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999815 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:895/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.414378 resInfo good: 3119, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4443/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999989 -0.00225172 0.004092 0.00735423 0.0022628 0.999994 -0.00270372 -0.00407762 -0.00408589 0.00271295 0.999988 0.00310725 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!222 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!223 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 224 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.321712 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999956 -0.0044923 0.00819 0.0147303 0.0045366 0.999975 -0.00539812 -0.00814698 -0.00816554 0.00543504 0.999952 0.00617336 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 51 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.321712) and 221(1311875580.225190) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999956 -0.0044923 0.00819 0.0147303 0.0045366 0.999975 -0.00539812 -0.00814698 -0.00816554 0.00543504 0.999952 0.00617336 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!224 INF|Input.cpp[getImages,132]: mNbReceivedImages!225 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 7): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1565/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 51 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.321712) and 221(1311875580.225190) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99997 -0.00414122 0.00662038 0.00991261 0.00422496 0.999911 -0.012686 0.0102629 -0.00656725 0.0127136 0.999898 -0.00249848 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999657 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1277/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 51 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.321712) and 221(1311875580.225190) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999923 -0.0036981 0.011845 -0.000867082 0.00383771 0.999923 -0.0117856 0.016542 -0.0118005 0.0118302 0.99986 -0.00418682 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999869 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:827/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.570393 resInfo good: 3069, 50 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4234/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999944 -0.00582903 0.00888044 0.0143756 0.0058855 0.999963 -0.00634531 0.00370754 -0.00884312 0.00639722 0.99994 0.00205425 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!223 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 470 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!224 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 225 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.357378 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!225 INF|Input.cpp[getImages,132]: mNbReceivedImages!226 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999745 -0.0129301 0.0184954 0.028319 0.0131823 0.999821 -0.0135758 0.019365 -0.0183165 0.0138162 0.999737 -6.60102e-05 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 51 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.357378) and 221(1311875580.225190) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999745 -0.0129301 0.0184954 0.028319 0.0131823 0.999821 -0.0135758 0.019365 -0.0183165 0.0138162 0.999737 -6.60102e-05 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999941 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:877/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 51 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.357378) and 221(1311875580.225190) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999796 0.00108198 0.0201811 0.0140495 -0.000743728 0.999859 -0.0167607 0.0230698 -0.0201964 0.0167422 0.999656 0.00636794 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1335/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 51 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.357378) and 221(1311875580.225190) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999747 -0.00188748 0.0224337 0.0158874 0.0020978 0.999954 -0.00935517 0.00739859 -0.022415 0.00939986 0.999705 0.00520721 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1139/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.790363 resInfo good: 3102, 17 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3901/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999769 -0.00487983 0.0209358 0.0247613 0.00498808 0.999974 -0.00512173 0.000787274 -0.0209102 0.00522498 0.999768 0.00930531 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!224 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!225 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 226 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.391161 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!226 INF|Input.cpp[getImages,132]: mNbReceivedImages!227 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999627 -0.00441054 0.0269628 0.0299858 0.00453385 0.99998 -0.00451402 -0.000672946 -0.0269423 0.00463458 0.999626 0.0128851 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 51 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.391161) and 221(1311875580.225190) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999627 -0.00441054 0.0269628 0.0299858 0.00453385 0.99998 -0.00451402 -0.000672946 -0.0269423 0.00463458 0.999626 0.0128851 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:791/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 51 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.391161) and 221(1311875580.225190) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999735 -0.002517 0.0228767 0.0316557 0.00289492 0.99986 -0.0165019 0.00744888 -0.022832 0.0165637 0.999602 0.0047096 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.99942 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:814/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 51 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.391161) and 221(1311875580.225190) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999711 -0.00252375 0.0239025 0.0361608 0.00284446 0.999906 -0.0133932 0.00475108 -0.0238665 0.0134573 0.999625 0.0113668 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999297 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:488/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.902977 resInfo good: 3101, 18 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2657/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999679 -0.00337917 0.025108 0.0354295 0.0036109 0.999951 -0.00918987 -0.00474986 -0.0250757 0.00927759 0.999643 0.0118447 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!225 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!226 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 227 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.422543 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!227 INF|Input.cpp[getImages,132]: mNbReceivedImages!228 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99957 -0.00186161 0.0292737 0.0461001 0.00225069 0.99991 -0.0132636 -0.0103128 -0.0292463 0.0133238 0.999483 0.0143171 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 51 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.422543) and 221(1311875580.225190) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99957 -0.00186161 0.0292737 0.0461001 0.00225069 0.99991 -0.0132636 -0.0103128 -0.0292463 0.0133238 0.999483 0.0143171 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999998 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1086/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 51 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.422543) and 221(1311875580.225190) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999596 -0.00138354 0.0283821 0.0422292 0.00175372 0.999914 -0.0130221 -0.00879103 -0.0283616 0.0130666 0.999512 0.0122368 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999251 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:789/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 51 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.422543) and 221(1311875580.225190) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999523 -0.00398535 0.0306332 0.0411612 0.0043063 0.999936 -0.0104182 -0.00518122 -0.0305897 0.0105452 0.999476 0.0156713 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.99984 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:888/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.987134 resInfo good: 3088, 31 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3296/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999522 -0.00153569 0.0308915 0.0417743 0.00184315 0.999949 -0.00992698 -0.00681575 -0.0308746 0.00997917 0.999473 0.0135588 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!226 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!227 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 228 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.457653 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!228 INF|Input.cpp[getImages,132]: mNbReceivedImages!229 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999429 -0.000612436 0.0337823 0.044949 0.000960889 0.999946 -0.0102994 -0.0078534 -0.0337742 0.0103259 0.999376 0.0144015 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 51 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.457653) and 221(1311875580.225190) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999429 -0.000612436 0.0337823 0.044949 0.000960889 0.999946 -0.0102994 -0.0078534 -0.0337742 0.0103259 0.999376 0.0144015 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1243/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 51 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.457653) and 221(1311875580.225190) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999629 -0.000375895 0.0272247 0.0704509 0.000820328 0.999867 -0.0163152 -0.00164003 -0.027215 0.0163315 0.999496 0.0221756 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999727 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:654/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 51 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.457653) and 221(1311875580.225190) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999254 0.000414074 0.0386054 0.0355605 9.76299e-05 0.999912 -0.0132519 -0.00604108 -0.0386075 0.0132458 0.999167 0.0115783 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999989 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:720/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.07776 resInfo good: 3084, 35 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3163/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999402 -0.000291123 0.0345692 0.0536448 0.000654606 0.999945 -0.0105038 -0.0108445 -0.0345642 0.0105202 0.999347 0.0213026 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875580.457653 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875580.457653 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875580.457653 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 670 size: 3343 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875580.457653 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -9.48222 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -11.2539 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 175 keyframeId: 41 score: -11.3661 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -10.4043 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 208 keyframeId: 49 score: -11.0538 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 216 keyframeId: 50 score: -9.83845 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 52 = 52 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cbab40 fh1 0x20f1be0fh->id: 16 52 227goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cbab40 fh1 0x1cb7520fh->id: 33 52 227goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cbab40 fh1 0x21a7260fh->id: 41 52 227goodE: 41 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cbab40 fh1 0x51e2b20fh->id: 43 52 227goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cbab40 fh1 0x3192c40fh->id: 49 52 227goodE: 41 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cbab40 fh1 0x3134000fh->id: 50 52 227goodE: 27 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cbab40 fh1 0x28f0e60fh->id: 51 52 227goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew52 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 109 out of 115 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 115 newEdgePixels: 115 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 724 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 92 lastEnergy: 163.193 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 12 INF|LocalMapper.cpp[optimize,276]: Start Energy: 163.193 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.38982e-11 -2.58917e-12 -1.00512e-11 5.89016e-12 -0.000828056 -0.000308602 0.00138868 0.000595136 0.000522531 -4.32768e-05 0.000649423 -0.000546215 -0.00139281 0.000534388 0.000391533 0.000101025 -0.00103826 -0.00372838 -0.00157098 0.000100713 0.000479922 -0.000105945 -0.0078034 -0.00424684 -0.00120758 2.53254e-05 0.00115183 -4.15858e-05 -0.00211889 -0.00402855 0.00578331 0.000440018 0.0010439 -0.00222693 0.0105063 0.0117218 -0.000146809 0.00297911 -0.000467758 -0.00149256 -0.00312573 0.00402388 -2.38365e-05 0.00157708 0.00157709 -0.00199736 -0.00397852 -8.50827e-05 0.013382 0.0010778 0.00127298 -0.00267638 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 724 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 154.549 0 0 newEnergyL 0 lastEnergy: 163.193 0 0 lastEnergyL: 0mActiveResiduals: 724 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -4.38693e-12 3.65595e-12 4.59823e-12 -6.35764e-12 -1.63579e-05 -0.000366052 -9.59888e-06 -3.71106e-05 3.12179e-06 -9.00443e-06 0.000628922 0.000975182 0.000424046 0.000137313 -0.000111666 0.000122191 0.0035697 0.00498675 0.000614046 0.000764869 -0.000334526 0.000395994 0.00384876 -0.00161201 -0.000351759 -7.62844e-06 -0.00031213 9.26809e-05 -0.015478 0.0121711 -0.0199536 0.000893542 0.00156919 0.000971566 -0.0100897 0.014359 -0.00382444 0.000201582 0.00072629 0.00130886 -0.0123234 0.0212716 -0.00451669 0.00177855 0.000729903 0.000203132 0.000815047 0.0287783 -0.0117134 0.00269223 -0.000475697 0.000674039 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 724 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 151.087 0 0 newEnergyL 0 lastEnergy: 154.549 0 0 lastEnergyL: 0mActiveResiduals: 724 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.61664e-12 -1.18477e-13 2.02159e-12 1.43696e-12 0.00280973 0.00140349 0.00208779 -0.000249354 -0.000809122 0.00118519 -0.00117468 6.30039e-05 -0.00199054 -0.00114685 -0.000146244 0.000670643 -0.00301708 -0.00696978 -0.0038033 -0.00160829 -8.73799e-05 0.000748832 -0.00543262 -0.00188534 -0.00246373 -0.000904135 -2.37515e-05 0.000752397 0.00649029 -0.00423644 0.00776883 -0.000560191 -0.00131392 0.00042669 0.00146913 0.0145608 -0.00609485 0.00257974 -0.000353402 -0.000227808 0.00734002 0.00211447 -0.00268864 0.000417158 -0.000955163 0.000897589 -0.00568906 -0.00683479 0.00635409 -0.000408957 0.000112644 -0.000384674 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 724 Input.cpp[readImages,206]: Got image from sensor!228 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 151.773 0 0 newEnergyL 0 lastEnergy: 151.087 0 0 lastEnergyL: 0mActiveResiduals: 724 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -5.49623e-12 9.42865e-14 -3.20525e-13 -1.42483e-12 -0.00130088 -0.00288474 0.000900588 0.00124943 0.000970647 -0.00170777 -0.000538935 -0.00133817 0.0022415 0.00217833 0.000181585 -0.000444951 0.00435679 0.00746546 0.00412399 0.00289635 -2.52007e-05 -0.000683044 0.00565972 0.000530558 0.00283447 0.00193404 2.64262e-05 -0.000856771 -0.00887014 0.00154159 -0.0102719 0.000778491 0.00155952 0.000344482 -0.00876547 -0.0135829 0.00269188 -0.00156344 0.00125418 0.000278702 -0.00515408 0.00488008 0.0042568 0.00108067 0.000583776 -0.000506118 0.0116851 0.00538479 -0.00646754 0.00102295 -0.000810689 0.000735532 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 724 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 150.5 0 0 newEnergyL 0 lastEnergy: 151.773 0 0 lastEnergyL: 0mActiveResiduals: 724 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 4.92377e-12 -7.78143e-13 7.59613e-13 6.02133e-13 0.000109489 -0.00111568 0.00346499 -0.000823925 -0.00115374 0.00219599 0.00011285 0.00153378 -0.0024069 -0.0019936 -0.000251913 0.00109695 -0.00370339 -0.00729214 -0.00769362 -0.00249354 -0.000455573 0.00151669 -0.00929093 0.000954391 -0.00771378 -0.00159846 5.61144e-05 0.0014142 0.00836345 0.00254407 0.00856063 -3.27845e-05 -0.00217829 0.000216876 0.014941 0.0129687 -0.000605176 0.00161486 -0.00280825 0.000501025 0.00328643 -0.00766687 -0.00538771 -0.00087283 -0.00103694 0.000663963 -0.00786578 -0.00631925 0.00920261 -0.000740677 -0.00053901 -0.000598015 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 724 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 148.963 0 0 newEnergyL 0 lastEnergy: 150.5 0 0 lastEnergyL: 0mActiveResiduals: 724 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -5.4952e-12 1.10238e-12 -1.20955e-12 -1.97039e-12 -0.00227612 0.000728577 -0.00355245 0.000483758 0.00110823 -0.00282205 0.00213335 -0.00225685 0.0018582 0.00166939 1.88554e-05 -0.00137723 0.00291683 0.00723601 0.00634802 0.00208762 0.000192089 -0.001591 0.010267 0.00386227 0.004686 0.00151059 -0.000304199 -0.00145938 -0.0115304 -0.00157219 -0.0106831 -0.000751784 0.00211802 -0.000148871 -0.0141834 -0.0150247 0.00187866 -0.00279425 0.00200695 -0.000390805 0.00088023 0.00760649 0.00799413 -9.59046e-05 -0.000159651 -0.0006096 0.0077326 0.00217253 -0.00637675 -0.000457971 -4.29727e-05 0.000630825 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 724 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 149.984 0 0 newEnergyL 0 lastEnergy: 148.963 0 0 lastEnergyL: 0mActiveResiduals: 724 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 149.984 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 724 INF|LocalMapper.cpp[optimize,345]: End Energy: 149.984 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.461569 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.461569 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 41 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 41 with idx: 2 and allID: 175 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->41 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->41 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 41<->41 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->41 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 49<->41 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 50<->41 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 51<->41 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->41 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 41 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 175: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 40/172: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 39/163: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 38/158: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 37/150: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 36/144: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 35/138: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 35 allId: 138 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.975677 0.119878 -0.183529 -0.11183 -0.136345 0.987438 -0.0798578 0.110493 0.17165 0.102939 0.979765 -0.0779675 worldPose: 0.379608 0.257067 0.888715 0.214709 0.358186 0.844863 -0.397378 1.26404 -0.852995 0.469173 0.228639 0.769697 after: 0.379608 0.257067 0.888715 0.214709 0.358186 0.844863 -0.397378 1.26404 -0.852995 0.469173 0.228639 0.769697 worldPose of new: 0.238087 0.131109 0.962354 0.30188 0.523685 0.817146 -0.240886 1.21354 -0.817966 0.561322 0.125892 0.626017 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.975677 0.119878 -0.183529 -0.11183 -0.136345 0.987438 -0.0798578 0.110493 0.17165 0.102939 0.979765 -0.0779675 INF|Mapper.cpp[changeRefFrame,578]: Updating: 176 from old kf id: 41/175 with new ref frame: 138/35 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 175 after changeRefFrame: 0.975677 0.119878 -0.183529 -0.11183 -0.136345 0.987438 -0.0798578 0.110493 0.17165 0.102939 0.979765 -0.0779675 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 41 to normal frame with refFrame: 35 frame id kf: 175 newref id: 138 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 41 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6491 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1cbab40 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 52 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 24 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 2 with distance 0.09Found rest min at: 23 with distance 0.072 overall min: 0.072 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 2 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 744 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 52 into DB 0.09 2 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 2 and real id(17) current kf: 52(227) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.999491 0.0298724 -0.0112153 0.00113072 -0.0302472 0.998934 -0.0348816 0.658566 0.0101613 0.035203 0.999329 0.269193 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 17 currFrame: 52 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 229 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.0101066 eye: 0.00120528 edge: 52 to 17 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 52 to 17 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 25(1311875573.250089) and 227(1311875580.457653) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999895 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:619/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 52 to 17 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 25(1311875573.250089) and 227(1311875580.457653) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999226 -0.027409 0.0282307 -0.182718 0.0279764 0.99941 -0.0199047 0.0685934 -0.0276685 0.0206791 0.999403 0.0796836 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999973 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:491/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 52 to 17 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 25(1311875573.250089) and 227(1311875580.457653) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999225 -0.027425 0.028237 -0.182699 0.0279926 0.99941 -0.0199064 0.0685736 -0.0276744 0.0206814 0.999403 0.079784 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1164/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.996964 -0.0177047 0.0758244 -0.397642 0.0141635 0.998795 0.0469882 -0.234424 -0.0765649 -0.0457716 0.996013 0.0681446 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 16 end 19 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 11698 o[1]: 931 o[2]: 199 o[3]: 25 histWeights: 1 1 1.25 1.5overlap: 1217.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 3343 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 17 and 52 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 52 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 52 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 5413 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 228 keyframes 53 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 523 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!229 INF|Input.cpp[getImages,132]: mNbReceivedImages!230 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.494071 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999997 0.000532425 0.00246576 0.00296009 -0.000530963 1 -0.000593579 0.00037296 -0.00246607 0.000592268 0.999997 0.00296455 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 52 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.494071) and 227(1311875580.457653) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999997 0.000532425 0.00246576 0.00296009 -0.000530963 1 -0.000593579 0.00037296 -0.00246607 0.000592268 0.999997 0.00296455 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999943 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1853/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 52 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.494071) and 227(1311875580.457653) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999991 -0.0042207 -0.000635848 0.0159454 0.00421028 0.99987 -0.0155799 0.0525075 0.000701523 0.0155771 0.999878 -0.0046185 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999888 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1302/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 52 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.494071) and 227(1311875580.457653) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99999 -0.00129792 0.00434554 0.00223977 0.0013233 0.999982 -0.00584136 0.00881825 -0.00433788 0.00584705 0.999973 0.00179937 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1248/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.372611 resInfo good: 3326, 17 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4898/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999988 -0.00156537 0.00454195 0.0046427 0.00157459 0.999997 -0.00202589 -0.00126124 -0.00453876 0.00203302 0.999988 0.00342403 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!228 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!229 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 230 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.525025 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!230 INF|Input.cpp[getImages,132]: mNbReceivedImages!231 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999974 -0.00234459 0.00681408 0.00697061 0.00236532 0.999993 -0.00303615 -0.00189173 -0.00680691 0.00305219 0.999972 0.00512717 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 52 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.525025) and 227(1311875580.457653) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999974 -0.00234459 0.00681408 0.00697061 0.00236532 0.999993 -0.00303615 -0.00189173 -0.00680691 0.00305219 0.999972 0.00512717 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1271/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 52 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.525025) and 227(1311875580.457653) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999982 0.00153336 0.00584678 0.00714941 -0.00149762 0.99998 -0.00611157 -0.0138545 -0.00585603 0.0061027 0.999964 -0.00299467 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.99998 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1619/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 52 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.525025) and 227(1311875580.457653) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99998 0.00016529 0.00632074 0.0126853 -0.000134924 0.999988 -0.00480433 -0.00929124 -0.00632146 0.00480338 0.999968 0.0049284 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999446 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:913/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.504767 resInfo good: 3334, 9 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4335/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999969 0.000143775 0.0078597 0.00913898 -9.42328e-05 0.99998 -0.00630335 0.00142633 -0.00786045 0.00630241 0.999949 0.00633085 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!229 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!230 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 231 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.558165 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!231 INF|Input.cpp[getImages,132]: mNbReceivedImages!232 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999936 0.00186706 0.01117 0.0136495 -0.00174882 0.999942 -0.0105862 0.00409388 -0.0111891 0.010566 0.999882 0.00923412 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 52 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.558165) and 227(1311875580.457653) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999936 0.00186706 0.01117 0.0136495 -0.00174882 0.999942 -0.0105862 0.00409388 -0.0111891 0.010566 0.999882 0.00923412 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999298 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:503/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 52 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.558165) and 227(1311875580.457653) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999936 0.001801 0.0111461 0.0135558 -0.00168208 0.999942 -0.0106697 0.00372483 -0.0111647 0.0106502 0.999881 0.00927462 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999607 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:810/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 52 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.558165) and 227(1311875580.457653) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999773 0.0172942 0.0124266 0.0096106 -0.0175063 0.999699 0.0171652 -0.139177 -0.012126 -0.0173788 0.999775 0.0259977 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999781 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:941/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.84659 resInfo good: 3283, 60 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2778/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999791 0.0118144 0.016658 -0.00218192 -0.0119946 0.99987 0.0107547 -0.0977322 -0.0165287 -0.0109523 0.999803 0.0140543 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!230 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 469 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!231 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 232 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.590062 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!232 INF|Input.cpp[getImages,132]: mNbReceivedImages!233 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999399 0.0233295 0.0256521 -0.0145848 -0.0240389 0.999327 0.0277031 -0.196604 -0.0249886 -0.0283031 0.999287 0.0235852 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 52 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.590062) and 227(1311875580.457653) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999399 0.0233295 0.0256521 -0.0145848 -0.0240389 0.999327 0.0277031 -0.196604 -0.0249886 -0.0283031 0.999287 0.0235852 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999498 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:563/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 52 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.590062) and 227(1311875580.457653) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999333 0.0273993 0.0241346 -0.0221075 -0.0279844 0.999314 0.0242448 -0.241062 -0.0234538 -0.0249041 0.999415 0.016825 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.99959 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:422/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 52 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.590062) and 227(1311875580.457653) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99833 0.0382239 0.0433079 -0.0871523 -0.0404186 0.997881 0.050987 -0.365261 -0.0412673 -0.0526523 0.99776 -0.00155164 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.99919 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:552/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.32262 resInfo good: 3252, 91 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2045/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.99823 0.039459 0.0444867 -0.0876949 -0.0415411 0.998036 0.0468928 -0.340094 -0.0425489 -0.0486578 0.997909 -0.00230181 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875580.590062 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875580.590062 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875580.590062 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 591 size: 2019 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875580.590062 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -8.2121 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -9.53125 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -10.1976 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 208 keyframeId: 49 score: -15.5155 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 216 keyframeId: 50 score: -17.011 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 221 keyframeId: 51 score: -12.6278 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 53 = 53 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x605f760 fh1 0x20f1be0fh->id: 16 53 231goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x605f760 fh1 0x1cb7520fh->id: 33 53 231goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x605f760 fh1 0x51e2b20fh->id: 43 53 231goodE: 16 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x605f760 fh1 0x3192c40fh->id: 49 53 231goodE: 95 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x605f760 fh1 0x3134000fh->id: 50 53 231goodE: 30 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x605f760 fh1 0x28f0e60fh->id: 51 53 231goodE: 47 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x605f760 fh1 0x1cbab40fh->id: 52 53 231goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew53 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 69 out of 73 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 73 newEdgePixels: 73 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 935 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 117 lastEnergy: 261.492 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 15 INF|LocalMapper.cpp[optimize,276]: Start Energy: 261.492 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 4.49611e-12 -4.57388e-12 4.60625e-12 -1.26203e-12 0.000435457 0.00198702 -0.00281713 -0.000652822 -9.28425e-05 0.00118435 0.00300438 -0.00061517 -0.0109627 -0.000725027 6.05977e-05 -0.000406051 -0.00434376 -0.00820764 -0.0181698 -0.00129439 -3.72478e-05 -0.0005363 0.0125159 0.0132142 0.00206472 0.00179894 -0.00126345 -0.00320198 0.0134783 0.0194804 -0.00828936 0.0026755 -0.000912072 -0.00281673 0.00461398 -0.000846905 -0.0116712 0.000243852 0.000418352 -0.00270495 0.00208568 0.00915257 0.00311376 0.00108573 -0.000405314 -0.00391707 0.0129594 0.00326281 0.00168634 0.00226992 -0.00116218 -0.00593685 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 935 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 230.843 0 0 newEnergyL 0 lastEnergy: 261.492 0 0 lastEnergyL: 0mActiveResiduals: 935 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -2.32977e-12 1.87647e-12 -4.26202e-12 9.05646e-12 0.000435313 -0.000264043 -0.000148435 -1.6713e-05 -3.36468e-05 -6.88e-05 -0.00142033 -0.000313544 0.00480608 -0.000303141 -6.64428e-05 0.000397787 0.00400152 0.00367941 0.0101312 0.000405829 -0.000254759 0.000808605 -0.0147514 0.000302319 -0.0105348 -6.53829e-06 0.00177919 0.00104631 -0.0145556 -0.00677918 1.33188e-05 -0.00109103 0.00136543 0.000638931 -0.00763039 0.0136409 0.00644614 0.00114327 0.000608758 0.00098731 -0.00218331 0.00450374 -0.00826611 0.000497788 0.000773094 0.000935201 0.00250679 -0.00459454 0.00769585 0.000358227 -0.000454492 -0.000176118 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 935 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 216.089 0 0 newEnergyL 0 lastEnergy: 230.843 0 0 lastEnergyL: 0mActiveResiduals: 935 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 5.31926e-12 -5.952e-13 -1.49384e-12 -3.96222e-12 -0.000327091 -0.003523 -0.00388185 -0.00103896 -0.000770789 0.001448 0.000373842 -0.000776985 -0.00111177 -0.00128946 -1.65414e-05 -2.12271e-05 -0.00136982 0.00186309 -0.00372276 -0.00134985 -0.000177037 -3.84247e-05 0.00539435 0.0016825 0.00797727 -0.00127197 -0.000710878 -0.000507417 0.00077053 0.00948783 -0.00495916 0.000136765 0.000161229 -0.000375698 0.00676159 -0.00352751 -0.00396691 -0.00140184 -0.000891711 -0.000594872 -0.0104228 0.00640926 0.00548931 -0.000720847 0.000631712 -0.000325181 -0.000278178 -0.0122906 0.00410488 -0.00311175 -0.000482447 -0.000535922 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 935 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 215.299 0 0 newEnergyL 0 lastEnergy: 216.089 0 0 lastEnergyL: 0mActiveResiduals: 935 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -3.76961e-12 -3.96818e-13 3.59082e-12 1.38353e-12 -0.00391981 0.00128301 0.00396924 0.000371614 0.000342965 0.000144249 -0.00269214 0.00171271 -0.00507077 -4.40327e-05 0.000476513 0.000608119 -0.00190107 0.00702382 -0.0037616 0.00082678 0.000312852 0.000860955 -0.00222894 -0.00532338 -0.00589059 -0.000983579 -0.000814354 0.00211097 0.00179329 -0.0111294 0.00638979 -0.00218094 -0.00175194 0.00213921 0.00333596 -0.00500433 0.00710041 -0.00118742 -0.00180266 0.00231001 0.00312014 -0.00758249 -0.00784233 -0.000982159 -0.000996855 0.00248087 0.00642154 0.0176847 -0.000531115 0.00248985 -0.00217432 0.00241053 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 935 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 213.642 0 0 newEnergyL 0 lastEnergy: 215.299 0 0 lastEnergyL: 0mActiveResiduals: 935 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 7.14542e-13 -1.2958e-12 2.49591e-13 -4.70673e-12 0.00153749 -0.00175067 -0.00106465 -0.000844823 -0.000489183 0.00251993 -0.000103814 -0.000728978 0.00242056 -0.00172583 5.35256e-05 0.000909994 -0.0069245 -0.0158703 0.0002479 -0.0027383 0.000405091 0.000949954 0.00518787 0.00937616 0.00520772 0.000980537 -0.000337119 0.000633569 -0.00179638 0.00799052 -0.00994484 0.00153633 0.000864535 0.000308482 0.00141301 0.00413305 -0.00943874 0.00092614 0.00037068 2.93552e-05 -0.000958557 0.0100638 0.00638187 0.00114333 -0.000272181 0.00029581 0.000812977 -0.0125809 0.00931302 -0.00197697 -0.000147556 0.000307559 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 935 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 218.936 0 0 newEnergyL 0 lastEnergy: 213.642 0 0 lastEnergyL: 0mActiveResiduals: 935 Input.cpp[readImages,206]: Got image from sensor!232 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.03422e-12 -1.58385e-13 -1.42045e-12 5.69241e-13 -0.00319589 0.00181692 -0.00238709 5.73333e-05 0.000473982 -0.00200433 -0.000999028 0.000814318 -0.00290441 0.00115314 -3.04396e-05 -0.00140719 0.00515253 0.0123412 0.00204085 0.00186647 -0.0002399 -0.00145782 -0.00317476 -0.0105696 -0.00432442 -0.00169087 0.00019451 -0.00108019 0.00521071 -0.0025956 0.0101351 -0.00157626 -0.00112462 -0.000215363 -0.000458025 -0.00450716 0.00815249 -0.00154017 -0.000372023 -0.000162774 0.00568495 -0.0067132 -0.00632922 -0.00148956 -0.000178692 1.21098e-05 -0.00820637 0.0101536 -0.0065551 0.00134309 0.00061694 0.000589656 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 935 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 210.742 0 0 newEnergyL 0 lastEnergy: 218.936 0 0 lastEnergyL: 0mActiveResiduals: 935 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 210.742 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 935 INF|LocalMapper.cpp[optimize,345]: End Energy: 210.742 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.492738 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.492738 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 50 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 50 with idx: 4 and allID: 216 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->50 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 50->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->50 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->50 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 50->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 49<->50 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 50->49 INF|LocalMapper.cpp[marginalizeFrame,801]: 50 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 50 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6719 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x605f760 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 53 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 25 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 2 with distance 0.094Found rest min at: 24 with distance 0.056 overall min: 0.056 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 2 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 679 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 53 into DB 0.094 2 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 2 and real id(17) current kf: 53(231) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.99822 -0.00897496 -0.0589557 0.0910375 0.00402687 0.996498 -0.0835174 0.99819 0.0594988 0.0831314 0.994761 0.312431 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 17 currFrame: 53 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.0118605 eye: 0.00213827 edge: 53 to 17 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 53 to 17 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 25(1311875573.250089) and 231(1311875580.590062) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999841 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:550/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 53 to 17 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 25(1311875573.250089) and 231(1311875580.590062) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.984122 -0.0345984 0.174089 -0.886069 0.0283722 0.99887 0.0381277 -0.138453 -0.175211 -0.032583 0.983992 -0.179561 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999008 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:262/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 53 to 17 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 25(1311875573.250089) and 231(1311875580.590062) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.981583 -0.0266697 0.189163 -0.939766 0.0130914 0.99727 0.0726709 -0.300217 -0.190585 -0.0688561 0.979253 -0.21217 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999223 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:334/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.982291 -0.0298944 0.184962 -0.919631 0.0145208 0.996367 0.0839206 -0.341521 -0.186799 -0.0797486 0.979156 -0.212873 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 16 end 19 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 233 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 9870 o[1]: 640 o[2]: 75 o[3]: 5 histWeights: 1 1 1.25 1.5overlap: 741.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 2019 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 17 and 53 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 53 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 53 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 4093 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 232 keyframes 54 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 523 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.625535 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!233 INF|Input.cpp[getImages,132]: mNbReceivedImages!234 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999214 0.0249666 0.0307852 -0.090726 -0.0261483 0.998913 0.038599 -0.236425 -0.029788 -0.0393737 0.99878 -0.0313517 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 53 to 380081056 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.625535) and 231(1311875580.590062) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999214 0.0249666 0.0307852 -0.090726 -0.0261483 0.998913 0.038599 -0.236425 -0.029788 -0.0393737 0.99878 -0.0313517 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 3): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:747/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 53 to 380081056 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.625535) and 231(1311875580.590062) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999211 0.0251184 0.0307774 -0.0894431 -0.0262437 0.998981 0.0367186 -0.243129 -0.0298237 -0.0374973 0.998852 -0.0483967 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999928 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1109/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 53 to 380081056 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.625535) and 231(1311875580.590062) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999298 0.0297053 0.0228236 -0.0370696 -0.0307626 0.998399 0.0474646 -0.284432 -0.0213771 -0.0481334 0.998612 -0.0530807 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999593 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:473/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.697233 resInfo good: 2019, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2690/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999897 0.00847889 0.0115786 0.0024996 -0.00853618 0.999952 0.00490819 -0.0639588 -0.0115364 -0.00500652 0.999921 -0.00934465 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!232 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!233 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 234 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.658903 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999588 0.0168985 0.0231967 0.00434844 -0.0171277 0.999806 0.00971691 -0.127982 -0.023028 -0.0101102 0.999684 -0.0183972 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 53 to 380081056 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.658903) and 231(1311875580.590062) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999588 0.0168985 0.0231967 0.00434844 -0.0171277 0.999806 0.00971691 -0.127982 -0.023028 -0.0101102 0.999684 -0.0183972 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!234 INF|Input.cpp[getImages,132]: mNbReceivedImages!235 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999256 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:556/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 53 to 380081056 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.658903) and 231(1311875580.590062) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999512 0.0214041 0.0227443 0.00645404 -0.0215444 0.99975 0.00593941 -0.135584 -0.0226114 -0.00642652 0.999724 -0.0592778 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999975 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:896/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 53 to 380081056 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.658903) and 231(1311875580.590062) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999875 0.00618223 0.0145856 0.0364709 -0.00598742 0.999893 -0.0133619 -0.0196102 -0.0146666 0.0132729 0.999804 -0.00112506 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999588 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:442/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.821646 resInfo good: 2019, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2295/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999757 0.00771058 0.0206445 0.0111603 -0.0075736 0.999949 -0.00670496 -0.0443345 -0.0206951 0.00654698 0.999764 0.00552545 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!233 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!234 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 235 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.694724 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999534 0.0070471 0.0297169 0.0199413 -0.00650475 0.999811 -0.018308 -0.0248772 -0.0298403 0.0181062 0.999391 0.0205437 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 53 to 380081056 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.694724) and 231(1311875580.590062) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999534 0.0070471 0.0297169 0.0199413 -0.00650475 0.999811 -0.018308 -0.0248772 -0.0298403 0.0181062 0.999391 0.0205437 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:931/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 53 to 380081056 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.694724) and 231(1311875580.590062) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999811 0.014824 0.0126043 0.0934904 -0.0148413 0.999889 0.00127823 -0.123881 -0.012584 -0.00146505 0.99992 -0.0321029 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!235 INF|Input.cpp[getImages,132]: mNbReceivedImages!236 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999759 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:674/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 53 to 380081056 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.694724) and 231(1311875580.590062) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999898 0.00544484 0.013173 0.0908391 -0.00527481 0.999903 -0.012908 -0.0399563 -0.013242 0.0128372 0.99983 0.0103045 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999938 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:503/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.04992 resInfo good: 2019, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2508/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999871 0.00525011 0.0152064 0.0829687 -0.00509017 0.999932 -0.0105379 -0.0460145 -0.0152607 0.0104591 0.999829 0.0163061 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875580.694724 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875580.694724 to keyframe with id: 380081056 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875580.694724 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 650 size: 3167 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId380081056 timestamp: 1311875580.694724 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -9.3715 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -10.7024 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -11.6818 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 208 keyframeId: 49 score: -15.9536 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 221 keyframeId: 51 score: -21.1481 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -18.8092 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 54 = 54 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x605aae0 fh1 0x20f1be0fh->id: 16 54 234goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x605aae0 fh1 0x1cb7520fh->id: 33 54 234goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x605aae0 fh1 0x51e2b20fh->id: 43 54 234goodE: 48 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x605aae0 fh1 0x3192c40fh->id: 49 54 234goodE: 93 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x605aae0 fh1 0x28f0e60fh->id: 51 54 234goodE: 52 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x605aae0 fh1 0x1cbab40fh->id: 52 54 234goodE: 27 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x605aae0 fh1 0x605f760fh->id: 53 54 234goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew54 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 33 out of 44 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 44 newEdgePixels: 44 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 926 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 145 lastEnergy: 250.688 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 18 INF|LocalMapper.cpp[optimize,276]: Start Energy: 250.688 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -3.5714e-12 4.2379e-12 2.42755e-13 3.16352e-12 0.00512499 0.00410758 0.00347402 0.00163066 0.000496315 -0.00191632 0.00594351 0.00311486 0.00787449 0.00269241 -0.000767892 -0.000747498 0.00290625 -0.00152032 0.00678911 0.00155492 -7.78536e-05 -0.00196127 0.00256095 0.016784 0.00782923 0.0040708 0.00159701 -0.00237105 -0.00803643 0.0119286 -0.00585349 0.00379372 0.0034586 -0.00392785 -0.0138357 0.015086 0.00815021 0.00369783 0.00328586 -0.00418973 0.0120218 -0.00410002 0.0154943 0.000799562 0.000818624 -0.0047638 -0.0045928 -0.104105 -0.00477812 -0.00879974 0.00373858 -0.0105258 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 926 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 233.418 0 0 newEnergyL 0 lastEnergy: 250.688 0 0 lastEnergyL: 0mActiveResiduals: 926 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.35262e-12 2.23434e-13 -2.83382e-12 2.911e-12 -0.000164199 -0.000233063 -3.96286e-06 -1.46807e-05 2.45468e-05 -4.30298e-05 0.000312857 -0.00112356 -4.99791e-05 -0.00025077 -1.45814e-05 0.000204011 0.00127782 0.00155432 0.00148818 0.000177269 -6.83163e-05 0.000357824 -0.0126985 -0.0193325 -0.0138785 -0.00228795 0.00109137 0.000449124 -0.00359202 -0.00699545 -0.000190818 -0.00124766 -0.000443928 0.00188056 0.0012477 -0.0164752 -0.0130301 -0.00200163 -0.000226956 0.00146567 -0.0305426 0.00244966 -0.0220025 0.00121146 0.00264664 0.00222895 -0.00263417 -0.0442733 -0.00668214 -0.00471119 -0.000281437 0.000977612 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 926 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 214.917 0 0 newEnergyL 0 lastEnergy: 233.418 0 0 lastEnergyL: 0mActiveResiduals: 926 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 2.65275e-12 6.56097e-13 2.48411e-12 3.44942e-12 -0.00160775 -0.00970448 -0.00351277 0.000233591 -0.000188398 0.00101463 0.00449666 -0.00420985 0.00224558 -0.000216175 0.000162712 0.000628655 0.00133003 0.00407747 0.000763317 -0.000113996 0.000306652 0.000430234 0.00282057 0.0201745 0.00084071 0.00117032 -0.000141313 0.00112038 0.000699228 0.0102095 -0.0062775 0.000209596 0.000157381 0.000734208 -0.0146515 0.0129435 0.004645 0.000547086 0.00107228 0.000333911 -0.00324568 -0.0359533 0.00205933 -0.00586729 0.000934741 -0.00237061 0.0085988 0.00186588 0.00231415 -0.00217449 -0.000912751 -0.00045527 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 926 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 224.207 0 0 newEnergyL 0 lastEnergy: 214.917 0 0 lastEnergyL: 0mActiveResiduals: 926 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 4.6649e-13 -2.91852e-12 -2.0159e-12 -3.10428e-12 -0.00259229 -0.0032224 -0.00342349 0.00208608 0.000832677 -0.00167872 0.00363204 -0.00194146 0.00244692 0.00270196 -8.33643e-05 -7.53488e-05 0.00448061 0.00549224 0.00552482 0.0027781 0.000311665 -0.000781802 0.00437577 0.00523157 0.00599544 0.00214392 2.06514e-05 -0.00237955 -0.00629345 0.00476703 0.0110321 0.00196833 0.000896745 -0.00228124 0.00168151 0.000994364 -0.000772876 0.00123705 0.000648592 -0.00177394 -0.00940362 0.0316923 -0.00927027 0.00429897 0.00184436 -0.00186161 -0.000776046 -0.0421392 -0.00813505 -0.00361917 0.00121769 -0.00515198 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 926 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 209.815 0 0 newEnergyL 0 lastEnergy: 224.207 0 0 lastEnergyL: 0mActiveResiduals: 926 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -7.37743e-13 2.08594e-12 1.65988e-13 -9.77672e-12 0.0024778 0.000445688 -0.00298864 -0.00132112 -0.000460058 0.00245611 -0.000450101 0.00233662 3.99801e-06 -0.00182383 0.000502048 0.000429578 -0.00116161 0.00204757 0.00300893 -0.00134962 0.000521179 0.000842217 -0.0119207 -0.00841188 -0.00630289 -0.00216968 0.00179596 4.33495e-05 -0.00349654 0.00421424 -0.00602048 -0.00108257 0.00107334 0.000327677 0.002565 -0.00532974 -0.0023121 -0.00187077 -0.000128964 -0.000950425 0.00589045 -0.0139717 0.00293441 -0.00408584 -0.000434264 0.000843304 0.00669172 0.0201511 0.00826705 0.000450538 -0.000743463 0.00216977 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 926 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 202.365 0 0 newEnergyL 0 lastEnergy: 209.815 0 0 lastEnergyL: 0mActiveResiduals: 926 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 4.87719e-12 -2.16592e-12 -1.28806e-13 4.26801e-12 -0.00285988 -0.000445791 0.00205122 0.00154905 0.000325526 0.000652378 -0.00150366 -0.00053473 -0.00316411 0.000565427 0.00037795 0.00151816 -0.00233609 0.000536081 -0.00203998 0.00114373 0.000447147 0.00140904 0.00876552 0.00543641 0.00440171 0.00119796 -0.00174533 0.00144532 0.00430479 -0.00811577 -0.000320775 8.1653e-05 -0.00145846 0.00137553 -0.00927117 0.000201267 0.0075523 0.000940099 -0.00020536 0.00231511 0.00535967 0.01693 -0.0014813 0.00263849 -0.00132053 0.000964516 -0.00122462 -0.0154109 -0.00860148 -0.00116574 -0.000606815 -0.000494142 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 926 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 205.455 0 0 newEnergyL 0 lastEnergy: 202.365 0 0 lastEnergyL: 0mActiveResiduals: 926 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 205.455 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 926 INF|LocalMapper.cpp[optimize,345]: End Energy: 205.455 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.481551 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.481551 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 51 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 51 with idx: 4 and allID: 221 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->51 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 51->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->51 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->51 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 51->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 49<->51 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 51->49 INF|LocalMapper.cpp[marginalizeFrame,801]: 51 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 51 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6803 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x605aae0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 54 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 26 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 2 with distance 0.102Found rest min at: 25 with distance 0.058 overall min: 0.058 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 2 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 687 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 54 into DB 0.102 2 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 2 and real id(17) current kf: 54(234) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.997404 0.00147368 -0.0719874 0.0131155 -0.00531217 0.998572 -0.0531595 0.9534 0.0718062 0.0534039 0.995988 0.27899 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 17 currFrame: 54 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00801997 eye: 0.00157085 edge: 54 to 17 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 54 to 17 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 25(1311875573.250089) and 234(1311875580.694724) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,206]: Got image from sensor!235 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 20,0.999678 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3056/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 54 to 17 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 25(1311875573.250089) and 234(1311875580.694724) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.907411 -0.0130774 0.42004 -1.66599 -0.0322716 0.994396 0.100675 -0.529263 -0.419003 -0.104909 0.901904 -0.783872 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999995 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:578/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 54 to 17 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 25(1311875573.250089) and 234(1311875580.694724) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.907411 -0.0130775 0.42004 -1.666 -0.0322714 0.994396 0.100675 -0.529264 -0.419003 -0.104909 0.901904 -0.783881 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 236 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 11,0.999836 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1760/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.901646 -0.0239592 0.43181 -1.74212 -0.027703 0.993214 0.112954 -0.56851 -0.431586 -0.113807 0.894864 -0.917945 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 16 end 19 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 10230 o[1]: 359 o[2]: 62 o[3]: 6 histWeights: 1 1 1.25 1.5overlap: 445.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 3167 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 17 and 54 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 54 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 54 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 8443 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 235 keyframes 55 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 524 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.725556 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!236 INF|Input.cpp[getImages,132]: mNbReceivedImages!237 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999984 -0.00550236 -0.00161332 0.0292333 0.00548358 0.99992 -0.011425 0.0447602 0.00167605 0.011416 0.999933 0.00709208 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 54 to 124142720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.725556) and 234(1311875580.694724) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999984 -0.00550236 -0.00161332 0.0292333 0.00548358 0.99992 -0.011425 0.0447602 0.00167605 0.011416 0.999933 0.00709208 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1692/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 54 to 124142720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.725556) and 234(1311875580.694724) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999971 -0.00735861 -0.00194805 0.026398 0.00733207 0.999885 -0.0132943 0.0364008 0.00204566 0.0132796 0.99991 0.0123545 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 10,0.999987 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1988/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 54 to 124142720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.725556) and 234(1311875580.694724) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999923 -0.000150579 0.0123688 -0.021816 0.000131549 0.999999 0.00153935 -0.027075 -0.012369 -0.00153761 0.999922 -0.00298221 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1313/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.421622 resInfo good: 3167, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5543/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99997 -0.00399918 0.00660504 0.0026488 0.00402188 0.999986 -0.00342662 0.00216158 -0.00659124 0.00345309 0.999972 0.00664613 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!235 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!236 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 237 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!237 INF|Input.cpp[getImages,132]: mNbReceivedImages!238 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.760045 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999933 -0.00599017 0.00991258 0.00398639 0.00604124 0.999969 -0.00512993 0.0032378 -0.00988154 0.00518947 0.999938 0.0099654 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 54 to 124142720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.760045) and 234(1311875580.694724) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999933 -0.00599017 0.00991258 0.00398639 0.00604124 0.999969 -0.00512993 0.0032378 -0.00988154 0.00518947 0.999938 0.0099654 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999934 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:678/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 54 to 124142720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.760045) and 234(1311875580.694724) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999904 -0.009343 0.0101977 0.00583095 0.00939931 0.999941 -0.00548824 0.00157331 -0.0101458 0.00558357 0.999933 0.00647019 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999624 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1495/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 54 to 124142720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.760045) and 234(1311875580.694724) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999902 -0.00986949 0.00997493 0.0168439 0.00989715 0.999947 -0.00272759 -0.000512807 -0.00994749 0.00282605 0.999947 0.0061005 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1363/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.611701 resInfo good: 3163, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4207/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999894 -0.00942072 0.0110773 0.0152082 0.00942927 0.999955 -0.000720167 -0.00426589 -0.0110701 0.000824542 0.999938 0.00659272 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!236 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!237 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 238 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.794897 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999838 -0.0121358 0.0133079 0.0215008 0.0121283 0.999926 0.000642117 -0.00745409 -0.0133147 -0.000480611 0.999911 0.00655136 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 54 to 124142720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.794897) and 234(1311875580.694724) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999838 -0.0121358 0.0133079 0.0215008 0.0121283 0.999926 0.000642117 -0.00745409 -0.0133147 -0.000480611 0.999911 0.00655136 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!238 INF|Input.cpp[getImages,132]: mNbReceivedImages!239 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 7): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1957/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 54 to 124142720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.794897) and 234(1311875580.694724) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999852 -0.0111887 0.0130373 0.0231424 0.0112199 0.999934 -0.00232341 -0.0157809 -0.0130105 0.00246935 0.999912 0.0185416 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999526 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1673/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 54 to 124142720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.794897) and 234(1311875580.694724) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999846 -0.0123872 0.0123973 0.0349415 0.0124201 0.99992 -0.00258159 -0.00310687 -0.0123644 0.00273517 0.99992 0.0171245 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999617 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1012/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.748521 resInfo good: 3167, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5200/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999803 -0.0121152 0.0157304 0.0231587 0.0121401 0.999925 -0.0014905 -0.00456644 -0.0157112 0.00168117 0.999875 0.0176278 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!237 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 473 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!238 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 239 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.829277 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!239 INF|Input.cpp[getImages,132]: mNbReceivedImages!240 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999683 -0.0148055 0.0203853 0.0311613 0.0148544 0.999887 -0.0022482 -0.00485433 -0.0203497 0.00255029 0.99979 0.0286256 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 54 to 124142720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.829277) and 234(1311875580.694724) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999683 -0.0148055 0.0203853 0.0311613 0.0148544 0.999887 -0.0022482 -0.00485433 -0.0203497 0.00255029 0.99979 0.0286256 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999128 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1239/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 54 to 124142720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.829277) and 234(1311875580.694724) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999166 0.0107841 0.0393829 -0.040341 -0.0125272 0.99894 0.0442855 -0.259703 -0.0388636 -0.0447419 0.998242 -0.00549916 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999341 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1101/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 54 to 124142720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.829277) and 234(1311875580.694724) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99909 0.013879 0.0403319 -0.0329105 -0.0161087 0.998329 0.0554973 -0.30137 -0.0394943 -0.0560965 0.997644 -0.00715668 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 11,0.99968 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1274/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.01037 resInfo good: 3158, 9 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4256/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999852 -0.00621427 0.0160649 0.0677019 0.00609 0.999951 0.00777266 -0.061353 -0.0161124 -0.00767368 0.999841 0.0169231 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875580.829277 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875580.829277 to keyframe with id: 124142720 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875580.829277 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 672 size: 3569 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId124142720 timestamp: 1311875580.829277 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -8.6901 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -10.0061 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -10.472 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 208 keyframeId: 49 score: -10.5743 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -9.45466 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 231 keyframeId: 53 score: -6.10511 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 55 = 55 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x143c4720 fh1 0x20f1be0fh->id: 16 55 238goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x143c4720 fh1 0x1cb7520fh->id: 33 55 238goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x143c4720 fh1 0x51e2b20fh->id: 43 55 238goodE: 51 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x143c4720 fh1 0x3192c40fh->id: 49 55 238goodE: 72 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x143c4720 fh1 0x1cbab40fh->id: 52 55 238goodE: 32 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x143c4720 fh1 0x605f760fh->id: 53 55 238goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x143c4720 fh1 0x605aae0fh->id: 54 55 238goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew55 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 98 out of 103 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 103 newEdgePixels: 103 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 896 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 117 lastEnergy: 252.557 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 16 INF|LocalMapper.cpp[optimize,276]: Start Energy: 252.557 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.92712e-12 2.41935e-13 6.33293e-12 -4.8057e-12 0.00411105 0.0156285 0.00759276 -0.0023021 -0.000474351 -0.00221013 -0.00687623 0.0109224 -0.000613205 -0.000118692 -0.00106941 -0.00362813 -0.00231788 -0.00143198 0.00080555 -0.00137271 -0.00125109 -0.00363866 0.00408988 -0.00231731 0.00340651 -0.00112474 -0.000321523 -0.00477223 0.0146902 0.0141218 0.000946408 -0.00024629 -0.000460748 -0.00546682 -0.00337707 -0.0122201 0.002724 -0.00304068 0.00113877 -0.00337553 0.0393448 0.0336736 0.0136389 0.00247525 -0.0035751 -0.0036384 -0.00998925 0.0156441 0.0352705 0.000610949 0.00080056 -0.00217118 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 896 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 219.317 0 0 newEnergyL 0 lastEnergy: 252.557 0 0 lastEnergyL: 0mActiveResiduals: 896 Input.cpp[readImages,206]: Got image from sensor!239 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -4.41997e-12 -4.35899e-13 9.19416e-13 2.65684e-12 4.14745e-05 -0.000731024 7.99742e-05 -6.55987e-05 -9.23363e-08 -6.58357e-05 0.000325303 -0.00194484 -0.000255348 -0.000326266 1.67286e-05 0.000313617 0.000268344 -0.000597748 0.000296536 2.43209e-06 6.97883e-06 0.000434881 0.00438624 -0.00861081 -0.000515152 -0.000898904 -0.00098813 0.0024131 0.010635 -0.000497191 0.00124615 0.000188132 -0.00209753 0.0028658 -0.0106171 -0.0133559 -0.00575638 -0.000708665 0.000646729 0.00252358 0.00419558 0.00865235 -0.000761924 0.000823345 -0.0015501 0.0044261 0.00348836 -0.0250595 -0.0159532 -0.00208364 -0.000668147 0.00177474 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 896 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 204.239 0 0 newEnergyL 0 lastEnergy: 219.317 0 0 lastEnergyL: 0mActiveResiduals: 896 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.25556e-12 9.68609e-13 -4.50699e-12 6.39e-13 0.00288066 0.00114944 0.00185898 -0.00113397 -0.000499349 -0.000632531 -0.000914186 -0.000788283 -0.000867346 -0.000639433 -0.000506222 -0.000886537 0.000183505 -0.00616814 -0.00430967 -0.00108158 -0.000750004 -0.000593558 0.00568446 -0.00222247 0.00303259 -0.000233447 -0.000969534 -0.000876324 0.000468423 0.0077169 -0.000398229 0.000869585 -0.000187429 8.15695e-05 -0.0047825 -0.00516503 -0.00297585 0.000284641 0.000359864 -0.000724018 -0.00305469 0.00386503 0.00267316 0.00147944 -3.05384e-05 -0.000388489 0.000946637 0.000243993 0.00311552 0.000310819 -0.000439627 0.000747532 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 896 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 200.648 0 0 newEnergyL 0 lastEnergy: 204.239 0 0 lastEnergyL: 0mActiveResiduals: 896 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -7.92253e-13 7.08176e-13 -9.83826e-14 2.87425e-12 -0.00346749 -0.00349587 -0.000335582 0.00181714 0.000750316 -0.00176617 0.00241461 -0.000772602 0.00220239 0.00256471 -0.0001176 -0.000281484 0.00200447 0.00684411 0.0025335 0.00242789 0.000151515 -0.00118656 0.00475671 0.0093487 0.00505166 0.00219216 -0.000191422 0.000252006 -0.00428184 0.0029158 0.000737508 0.00141951 0.000753066 -0.000654044 0.000827457 0.00867327 0.00200752 0.000927419 0.000458758 -0.000258126 0.00172739 -0.0168017 -0.0081076 -0.00213413 0.00067192 -0.00120622 -0.00665394 -0.00610293 -0.00296276 -4.15662e-05 0.00114846 -0.00249017 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 896 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 201.539 0 0 newEnergyL 0 lastEnergy: 200.648 0 0 lastEnergyL: 0mActiveResiduals: 896 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -8.53264e-13 -2.15567e-13 7.33855e-15 1.56668e-12 -0.000221559 0.00393623 -0.00257442 -0.0018171 -0.000383751 -0.000271493 -0.000760896 -0.000213898 -0.00129895 -0.00172132 -0.000227085 -0.000805981 -0.000752448 -0.00515277 -0.00144195 -0.00203336 -0.000373296 -4.1722e-05 -0.0005438 -0.00839452 0.00154945 -0.0019509 -0.000217381 -0.00056191 0.00949319 0.0032691 0.00377996 -0.000887327 -0.00134973 0.00124479 -0.00572655 -0.00691154 -0.00287553 -0.00085093 0.000179085 0.000705372 -0.00245705 0.00496524 0.00275727 0.000925392 -0.000155962 0.000285259 0.00153392 0.00839979 0.00166965 0.000361131 -0.000301678 0.00247894 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 896 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 196.869 0 0 newEnergyL 0 lastEnergy: 201.539 0 0 lastEnergyL: 0mActiveResiduals: 896 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -7.8061e-13 8.24017e-14 -1.83914e-12 -7.80521e-13 -0.00130708 -0.00348907 -4.27573e-05 0.00133743 0.000553499 -0.000745655 0.00289648 -0.00103542 0.00265619 0.00162304 2.66482e-05 4.64273e-05 0.0025498 0.00548421 0.00326113 0.00161797 0.000244068 -0.000612164 0.00098585 0.0069417 -0.00107527 0.00150712 0.000271476 -7.56011e-05 -0.0056255 0.00755366 -0.00228262 0.0015613 0.000767153 -0.000738144 0.00641146 -0.00597328 0.00059665 -0.00126124 1.78941e-05 -0.00159084 0.000555932 -0.00321616 -0.000139171 -0.00136294 0.000297507 -0.000646153 -0.00855601 -0.00582226 -0.00087974 -0.00109607 0.000919577 -0.00263657 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 896 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 201.602 0 0 newEnergyL 0 lastEnergy: 196.869 0 0 lastEnergyL: 0mActiveResiduals: 896 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 201.602 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 896 INF|LocalMapper.cpp[optimize,345]: End Energy: 201.602 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.479455 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.479455 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 49 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 49 with idx: 3 and allID: 208 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->49 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 49->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->49 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->49 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 49->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 49<->49 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->49 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 49->52 INF|LocalMapper.cpp[marginalizeFrame,801]: 49 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 49 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6789 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x143c4720 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 55 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 240 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 27 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 1 with distance 0.106Found rest min at: 26 with distance 0.06 overall min: 0.06 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 685 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 55 into DB 0.106 1 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 1 and real id(16) current kf: 55(238) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.999882 -0.00867485 -0.0126557 -0.0780489 0.0074612 0.99564 -0.0929782 1.08393 0.0134071 0.0928728 0.995588 0.320914 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 16 currFrame: 55 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00265225 eye: 0.000769624 edge: 55 to 16 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 55 to 16 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 23(1311875573.181943) and 238(1311875580.829277) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 25,0.999987 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2860/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 55 to 16 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 23(1311875573.181943) and 238(1311875580.829277) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.996542 0.0592455 -0.0582562 0.294524 -0.0418913 0.963746 0.263512 -1.25325 0.0717561 -0.26016 0.962895 -0.359274 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999317 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:702/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 55 to 16 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 23(1311875573.181943) and 238(1311875580.829277) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.993977 0.0705505 -0.0838598 0.430533 -0.0443733 0.95878 0.280664 -1.32021 0.100204 -0.275252 0.956136 -0.340953 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.9995 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:452/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.993281 0.0726259 -0.0901067 0.463066 -0.044763 0.959079 0.279577 -1.31256 0.106724 -0.273665 0.955886 -0.339913 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 15 end 18 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames Input.cpp[readImages,192]: readImages loop! INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Input.cpp[getImages,128]: getimages!240 INF|Input.cpp[getImages,132]: mNbReceivedImages!241 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 10799 o[1]: 605 o[2]: 72 o[3]: 10 histWeights: 1 1 1.25 1.5overlap: 710 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 3569 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 16 and 55 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 55 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 55 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 7095 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 239 keyframes 56 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 489 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.860240 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999973 0.0048185 -0.00545763 0.0744866 -0.00479015 0.999975 0.00519591 -0.0345247 0.00548253 -0.00516963 0.999972 -0.00628534 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 55 to 380043024 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.860240) and 238(1311875580.829277) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999973 0.0048185 -0.00545763 0.0744866 -0.00479015 0.999975 0.00519591 -0.0345247 0.00548253 -0.00516963 0.999972 -0.00628534 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 7): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2076/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 55 to 380043024 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.860240) and 238(1311875580.829277) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999971 0.00534591 -0.00547652 0.0653182 -0.00532826 0.999981 0.00323255 -0.0417008 0.00549369 -0.00320328 0.99998 -0.0024459 Input.cpp[readImages,206]: Got image from sensor!240 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.99993 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1481/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 55 to 380043024 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.860240) and 238(1311875580.829277) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99987 0.00512269 0.0152807 -0.0181421 -0.00524517 0.999954 0.00798596 -0.0542698 -0.0152391 -0.00806507 0.999851 -0.0040368 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999629 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:500/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.666048 resInfo good: 3561, 8 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4646/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999865 0.00444076 0.0158016 -0.0174026 -0.00460704 0.999934 0.010502 -0.0583211 -0.015754 -0.0105734 0.99982 -0.00263227 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!239 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 241 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.894951 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!241 INF|Input.cpp[getImages,132]: mNbReceivedImages!242 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999461 0.00871355 0.0316449 -0.0351035 -0.0093786 0.999737 0.0209287 -0.116586 -0.0314542 -0.0212142 0.99928 -0.00437326 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 55 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.894951) and 238(1311875580.829277) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999461 0.00871355 0.0316449 -0.0351035 -0.0093786 0.999737 0.0209287 -0.116586 -0.0314542 -0.0212142 0.99928 -0.00437326 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999281 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:495/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 55 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.894951) and 238(1311875580.829277) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999413 0.00185878 0.0341955 -0.0666888 -0.00165749 0.999981 -0.00591387 -0.0318628 -0.0342059 0.00585372 0.999398 0.00583676 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.99927 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1199/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 55 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.894951) and 238(1311875580.829277) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999424 0.00184939 0.0338919 -0.0543749 -0.00176465 0.999995 -0.00253006 -0.0383953 -0.0338964 0.0024688 0.999422 0.00683835 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1248/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.866952 resInfo good: 3478, 91 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3555/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999344 0.00376242 0.0360266 -0.0568003 -0.00375649 0.999993 -0.000232056 -0.0465587 -0.0360272 9.65702e-05 0.999351 0.00307291 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!240 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!241 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 242 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!242 INF|Input.cpp[getImages,132]: mNbReceivedImages!243 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.928566 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998412 0.00330011 0.0562429 -0.0960799 -0.00268849 0.999936 -0.0109467 -0.0348851 -0.0562755 0.0107781 0.998357 0.00970016 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 55 to 380043024 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.928566) and 238(1311875580.829277) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998412 0.00330011 0.0562429 -0.0960799 -0.00268849 0.999936 -0.0109467 -0.0348851 -0.0562755 0.0107781 0.998357 0.00970016 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999898 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:849/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 55 to 380043024 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.928566) and 238(1311875580.829277) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998601 0.000802876 0.0528758 -0.102259 -0.000200512 0.999935 -0.0113964 -0.0468255 -0.0528815 0.0113698 0.998536 0.0106147 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999378 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1202/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 55 to 380043024 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.928566) and 238(1311875580.829277) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999019 0.00604422 0.0438639 -0.047526 -0.00618335 0.999976 0.00303685 -0.103939 -0.0438445 -0.0033051 0.999033 0.00213907 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1228/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.935209 resInfo good: 3517, 52 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3906/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999653 0.000251132 0.0263558 0.0311565 -3.53363e-06 0.999956 -0.00939409 -0.0351262 -0.026357 0.00939073 0.999608 0.0142757 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!241 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!242 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 243 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875580.993710 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99995 -0.00703959 0.00710644 0.206601 0.00723475 0.999587 -0.0278215 -0.0116821 -0.00690765 0.0278715 0.999588 0.0395576 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 55 to 380043024 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.993710) and 238(1311875580.829277) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99995 -0.00703959 0.00710644 0.206601 0.00723475 0.999587 -0.0278215 -0.0116821 -0.00690765 0.0278715 0.999588 0.0395576 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!243 INF|Input.cpp[getImages,132]: mNbReceivedImages!244 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999048 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:676/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 55 to 380043024 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.993710) and 238(1311875580.829277) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998621 0.00536924 0.0522196 0.0168919 -0.00481854 0.999932 -0.0106661 -0.0725613 -0.0522732 0.0103998 0.998579 0.00661498 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1493/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 55 to 380043024 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875580.993710) and 238(1311875580.829277) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998872 0.00459463 0.0472602 0.0478996 -0.004219 0.999959 -0.00804493 -0.0744514 -0.0472952 0.00783646 0.99885 0.0167993 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999933 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1012/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.23385 resInfo good: 3546, 23 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3807/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998919 0.00327425 0.046363 0.0568737 -0.00295968 0.999972 -0.00685197 -0.0720368 -0.0463841 0.00670735 0.998901 0.0163874 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875580.993710 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875580.993710 to keyframe with id: 380043024 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875580.993710 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 716 size: 4173 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId380043024 timestamp: 1311875580.993710 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -8.52299 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -9.82869 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -9.58407 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -8.49208 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 231 keyframeId: 53 score: -13.7851 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 234 keyframeId: 54 score: -12.7382 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 56 = 56 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51debc0 fh1 0x20f1be0fh->id: 16 56 242goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51debc0 fh1 0x1cb7520fh->id: 33 56 242goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51debc0 fh1 0x51e2b20fh->id: 43 56 242goodE: 53 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51debc0 fh1 0x1cbab40fh->id: 52 56 242goodE: 90 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51debc0 fh1 0x605f760fh->id: 53 56 242goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51debc0 fh1 0x605aae0fh->id: 54 56 242goodE: 25 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x51debc0 fh1 0x143c4720fh->id: 55 56 242goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew56 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 103 out of 109 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 109 newEdgePixels: 109 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1056 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 131 lastEnergy: 298.878 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 20 INF|LocalMapper.cpp[optimize,276]: Start Energy: 298.878 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.96405e-12 -2.10735e-12 5.20179e-12 2.06853e-12 0.00233342 0.000419452 0.00116856 -0.000346701 -0.000432109 0.00331361 -0.00317385 -0.00143002 -0.00860416 -0.00230377 0.00102674 0.00237991 -0.00536013 -0.0138905 -0.0163088 -0.00214765 0.000470708 0.00330731 0.0140266 -0.016051 0.00122983 -0.00127528 -0.00201546 0.00172459 0.000137731 0.00557215 0.00024826 0.00219595 -0.000914582 0.00215559 0.00987925 0.0097486 0.00370867 0.00286829 -0.00221439 0.0023858 0.0105012 -0.00540775 0.00245988 0.000637854 -0.00194436 0.0037185 0.0573582 -0.0598468 -0.0167151 -0.00507732 -0.00651992 -0.000671146 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1056 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 250.252 0 0 newEnergyL 0 lastEnergy: 298.878 0 0 lastEnergyL: 0mActiveResiduals: 1056 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.07654e-13 5.37825e-13 -2.74415e-12 3.44055e-12 0.000429253 9.34278e-05 0.000112843 1.0804e-05 -5.12113e-05 2.18944e-06 0.000130701 0.000161792 8.05633e-05 3.74252e-05 -3.46198e-05 -0.00011797 6.48277e-05 0.00168587 0.00124115 3.44739e-05 1.17624e-05 -0.000473683 0.000826775 0.00473478 -0.00678908 0.000616282 -0.000343867 0.00154469 0.00145981 -0.00627894 3.24542e-05 -0.00107284 -0.000524493 0.00205405 -0.000551951 -0.00326825 -0.00305839 -0.000771957 -0.000328189 0.00188598 -0.000381489 -0.00991278 -0.00686139 -0.00089971 -0.000318048 -9.19202e-05 0.00618528 -0.00974789 -0.00391018 -0.000804986 -0.000857652 0.000655511 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1056 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 230.112 0 0 newEnergyL 0 lastEnergy: 250.252 0 0 lastEnergyL: 0mActiveResiduals: 1056 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 2.27764e-12 -4.98984e-13 4.3325e-13 -2.51852e-12 0.00246177 0.00292087 0.00135818 -0.000309931 -0.00033439 0.00103754 -0.00247356 0.000833646 0.000112948 -0.000947409 7.499e-05 0.000551666 -0.00168074 -0.00586719 -0.000599312 -0.00107187 -9.60501e-05 0.000614254 0.00113095 -0.0112059 0.00142405 -0.00109198 2.23476e-05 0.00104958 -0.00519073 -0.00777404 -0.00508537 0.000394146 0.000559149 0.000473357 -0.00616055 0.00431468 0.000443968 0.00189566 0.000731435 0.000973841 -0.00353399 0.00906262 0.000365246 0.00202832 0.000761166 0.00256932 0.015432 0.00790574 0.000583407 0.00226419 -0.00147997 0.00151382 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1056 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 229.443 0 0 newEnergyL 0 lastEnergy: 230.112 0 0 lastEnergyL: 0mActiveResiduals: 1056 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.40974e-13 3.4726e-13 6.23019e-13 -1.60613e-12 -0.00389304 -0.00720786 -0.00178056 0.00192285 0.0008296 -0.00196133 0.00307774 -0.00202989 0.00300216 0.00319512 -0.000243773 -0.000634992 0.00303092 0.00880182 0.004687 0.00308424 0.000139254 -0.00183737 0.00138672 0.0217753 0.00146875 0.00389253 0.000138662 -0.00137889 0.000921881 0.0129063 0.00411872 0.00192441 0.000751249 -0.00186789 0.00295189 0.00383783 -0.00342333 0.000511142 0.000594285 -0.00206389 0.00423574 -0.00938569 -0.00202021 -0.000529837 -8.87276e-05 -0.00437979 -0.0153342 -0.0273655 -0.00348047 -0.00307555 0.0024101 -0.00400346 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1056 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 219.717 0 0 newEnergyL 0 lastEnergy: 229.443 0 0 lastEnergyL: 0mActiveResiduals: 1056 Input.cpp[readImages,206]: Got image from sensor!243 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.43644e-12 3.96676e-14 4.37423e-13 1.10458e-12 0.00264895 0.0050935 0.00369746 -0.000250349 5.12027e-05 -0.000929888 -0.00119249 0.000931055 -0.00086816 -0.000120501 -0.00011194 -0.000470262 -0.000168163 -0.00345869 -0.00193805 -0.000280658 -0.00022029 -0.000215681 2.81409e-06 -0.0224749 -0.00138179 -0.00274628 3.10085e-05 0.00050159 -0.00442525 -0.0126058 -0.00560697 -0.000790545 7.92442e-05 0.000725525 0.000155021 -0.00124302 0.00105831 0.00087191 -0.00044895 0.000935998 -0.00702132 0.0351044 0.00651837 0.00434095 0.000444769 0.00481744 0.0114027 -0.00216945 -0.00243747 0.000681853 -0.00140905 0.00112751 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1056 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 221.895 0 0 newEnergyL 0 lastEnergy: 219.717 0 0 lastEnergyL: 0mActiveResiduals: 1056 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.52013e-12 -6.33504e-14 5.24637e-14 -3.67324e-12 -0.00532054 -0.00535023 -0.00589231 0.000737114 0.00038637 0.000894698 0.000923788 -0.00121895 0.00113996 0.000577461 0.000404696 0.000522766 -0.000516933 0.00647354 0.00604081 0.000857349 0.000728597 -7.82156e-05 0.00330298 0.0215875 0.00230788 0.00260046 -0.000379415 0.000782788 0.00399661 0.00493033 0.0044204 -0.000135504 0.000191159 -0.000486793 -0.00215125 -0.00162874 -0.00211009 -0.00140383 0.000781591 -3.48915e-05 0.0102158 -0.0220295 -0.00862025 -0.00321162 -0.000906194 -0.00274976 -0.0137458 -0.000472682 0.00346504 -0.000868258 0.00165819 -0.000519462 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1056 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 217.778 0 0 newEnergyL 0 lastEnergy: 221.895 0 0 lastEnergyL: 0mActiveResiduals: 1056 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 217.778 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1056 INF|LocalMapper.cpp[optimize,345]: End Energy: 217.778 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.457166 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.457166 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 53 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 53 with idx: 4 and allID: 231 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->53 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 53->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->53 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->53 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 53->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->53 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 53->52 INF|LocalMapper.cpp[marginalizeFrame,801]: 53 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 53 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 7251 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x51debc0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 56 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 28 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 1 with distance 0.104Found rest min at: 27 with distance 0.094 overall min: 0.094 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 688 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 56 into DB 0.104 1 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 1 and real id(16) current kf: 56(242) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.997797 -0.00690663 -0.0659778 -0.0996922 0.00175513 0.996966 -0.0778201 1.11496 0.0663151 0.0775329 0.994782 0.29297 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 16 currFrame: 56 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00196583 eye: 0.000805539 edge: 56 to 16 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 56 to 16 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 23(1311875573.181943) and 242(1311875580.993710) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 244 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 13,0.999387 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1695/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 56 to 16 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 23(1311875573.181943) and 242(1311875580.993710) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.893315 -0.0659888 0.444561 -2.07776 -0.198664 0.829298 0.5223 -2.4324 -0.403139 -0.554897 0.727714 -0.322112 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999097 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:547/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 56 to 16 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 23(1311875573.181943) and 242(1311875580.993710) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.890241 -0.0672294 0.450501 -2.08522 -0.20671 0.821703 0.531107 -2.47353 -0.405884 -0.565936 0.717617 -0.332741 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 0,0.999982 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:668/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.890241 -0.0672325 0.450501 -2.0852 -0.206708 0.821702 0.531109 -2.47353 -0.405886 -0.565937 0.717615 -0.332721 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 15 end 18 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 10056 o[1]: 699 o[2]: 69 o[3]: 4 histWeights: 1 1 1.25 1.5overlap: 791.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 4173 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 16 and 56 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 56 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 56 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 6091 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 243 keyframes 57 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!244 INF|Input.cpp[getImages,132]: mNbReceivedImages!245 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 525 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.028345 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999926 -0.00141778 0.0120787 0.000800033 0.00145835 0.999993 -0.00335108 0.00383452 -0.0120739 0.00336845 0.999921 0.0046501 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 56 to 116458848 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.028345) and 242(1311875580.993710) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999926 -0.00141778 0.0120787 0.000800033 0.00145835 0.999993 -0.00335108 0.00383452 -0.0120739 0.00336845 0.999921 0.0046501 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999307 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1292/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 56 to 116458848 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.028345) and 242(1311875580.993710) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999979 -0.000343194 0.00653374 0.0138225 0.000365375 0.999994 -0.00339394 -0.0229063 -0.00653254 0.00339626 0.999973 0.00989494 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999234 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2359/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 56 to 116458848 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.028345) and 242(1311875580.993710) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999967 0.00315005 0.0074953 0.0211685 -0.00320367 0.999969 0.00715199 -0.0601169 -0.00747254 -0.00717577 0.999946 0.00241476 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.99964 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:798/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.601223 resInfo good: 4165, 8 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5185/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99997 -0.0010412 0.00769435 0.0205825 0.00105067 0.999999 -0.00122665 -0.0149392 -0.00769306 0.0012347 0.99997 0.00664539 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!243 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 491 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!244 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 245 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.057718 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999879 -0.00207286 0.0153895 0.041231 0.00211074 0.999995 -0.00244517 -0.0298649 -0.0153844 0.00247736 0.999879 0.0131138 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 56 to 116458848 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.057718) and 242(1311875580.993710) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999879 -0.00207286 0.0153895 0.041231 0.00211074 0.999995 -0.00244517 -0.0298649 -0.0153844 0.00247736 0.999879 0.0131138 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999875 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:257/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 56 to 116458848 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.057718) and 242(1311875580.993710) on lvl: 1 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!245 INF|Input.cpp[getImages,132]: mNbReceivedImages!246 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999437 -0.00777457 0.0326422 -0.0675282 0.00840027 0.999783 -0.0190752 0.0131637 -0.0324868 0.0193387 0.999285 0.0358925 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999492 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1492/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 56 to 116458848 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.057718) and 242(1311875580.993710) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999773 -0.000442337 0.0212817 0.0135689 0.000580693 0.999979 -0.00649539 -0.0175016 -0.0212784 0.00650627 0.999752 0.00316692 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.99928 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1433/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.851739 resInfo good: 4164, 9 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3911/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999892 0.000424611 0.0146617 0.0477195 -0.000380103 0.999995 -0.00303832 -0.0265725 -0.014663 0.00303242 0.999888 0.00315831 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!244 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!245 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 246 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!246 INF|Input.cpp[getImages,132]: mNbReceivedImages!247 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.092376 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 10 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999764 0.00190291 0.0216257 0.0748146 -0.00179821 0.999987 -0.0048599 -0.0382386 -0.0216347 0.00481987 0.999754 -0.000538712 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 56 to 116458848 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.092376) and 242(1311875580.993710) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999764 0.00190291 0.0216257 0.0748146 -0.00179821 0.999987 -0.0048599 -0.0382386 -0.0216347 0.00481987 0.999754 -0.000538712 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999703 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:5399/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 56 to 116458848 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.092376) and 242(1311875580.993710) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999772 0.0035981 0.0210251 0.0714507 -0.00351234 0.999985 -0.00411479 -0.0345108 -0.0210396 0.00404 0.99977 -0.00108394 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.99934 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5726/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 56 to 116458848 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.092376) and 242(1311875580.993710) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999717 0.000872785 0.0237839 0.0659717 -0.000683351 0.999968 -0.00797171 -0.00563258 -0.0237901 0.0079532 0.999685 0.0038082 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999641 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1942/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.01692 resInfo good: 4160, 13 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 15867/15 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999702 0.00193481 0.0243262 0.0665096 -0.00185865 0.999993 -0.00315288 -0.0231651 -0.0243322 0.00310673 0.999699 0.00434316 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875581.092376 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875581.092376 to keyframe with id: 116458848 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875581.092376 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1550 size: 4547 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId116458848 timestamp: 1311875581.092376 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -8.58049 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 121 keyframeId: 33 score: -9.89291 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -9.62901 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -8.60904 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 234 keyframeId: 54 score: -9.11908 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 238 keyframeId: 55 score: -8.16656 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 57 = 57 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x12db9b60 fh1 0x20f1be0fh->id: 16 57 245goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x12db9b60 fh1 0x1cb7520fh->id: 33 57 245goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x12db9b60 fh1 0x51e2b20fh->id: 43 57 245goodE: 55 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x12db9b60 fh1 0x1cbab40fh->id: 52 57 245goodE: 150 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x12db9b60 fh1 0x605aae0fh->id: 54 57 245goodE: 31 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x12db9b60 fh1 0x143c4720fh->id: 55 57 245goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x12db9b60 fh1 0x51debc0fh->id: 56 57 245goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew57 Input.cpp[readImages,206]: Got image from sensor!246 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 63 out of 73 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 73 newEdgePixels: 73 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1179 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 275 lastEnergy: 271.463 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 46 INF|LocalMapper.cpp[optimize,276]: Start Energy: 271.463 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -2.1214e-12 6.05804e-13 -3.07494e-12 4.87036e-12 0.00343139 0.00499389 0.00242259 -0.00205868 -0.000854547 0.00100227 0.00152491 0.00219973 -0.00585966 -0.00255172 -0.00035127 -6.62442e-05 0.0012667 -0.00536005 -0.0147187 -0.00257882 -0.00104699 0.00111177 0.00655978 -0.015988 -0.000178361 -0.00367913 -0.00176802 0.00101059 0.00845953 0.0130697 0.00578603 0.000971304 -0.00252716 0.00159647 0.0060733 0.0252346 -0.00219516 0.00173696 -0.00158294 0.00334832 0.00835243 0.00733401 0.00551019 0.00014813 -0.00209594 0.00180945 0.0387223 -0.0534833 -0.0164752 -0.0066281 -0.0051997 -0.000502363 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1179 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 249.723 0 0 newEnergyL 0 lastEnergy: 271.463 0 0 lastEnergyL: 0mActiveResiduals: 1179 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.00106e-12 -1.00518e-12 2.03814e-12 -6.70373e-13 0.000961846 -0.000276888 0.000244825 -2.63385e-05 -0.000111463 -2.0428e-05 -0.000946637 -0.00048034 -0.00114787 5.33582e-06 0.000177071 -0.000166029 -0.00211994 0.000726613 0.00222796 9.35959e-06 0.000428237 -0.000328745 -0.000215171 0.0130362 -0.0054662 0.00149281 -0.000129181 -0.000181547 0.00026393 -0.0152664 -0.0152894 -0.00256919 0.000430907 -0.00106487 -0.00485857 -0.0198287 -0.0100763 -0.00306886 0.000465464 -0.001577 -0.00770092 0.00243096 -0.0124464 -0.000569022 0.000899113 -0.000112345 0.0201793 0.0222826 0.00513042 0.00230629 -0.00216926 -0.00166421 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1179 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 238.545 0 0 newEnergyL 0 lastEnergy: 249.723 0 0 lastEnergyL: 0mActiveResiduals: 1179 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -2.98586e-12 1.46315e-13 -7.09734e-12 -1.89751e-12 0.000698504 0.00461061 -0.000896272 -0.00150131 -0.000286285 0.00169248 -0.00124628 0.00216988 -0.0007308 -0.00235227 0.000401056 0.00062763 -0.00121918 -0.00369971 -0.0010213 -0.00215855 0.000146758 0.00154792 -0.00573648 -0.0184471 0.0010627 -0.00307183 0.000750402 0.000356215 -0.00142732 -0.00812218 -0.00220957 -0.00101089 0.000164495 0.00131004 -0.00191187 0.0182826 0.00396822 0.00247812 0.000384148 0.00203534 0.00448717 0.00197491 0.00079926 0.000921204 -1.42919e-05 0.000430212 0.00710954 0.00316189 -0.00329944 0.000476311 -0.000683495 0.00237776 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1179 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 254.881 0 0 newEnergyL 0 lastEnergy: 238.545 0 0 lastEnergyL: 0mActiveResiduals: 1179 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 247 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 3.15543e-12 -1.69693e-12 6.28812e-12 -2.00567e-12 -0.00308882 -0.00426026 9.20301e-05 0.0032129 0.00148741 -0.00268533 0.00366893 -0.00124463 0.00536274 0.00433552 -7.69994e-05 -0.000193826 0.00434573 0.00818984 0.00720277 0.00417891 0.000394299 -0.00157689 0.00156685 0.0150726 0.00153472 0.00449604 0.000826929 -0.00190647 -0.00177921 0.00732827 -0.000840628 0.00232783 0.00160343 -0.00251281 0.00352376 0.00524053 -0.000247849 0.00150756 0.000661173 -0.00231305 -0.00799683 -0.0120024 0.00026381 -0.000537193 0.00182598 -0.00296982 -0.0064 -0.0162506 -0.00897727 -0.000835811 0.00260674 -0.00523237 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1179 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 238.456 0 0 newEnergyL 0 lastEnergy: 254.881 0 0 lastEnergyL: 0mActiveResiduals: 1179 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.64422e-12 2.86761e-12 -2.8145e-12 2.83745e-12 0.00607875 0.00559604 0.00199258 -0.00301078 -0.000948076 0.000558112 -0.00417073 0.0007564 -0.00316307 -0.00272042 -0.000206032 -0.00126577 -0.00226206 -0.00961374 -0.0033351 -0.00296205 -0.000544947 -0.000385717 -0.00653058 -0.0202866 -0.00938965 -0.00382079 0.000819817 0.000236908 -0.00680832 0.00231605 0.00121523 0.00041513 0.000113078 0.00156071 -0.00338796 0.00693976 0.00151049 0.00104256 0.000187386 0.00232835 0.0113901 0.0247704 0.0041385 0.00312905 -0.00148811 0.00348704 0.00970297 -0.0112433 0.00322914 -0.00105463 -0.00149684 0.00380179 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1179 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 252.267 0 0 newEnergyL 0 lastEnergy: 238.456 0 0 lastEnergyL: 0mActiveResiduals: 1179 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.54475e-12 -2.38546e-12 1.32756e-12 -3.52342e-12 -0.0056821 -0.00110103 -0.00351672 0.00194004 0.00104612 -0.00148261 0.00501007 0.00104565 0.00506989 0.00233426 -7.71152e-05 -3.87588e-05 0.0043818 0.00992074 0.00625851 0.00211404 0.000230217 -0.000904881 0.00441374 0.0120412 0.0055111 0.00214142 0.000124566 -0.000932804 0.00640146 -0.0187212 0.00128149 -0.00233553 0.000344261 -0.00229299 0.000729888 -0.00951164 -0.00511001 -0.00165063 0.000898821 -0.00256005 -0.00520363 -0.0124152 -0.00438358 -0.00219554 0.00140548 -0.00260146 -0.015289 0.0205509 0.000424641 0.00177329 0.00249136 -0.00259051 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1179 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 235.054 0 0 newEnergyL 0 lastEnergy: 252.267 0 0 lastEnergyL: 0mActiveResiduals: 1179 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 235.054 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1179 INF|LocalMapper.cpp[optimize,345]: End Energy: 235.054 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.451904 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.451904 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 33 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 33 with idx: 1 and allID: 121 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->33 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 33<->33 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->33 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->33 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 54<->33 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 55<->33 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 56<->33 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 57<->33 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 33 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 121: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 32/111: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 31/103: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 30/94: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 30 allId: 94 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.997027 -0.0151441 0.0755557 0.0294987 0.0166941 0.999662 -0.0199261 -0.00101039 -0.0752284 0.0211282 0.996942 -0.0361531 worldPose: 0.188756 0.177874 0.965781 0.262113 0.526787 0.811645 -0.252443 1.24768 -0.828774 0.55641 0.0595012 0.506783 after: 0.188756 0.177874 0.965781 0.262113 0.526787 0.811645 -0.252443 1.24768 -0.828774 0.55641 0.0595012 0.506783 worldPose of new: 0.258471 0.161721 0.952386 0.289083 0.493855 0.825196 -0.274152 1.22403 -0.830241 0.541201 0.133423 0.536645 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.997027 -0.0151441 0.0755557 0.0294987 0.0166941 0.999662 -0.0199261 -0.00101039 -0.0752284 0.0211282 0.996942 -0.0361531 INF|Mapper.cpp[changeRefFrame,578]: Updating: 122 from old kf id: 33/121 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 123 from old kf id: 33/121 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 124 from old kf id: 33/121 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 125 from old kf id: 33/121 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 126 from old kf id: 33/121 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 127 from old kf id: 33/121 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 128 from old kf id: 33/121 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 129 from old kf id: 33/121 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 130 from old kf id: 33/121 with new ref frame: 94/30 INF|Mapper.cpp[changeRefFrame,578]: Updating: 131 from old kf id: 33/121 with new ref frame: 94/30 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 121 after changeRefFrame: 0.997027 -0.0151441 0.0755557 0.0294987 0.0166941 0.999662 -0.0199261 -0.00101039 -0.0752284 0.0211282 0.996942 -0.0361531 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 33 to normal frame with refFrame: 30 frame id kf: 121 newref id: 94 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 33 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 12671 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x12db9b60 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 57 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 29 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 1 with distance 0.118Found rest min at: 28 with distance 0.066 overall min: 0.066 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 994 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 57 into DB 0.118 1 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 1 and real id(16) current kf: 57(245) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.995465 -0.00535784 -0.0949767 -0.140176 -0.00153067 0.997381 -0.0723075 1.11622 0.0951154 0.072125 0.99285 0.277112 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 16 currFrame: 57 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!247 INF|Input.cpp[getImages,132]: mNbReceivedImages!248 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00183104 eye: 0.000737907 edge: 57 to 16 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 57 to 16 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 23(1311875573.181943) and 245(1311875581.092376) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 14,0.999643 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2590/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 57 to 16 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 23(1311875573.181943) and 245(1311875581.092376) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.885076 -0.0366704 0.463999 -2.07454 -0.0554915 0.981468 0.183417 -0.813062 -0.462126 -0.188086 0.866639 -0.0495918 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999485 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:719/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 57 to 16 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 23(1311875573.181943) and 245(1311875581.092376) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.885056 -0.0365407 0.464048 -2.07458 -0.0556567 0.981455 0.183435 -0.812378 -0.462145 -0.188177 0.866609 -0.0490314 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999808 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1429/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.875785 -0.0520109 0.479891 -2.16981 -0.0707967 0.969587 0.234286 -1.03737 -0.477482 -0.239159 0.845467 -0.0357706 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 15 end 18 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 9445 o[1]: 700 o[2]: 58 o[3]: 7 histWeights: 1 1 1.25 1.5overlap: 783 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 4547 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 16 and 57 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 57 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 57 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 8650 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 246 keyframes 58 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 525 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.125827 Input.cpp[readImages,206]: Got image from sensor!247 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999972 -0.00117828 0.00733038 -0.00334128 0.00119632 0.999996 -0.00245743 0.0135256 -0.00732746 0.00246614 0.99997 0.00429416 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 57 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.125827) and 245(1311875581.092376) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999972 -0.00117828 0.00733038 -0.00334128 0.00119632 0.999996 -0.00245743 0.0135256 -0.00732746 0.00246614 0.99997 0.00429416 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 8): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2688/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 57 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.125827) and 245(1311875581.092376) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999924 0.0106989 0.00613653 0.0170857 -0.0107315 0.999928 0.00530779 -0.0600611 -0.0060793 -0.00537324 0.999967 0.0145719 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 248 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2638/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 57 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.125827) and 245(1311875581.092376) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999801 0.00504458 0.0192919 -0.0349557 -0.00506339 0.999987 0.000926181 -0.029565 -0.019287 -0.00102368 0.999813 0.0139377 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999279 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1104/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.490464 resInfo good: 4503, 44 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7176/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99993 0.00119767 0.0118009 0.000860158 -0.00117908 0.999998 -0.00158248 -0.00615853 -0.0118028 0.00156845 0.999929 0.0129815 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!246 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.157324 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!248 INF|Input.cpp[getImages,132]: mNbReceivedImages!249 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999719 0.00241377 0.0235982 0.00186607 -0.00233939 0.999992 -0.00317875 -0.0123386 -0.0236057 0.00312265 0.999716 0.0259422 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 57 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.157324) and 245(1311875581.092376) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999719 0.00241377 0.0235982 0.00186607 -0.00233939 0.999992 -0.00317875 -0.0123386 -0.0236057 0.00312265 0.999716 0.0259422 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999469 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1136/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 57 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.157324) and 245(1311875581.092376) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999781 0.0096036 0.0185745 0.0135835 -0.00953218 0.999947 -0.00392971 -0.0413551 -0.0186112 0.0037518 0.99982 0.0204698 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999335 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1688/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 57 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.157324) and 245(1311875581.092376) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999767 0.0118768 0.0180332 0.0279392 -0.011999 0.999906 0.00668523 -0.0789573 -0.0179521 -0.00690005 0.999815 0.010326 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999959 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1025/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.68878 resInfo good: 4547, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4558/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99971 0.00495484 0.0235566 0.00297183 -0.00480944 0.999969 -0.00622528 -0.012451 -0.0235867 0.00611018 0.999703 0.0148554 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!247 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!248 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 249 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!249 INF|Input.cpp[getImages,132]: mNbReceivedImages!250 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.193129 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999339 0.00876504 0.0352913 0.00508187 -0.00838472 0.999905 -0.0109103 -0.0187599 -0.0353836 0.0106072 0.999318 0.0166756 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 57 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.193129) and 245(1311875581.092376) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999339 0.00876504 0.0352913 0.00508187 -0.00838472 0.999905 -0.0109103 -0.0187599 -0.0353836 0.0106072 0.999318 0.0166756 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999951 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1480/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 57 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.193129) and 245(1311875581.092376) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999384 0.00699955 0.0343898 0.00151304 -0.00666518 0.999929 -0.00982811 -0.0150374 -0.0344561 0.00959284 0.99936 0.0143013 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 8): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2571/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 57 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.193129) and 245(1311875581.092376) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999542 0.00854684 0.029032 0.0366653 -0.00842192 0.999955 -0.00442262 -0.0294028 -0.0290685 0.00417609 0.999569 0.0090011 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999082 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1187/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.919203 resInfo good: 4547, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5968/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99954 0.00613249 0.029706 0.0358761 -0.00587148 0.999943 -0.00886597 -0.00390427 -0.0297587 0.00868747 0.999519 0.0141626 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!248 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 478 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!249 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 250 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.225132 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!250 INF|Input.cpp[getImages,132]: mNbReceivedImages!251 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99944 0.00672726 0.0327792 0.0523301 -0.00639637 0.999928 -0.0101887 0.000355889 -0.0328454 0.00997336 0.999411 0.0137486 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 57 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.225132) and 245(1311875581.092376) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99944 0.00672726 0.0327792 0.0523301 -0.00639637 0.999928 -0.0101887 0.000355889 -0.0328454 0.00997336 0.999411 0.0137486 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999302 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1489/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 57 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.225132) and 245(1311875581.092376) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999342 0.00528062 0.0358888 0.032918 -0.0048963 0.99993 -0.0107881 -0.0155004 -0.0359433 0.0106053 0.999298 0.0255333 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999994 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1924/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 57 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.225132) and 245(1311875581.092376) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999171 0.00408474 0.0404956 0.0218742 -0.00367092 0.99994 -0.010288 -0.00916785 -0.0405352 0.0101308 0.999127 0.0237883 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999983 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1391/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.982069 resInfo good: 4547, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5537/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999178 0.00372392 0.0403663 0.0277722 -0.00334663 0.99995 -0.00941003 -0.00653259 -0.0403994 0.0092672 0.999141 0.0204286 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!249 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!250 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 251 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.257619 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!251 INF|Input.cpp[getImages,132]: mNbReceivedImages!252 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998952 0.00252197 0.0456953 0.0237479 -0.00208207 0.999951 -0.00967195 -0.00785583 -0.0457175 0.00956667 0.998909 0.0235931 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 57 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.257619) and 245(1311875581.092376) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998952 0.00252197 0.0456953 0.0237479 -0.00208207 0.999951 -0.00967195 -0.00785583 -0.0457175 0.00956667 0.998909 0.0235931 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999673 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1049/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 57 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.257619) and 245(1311875581.092376) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999541 0.000760823 0.030293 0.0807705 -0.000211403 0.999836 -0.018136 -0.000286588 -0.0303018 0.0181212 0.999377 0.0253697 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999514 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1028/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 57 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.257619) and 245(1311875581.092376) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999341 -5.36569e-05 0.0363015 0.0628609 0.000664216 0.999859 -0.0168073 0.00441054 -0.0362954 0.0168203 0.9992 0.0256491 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999219 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:785/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.02421 resInfo good: 4523, 24 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3604/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998934 -0.000688128 0.0461577 0.0233993 0.00128225 0.999917 -0.0128432 -0.0087782 -0.046145 0.0128887 0.998852 0.0262829 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875581.257619 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875581.257619 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875581.257619 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 817 size: 6335 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875581.257619 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -6.89431 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -8.54112 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -9.52822 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 234 keyframeId: 54 score: -11.7248 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 238 keyframeId: 55 score: -14.3124 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 242 keyframeId: 56 score: -12.1146 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 58 = 58 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x4900fc0 fh1 0x20f1be0fh->id: 16 58 250goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x4900fc0 fh1 0x51e2b20fh->id: 43 58 250goodE: 55 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x4900fc0 fh1 0x1cbab40fh->id: 52 58 250goodE: 153 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x4900fc0 fh1 0x605aae0fh->id: 54 58 250goodE: 33 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x4900fc0 fh1 0x143c4720fh->id: 55 58 250goodE: 25 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x4900fc0 fh1 0x51debc0fh->id: 56 58 250goodE: 41 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x4900fc0 fh1 0x12db9b60fh->id: 57 58 250goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew58 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 59 out of 63 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 63 newEdgePixels: 63 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1573 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 230 lastEnergy: 367.725 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 32 INF|LocalMapper.cpp[optimize,276]: Start Energy: 367.725 0 0 lastEnergyL: 0 Input.cpp[readImages,206]: Got image from sensor!251 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -4.067e-12 -1.92043e-13 -1.66569e-11 -6.96052e-12 0.000788472 -0.00501985 0.00201365 -0.000653974 -0.00115961 0.00189443 -0.000752473 -0.00417623 -0.00107942 -0.00110054 -0.000974458 0.00233748 -0.0164386 -0.00592018 -0.000907689 -0.000916461 0.000288043 0.00228772 -0.00680184 0.0154603 -0.00736871 0.00194832 -0.000635803 0.00299335 -0.00177236 0.0270587 0.00274453 0.00378351 -0.00155029 0.00372358 -0.0044645 0.0202942 -0.00146807 0.00312112 -0.00118352 0.00351941 -0.0167482 -0.0102227 0.00402591 -0.000191573 -5.81621e-05 0.00295277 -0.00387781 -0.055925 -4.64278e-06 -0.00509236 -0.00114648 0.00113366 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1573 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 350.207 0 0 newEnergyL 0 lastEnergy: 367.725 0 0 lastEnergyL: 0mActiveResiduals: 1573 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 5.05057e-12 2.75427e-14 6.64586e-12 -3.9257e-12 -0.000715262 0.00137858 -0.000303444 0.000128818 7.61818e-05 0.00010203 4.58033e-05 0.00659708 0.00752187 0.000637582 5.42629e-05 -0.000365742 0.00874151 0.00803448 0.00196078 0.00100536 -0.000814153 -0.000833966 0.00420718 -0.0119491 -0.00293737 -0.00178314 1.36256e-06 -0.00187544 0.00831579 -0.0165991 -0.0094706 -0.00279347 -0.000104054 -0.0023875 0.00145661 -0.026091 -0.00331838 -0.00390577 0.000152499 -0.00235989 0.0213778 0.0118181 -0.00497668 0.00026105 -0.00193591 -0.00152527 0.0268938 -0.00175509 -0.00736267 -0.00100141 -0.00219757 -0.00224142 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1573 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 339.062 0 0 newEnergyL 0 lastEnergy: 350.207 0 0 lastEnergyL: 0mActiveResiduals: 1573 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -5.71554e-12 8.80089e-13 -3.8806e-12 -1.46666e-13 0.00593834 0.007438 0.000471161 -0.00170587 -0.000692441 -0.00266386 0.00823991 -0.00149217 0.000634501 -0.000823531 -0.00200066 -0.00222179 -0.00676205 -0.0164378 -0.00552592 -0.00329585 0.00114819 -0.00378779 -0.00503593 0.00612753 -0.000873354 -6.28384e-05 0.000868793 -0.00236313 0.00161703 0.012366 0.00701903 0.000919494 -2.4458e-05 -0.00207209 -0.000704476 0.0145739 1.96038e-05 0.00110784 0.000675199 -0.00156732 -0.00174572 -0.0155879 -0.000543414 -0.00247641 0.000848648 -0.00212193 -0.000287961 -0.00719806 0.0016453 -0.00171966 0.00073311 -0.00251248 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1573 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 348.377 0 0 newEnergyL 0 lastEnergy: 339.062 0 0 lastEnergyL: 0mActiveResiduals: 1573 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 2.58487e-12 -8.38717e-13 6.70999e-12 -2.37868e-12 -0.00185177 -0.00818654 -0.000330341 0.00433302 0.00122631 -0.00121118 0.00547532 0.0105234 0.0096322 0.00477951 0.000789253 0.000114345 0.000178686 0.0201318 0.00520756 0.00570194 0.000833893 -0.000239983 0.00139982 0.00300076 0.00182308 0.00245943 0.00106648 -0.0019154 0.00283421 0.00142782 -0.00364778 0.00160389 0.000944421 -0.00191801 -0.0025769 -0.0210091 -0.0035453 -0.0010141 0.00147201 -0.00337518 -0.00583336 0.00257589 -0.00248414 0.00165199 0.00175409 -0.00322145 -0.00490397 -0.00586166 -0.00601944 0.000409114 0.00167972 -0.00279432 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1573 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 346.412 0 0 newEnergyL 0 lastEnergy: 348.377 0 0 lastEnergyL: 0mActiveResiduals: 1573 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -3.55648e-12 4.28026e-13 -5.64451e-12 -5.99578e-15 -0.00262098 0.00638369 0.000126581 -0.00362739 -0.000409274 0.00365747 -0.00960567 -0.0103358 -0.0061916 -0.00462792 0.000553054 0.0022548 0.000772129 -0.0201866 -0.00408345 -0.00484302 -0.000763552 0.0020019 -0.00205818 0.000100947 -0.00103126 -0.0010992 -0.000868257 0.00335167 -0.00528261 -3.66926e-06 0.00216841 -0.000615178 -0.00048282 0.00373723 0.00193749 0.0126178 0.00173264 0.000966597 -0.00117906 0.00470985 0.0133986 0.00112445 -0.00147207 -0.000296889 -0.00225165 0.00473909 0.00688383 0.00879594 0.00608116 0.000820766 -0.0017995 0.0045622 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1573 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 252 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 343.072 0 0 newEnergyL 0 lastEnergy: 346.412 0 0 lastEnergyL: 0mActiveResiduals: 1573 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 4.25029e-12 1.49038e-13 7.0491e-12 -3.00202e-12 0.00391175 -0.00430464 -0.00386516 0.00240025 -0.000188156 -0.0035207 0.0103249 0.0100021 0.00443747 0.00336486 -0.000864541 -0.00253156 0.00118777 0.0188547 0.00612832 0.00325484 0.000279949 -0.00287967 0.00325354 -0.000890213 0.00270227 -0.000504898 0.000648223 -0.00402059 0.00484489 -0.00133985 -0.00163422 -0.00109153 0.000472176 -0.0045337 -0.00812389 -0.0283165 -0.00342352 -0.00419111 0.00190543 -0.00593335 -0.0153907 0.00667335 0.00505634 -0.000521258 0.00214903 -0.00449305 -0.00277047 0.000678447 -0.00600524 -0.00133556 0.00132663 -0.00455381 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1573 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 340.777 0 0 newEnergyL 0 lastEnergy: 343.072 0 0 lastEnergyL: 0mActiveResiduals: 1573 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 340.777 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1573 INF|LocalMapper.cpp[optimize,345]: End Energy: 340.777 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.467083 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.467083 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 55 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 55 with idx: 4 and allID: 238 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->55 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 55->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->55 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 55->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->55 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 55->52 INF|LocalMapper.cpp[marginalizeFrame,801]: 55 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 55 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 9148 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x4900fc0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 58 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 30 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 4 with distance 0.128Found rest min at: 29 with distance 0.066 overall min: 0.066 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 4 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 679 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 58 into DB 0.128 4 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 4 and real id(19) current kf: 58(250) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.950695 0.0553976 -0.305138 -0.204109 -0.0597618 0.9982 -0.00497272 1.07737 0.304314 0.0229631 0.952295 0.0966195 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 19 currFrame: 58 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00721296 eye: 0.000655581 edge: 58 to 19 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 58 to 19 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 29(1311875573.388082) and 250(1311875581.257619) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1437/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 58 to 19 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 29(1311875573.388082) and 250(1311875581.257619) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998103 0.0610412 -0.00805039 0.0819991 -0.0593239 0.988431 0.139585 -0.625702 0.0164777 -0.138843 0.990177 -0.229455 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!252 INF|Input.cpp[getImages,132]: mNbReceivedImages!253 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999991 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:958/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 58 to 19 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 29(1311875573.388082) and 250(1311875581.257619) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998103 0.061042 -0.00805119 0.0819956 -0.0593246 0.988431 0.139585 -0.625703 0.0164786 -0.138843 0.990177 -0.229466 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999782 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1086/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.993178 0.113443 -0.0269873 0.222665 -0.105161 0.971363 0.213062 -0.975649 0.0503847 -0.20877 0.976666 -0.294993 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 18 end 21 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 12044 o[1]: 461 o[2]: 115 o[3]: 13 histWeights: 1 1 1.25 1.5overlap: 624.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 6335 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 19 and 58 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 58 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 58 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 6652 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 251 keyframes 59 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 506 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.291804 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999986 -0.00364716 0.0038601 -0.00899426 0.00366603 0.999981 -0.00489312 0.0132536 -0.00384219 0.0049072 0.999981 0.00588891 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 58 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.291804) and 250(1311875581.257619) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999986 -0.00364716 0.0038601 -0.00899426 0.00366603 0.999981 -0.00489312 0.0132536 -0.00384219 0.0049072 0.999981 0.00588891 Input.cpp[readImages,206]: Got image from sensor!252 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1813/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 58 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.291804) and 250(1311875581.257619) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999985 -0.00410272 0.00349911 -0.0105363 0.00412371 0.999973 -0.00601378 0.00800346 -0.00347435 0.00602812 0.999976 0.00137298 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999904 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2210/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 58 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.291804) and 250(1311875581.257619) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999995 -0.00275298 0.0012028 0.0101761 0.00274905 0.999991 0.00325164 -0.0211931 -0.00121174 -0.00324832 0.999994 -0.00856168 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 253 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999912 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1711/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.455745 resInfo good: 6325, 10 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6578/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999991 -0.00389395 0.00166836 0.0120157 0.00388376 0.999974 0.00606959 -0.0275239 -0.00169195 -0.00606306 0.99998 -0.0100487 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!251 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.324376 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!253 INF|Input.cpp[getImages,132]: mNbReceivedImages!254 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99998 -0.00584468 0.00249366 0.0180573 0.00582175 0.999942 0.00910674 -0.0412911 -0.00254674 -0.00909204 0.999955 -0.015018 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 58 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.324376) and 250(1311875581.257619) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99998 -0.00584468 0.00249366 0.0180573 0.00582175 0.999942 0.00910674 -0.0412911 -0.00254674 -0.00909204 0.999955 -0.015018 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999991 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1699/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 58 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.324376) and 250(1311875581.257619) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999968 -0.00749176 0.00280416 0.01922 0.00746619 0.999931 0.00901981 -0.0420269 -0.00287154 -0.00899858 0.999955 -0.0117108 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999835 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1113/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 58 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.324376) and 250(1311875581.257619) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999959 -0.00648853 0.00628862 0.010148 0.00642103 0.999922 0.0106949 -0.0360774 -0.00635752 -0.0106541 0.999923 -0.0149394 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999733 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1597/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.598158 resInfo good: 6335, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5214/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999958 -0.0086797 0.00282887 0.0297232 0.00865469 0.999924 0.00873715 -0.0221344 -0.0029045 -0.0087123 0.999958 -0.00634425 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!252 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!253 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 254 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!254 INF|Input.cpp[getImages,132]: mNbReceivedImages!255 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.353903 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999933 -0.0110737 0.00340434 0.038569 0.0110389 0.999888 0.010073 -0.0194043 -0.0035155 -0.0100347 0.999943 -0.00450535 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 58 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.353903) and 250(1311875581.257619) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999933 -0.0110737 0.00340434 0.038569 0.0110389 0.999888 0.010073 -0.0194043 -0.0035155 -0.0100347 0.999943 -0.00450535 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999293 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1420/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 58 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.353903) and 250(1311875581.257619) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999952 -0.00926054 0.00307609 0.0498491 0.00925535 0.999956 0.00169639 -0.0235401 -0.00309166 -0.00166784 0.999994 -0.00563167 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999459 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1876/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 58 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.353903) and 250(1311875581.257619) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999929 -0.00576639 0.0104316 0.0280238 0.0056114 0.999874 0.0148263 -0.0703748 -0.0105158 -0.0147667 0.999836 -0.0105622 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.99984 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1720/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.755443 resInfo good: 6335, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5879/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999928 -0.00849844 0.0084376 0.0375852 0.00841457 0.999915 0.00992564 -0.040667 -0.00852124 -0.00985392 0.999915 -0.00232219 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!253 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!254 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 255 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.392634 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!255 INF|Input.cpp[getImages,132]: mNbReceivedImages!256 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999867 -0.00832358 0.0140463 0.0454653 0.00816778 0.999905 0.0111127 -0.0591966 -0.0141374 -0.0109965 0.99984 0.00167777 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 58 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.392634) and 250(1311875581.257619) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999867 -0.00832358 0.0140463 0.0454653 0.00816778 0.999905 0.0111127 -0.0591966 -0.0141374 -0.0109965 0.99984 0.00167777 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 2): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1539/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 58 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.392634) and 250(1311875581.257619) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999883 -0.00218765 0.0151123 0.0480637 0.00194225 0.999866 0.0162344 -0.0963301 -0.0151458 -0.0162032 0.999754 -0.0437882 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.99983 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:945/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 58 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.392634) and 250(1311875581.257619) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999862 -0.00222192 0.0164747 0.0518937 0.00189941 0.999807 0.0195658 -0.100478 -0.016515 -0.0195318 0.999673 -0.0307278 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999214 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1077/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.938774 resInfo good: 6286, 49 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4419/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999828 -0.00587726 0.017602 0.0462017 0.00562836 0.999884 0.0141565 -0.0699647 -0.0176831 -0.014055 0.999745 -0.0140726 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!254 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!255 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 256 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.422646 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!256 INF|Input.cpp[getImages,132]: mNbReceivedImages!257 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999636 -0.00329468 0.0267758 0.0546309 0.00280349 0.999827 0.0183614 -0.0993356 -0.0268317 -0.0182796 0.999473 -0.0257756 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 58 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.422646) and 250(1311875581.257619) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999636 -0.00329468 0.0267758 0.0546309 0.00280349 0.999827 0.0183614 -0.0993356 -0.0268317 -0.0182796 0.999473 -0.0257756 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1927/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 58 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.422646) and 250(1311875581.257619) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999901 -0.00481737 0.0132222 0.104026 0.00466018 0.999918 0.0118938 -0.0809313 -0.0132784 -0.011831 0.999842 -0.0394965 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999982 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1189/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 58 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.422646) and 250(1311875581.257619) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999738 -0.00445915 0.0224716 0.0697797 0.00416373 0.999905 0.0131757 -0.0762071 -0.0225282 -0.0130787 0.999661 -0.0227308 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999444 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1056/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.0549 resInfo good: 6334, 1 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4988/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999664 -0.00563454 0.0252892 0.0605673 0.00531178 0.999904 0.0128118 -0.0671308 -0.025359 -0.0126731 0.999598 -0.0114946 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875581.422646 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875581.422646 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875581.422646 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 771 size: 5669 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875581.422646 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -6.80006 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -8.3394 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -9.23859 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 234 keyframeId: 54 score: -10.3314 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 242 keyframeId: 56 score: -13.2206 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 245 keyframeId: 57 score: -12.0798 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 59 = 59 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x11f18a60 fh1 0x20f1be0fh->id: 16 59 255goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x11f18a60 fh1 0x51e2b20fh->id: 43 59 255goodE: 57 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x11f18a60 fh1 0x1cbab40fh->id: 52 59 255goodE: 172 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x11f18a60 fh1 0x605aae0fh->id: 54 59 255goodE: 40 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x11f18a60 fh1 0x51debc0fh->id: 56 59 255goodE: 44 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x11f18a60 fh1 0x12db9b60fh->id: 57 59 255goodE: 22 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x11f18a60 fh1 0x4900fc0fh->id: 58 59 255goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew59 Input.cpp[readImages,206]: Got image from sensor!256 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 77 out of 106 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 106 newEdgePixels: 106 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1724 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 247 lastEnergy: 446.783 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 31 INF|LocalMapper.cpp[optimize,276]: Start Energy: 446.783 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -7.62293e-12 1.14645e-12 -1.18226e-11 -9.66727e-13 -0.00474148 -0.00219465 0.00378159 -0.00147471 -4.67162e-06 0.00365746 -0.01177 -0.00966388 -0.0053768 -0.00269249 0.00117793 0.00319285 -0.0264375 -0.0128358 -0.013445 -0.00213386 0.00231551 0.00276871 -0.0229829 0.00986184 -0.0128061 0.0014348 0.00152719 0.00377973 -0.00891082 0.0246638 -0.0076387 0.00342759 -0.000105649 0.00451583 -0.012385 0.00888481 -0.00818026 0.00190195 0.0002099 0.00430114 -0.0126216 0.0224205 -0.00322866 0.00359891 -0.000214373 0.00479795 -0.0200919 -0.0361287 -0.0157322 -0.00217056 0.000992703 0.00150626 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1724 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 397.667 0 0 newEnergyL 0 lastEnergy: 446.783 0 0 lastEnergyL: 0mActiveResiduals: 1724 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.24165e-12 4.12801e-13 5.45107e-12 -6.25508e-12 -0.00126207 0.0017938 -0.000357681 0.000169818 0.000136627 0.000120978 -2.31466e-05 0.00561102 0.00509055 0.000457274 0.00018453 -0.000481022 0.0169459 0.00771224 0.00810354 0.000881402 -0.00196575 0.000868128 0.00980918 -0.0291332 -0.00332664 -0.00376609 -0.000420909 -0.000935668 0.00947253 -0.0299214 -0.000173402 -0.00405814 -0.000818945 -0.000331168 0.010225 -0.0210927 -1.76171e-05 -0.00294228 -0.000822923 -0.00052809 0.00847654 -0.0243118 -0.000319639 -0.00339383 -0.000616692 -1.2744e-05 0.00671364 -0.0514131 -0.0143677 -0.00623702 1.36395e-05 -0.00177285 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1724 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 386.711 0 0 newEnergyL 0 lastEnergy: 397.667 0 0 lastEnergyL: 0mActiveResiduals: 1724 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -4.44289e-12 -1.17047e-12 -7.36216e-12 4.32121e-12 0.00605637 0.00720104 0.00741403 -0.00120277 5.80278e-05 -0.00110624 -0.00147213 -0.00577604 0.00843941 -0.000218412 -0.0003064 -0.000939554 -0.0100535 -0.0192278 -0.00961189 -0.00119017 0.00237486 -0.000858788 -0.00638365 -0.00123743 -0.00358932 0.00209474 0.00145573 0.000902552 0.00075646 0.0134504 -0.00108644 0.00436349 0.00114666 0.00112391 0.00642755 -0.00595454 -0.00382751 0.00225735 0.000780154 0.000500262 0.00387627 0.00327883 -0.00151721 0.00319293 0.000998788 0.000784149 -0.000894135 0.00971207 0.00442458 0.00420019 0.00153277 0.000874506 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1724 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 410.478 0 0 newEnergyL 0 lastEnergy: 386.711 0 0 lastEnergyL: 0mActiveResiduals: 1724 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 257 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 3.22253e-12 6.61339e-13 7.05934e-12 -2.61876e-13 -0.00394592 -0.00918146 -0.00417018 0.00327973 0.000804795 -0.00176398 0.00953006 0.0095537 -0.00013406 0.00273772 -0.00018296 -0.000210567 0.00188824 0.0258226 0.00671253 0.00384716 -0.000200899 -5.65729e-05 -0.000350413 -0.00503603 0.00154647 -0.0007898 0.000543041 -0.00223035 0.00349634 -0.00305786 0.00347981 -0.00152832 -0.000307325 -0.00205474 -0.00908908 0.00455307 0.00348607 -0.000823906 0.000656979 -0.00180279 -0.00863582 -0.00741564 -0.00154504 -0.00216326 0.000961962 -0.00215291 0.00556963 -0.0149779 -0.00862465 -0.00347371 -0.00071796 -0.00293881 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1724 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 395.167 0 0 newEnergyL 0 lastEnergy: 410.478 0 0 lastEnergyL: 0mActiveResiduals: 1724 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -3.32892e-12 1.26015e-12 -2.80956e-12 2.67924e-12 0.00519083 0.00793767 0.00508199 -0.00249783 -0.000990231 -0.000327395 -0.00446355 -0.00882194 -0.00134108 -0.00207732 -0.000581979 -0.000704559 -0.00262299 -0.0238418 -0.00826436 -0.00348909 8.33625e-05 -0.00121714 -0.00439641 0.0130891 -0.00235268 0.00154811 -0.000211788 0.00103585 0.000126194 0.00120281 -0.0016496 0.000993187 -0.000295389 0.000821013 0.0126911 0.00439433 -0.00156778 0.00138724 -0.0012291 0.00101068 -0.00153848 0.000435436 0.00102238 0.000884061 5.70546e-05 0.000811678 -0.00201632 0.0046649 0.00946006 0.00178114 0.00017149 0.00150914 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1724 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 392.075 0 0 newEnergyL 0 lastEnergy: 395.167 0 0 lastEnergyL: 0mActiveResiduals: 1724 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 4.34116e-12 5.28257e-13 7.48394e-12 -7.98396e-13 -0.00354286 -0.00873305 -0.0112251 0.00190867 0.000455271 -0.00121079 0.0103596 0.0154193 0.000443846 0.00238279 -0.000170734 -0.00129376 0.00243084 0.028902 0.0103971 0.00256268 -0.00018475 -0.000345819 0.00320404 -0.0148349 0.00523302 -0.00365501 0.00038875 -0.00337243 0.000599706 -0.00480068 0.00302429 -0.0035037 0.000331341 -0.00316536 -0.0100445 -0.00251822 0.00270561 -0.00354117 0.000978143 -0.00277485 -0.00573158 -0.0109461 -0.000782414 -0.00439064 0.000670895 -0.00270019 6.10932e-05 -0.00137709 -0.00925879 -0.00393811 -0.000172505 -0.00293999 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1724 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 403.067 0 0 newEnergyL 0 lastEnergy: 392.075 0 0 lastEnergyL: 0mActiveResiduals: 1724 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 403.067 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1724 INF|LocalMapper.cpp[optimize,345]: End Energy: 403.067 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.4888 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.4888 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 56 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 56 with idx: 4 and allID: 242 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->56 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 56->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->56 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 56->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->56 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 56->52 INF|LocalMapper.cpp[marginalizeFrame,801]: 56 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 56 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 9754 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x11f18a60 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 59 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 31 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 5 with distance 0.114Found rest min at: 30 with distance 0.05 overall min: 0.05 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 5 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 691 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 59 into DB 0.114 5 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 5 and real id(20) current kf: 59(255) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.921976 0.0827578 -0.378301 -0.208977 -0.0871064 0.996183 0.00563559 1.13819 0.377323 0.0277566 0.925665 0.049266 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 20 currFrame: 59 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!257 INF|Input.cpp[getImages,132]: mNbReceivedImages!258 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00375693 eye: 0.00064002 edge: 59 to 20 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 59 to 20 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 31(1311875573.450627) and 255(1311875581.422646) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999512 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1432/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 59 to 20 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 31(1311875573.450627) and 255(1311875581.422646) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.975798 0.207521 0.0689483 -0.114715 -0.218628 0.919241 0.327412 -1.60663 0.0045649 -0.334562 0.942363 0.00769497 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999416 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:329/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 59 to 20 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 31(1311875573.450627) and 255(1311875581.422646) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.974675 0.215351 0.0602653 -0.0642251 -0.223126 0.918537 0.326351 -1.60406 0.014924 -0.331533 0.943326 0.00484714 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999002 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:502/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.973907 0.218957 0.059694 -0.055098 -0.226339 0.917848 0.326077 -1.60209 0.0166067 -0.33108 0.943457 -0.00160837 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 19 end 22 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 9888 o[1]: 459 o[2]: 57 o[3]: 6 histWeights: 1 1 1.25 1.5overlap: 539.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 5669 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 20 and 59 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 59 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 59 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 5426 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 256 keyframes 60 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 452 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.455540 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999989 -0.00249834 0.00386697 0.00578418 0.00251554 0.999987 -0.00444886 0.0195808 -0.0038558 0.00445854 0.999983 0.00863205 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 59 to 170281856 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.455540) and 255(1311875581.422646) on lvl: 2 Input.cpp[readImages,206]: Got image from sensor!257 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999989 -0.00249834 0.00386697 0.00578418 0.00251554 0.999987 -0.00444886 0.0195808 -0.0038558 0.00445854 0.999983 0.00863205 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999044 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1554/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 59 to 170281856 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.455540) and 255(1311875581.422646) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999979 0.00171038 0.00631168 0.00712476 -0.00170733 0.999998 -0.000488511 -0.0319706 -0.00631251 0.000477725 0.99998 0.00296926 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999027 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1818/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 59 to 170281856 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.455540) and 255(1311875581.422646) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999985 0.00267168 0.00471616 0.0230334 -0.00269198 0.999987 0.00430424 -0.0416869 -0.0047046 -0.00431687 0.99998 -0.00122056 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 258 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999714 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1810/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.479519 resInfo good: 5659, 10 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6042/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999956 -0.000955551 0.00933695 0.00471899 0.000999502 0.999988 -0.00470375 0.00303601 -0.00933234 0.00471287 0.999945 0.00817604 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!256 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.491920 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!258 INF|Input.cpp[getImages,132]: mNbReceivedImages!259 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999824 -0.00186704 0.0186775 0.0095112 0.00204285 0.999954 -0.00939785 0.00603825 -0.0186591 0.00943435 0.999781 0.0163219 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 59 to 170281856 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.491920) and 255(1311875581.422646) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999824 -0.00186704 0.0186775 0.0095112 0.00204285 0.999954 -0.00939785 0.00603825 -0.0186591 0.00943435 0.999781 0.0163219 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2479/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 59 to 170281856 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.491920) and 255(1311875581.422646) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999832 -0.001056 0.0182837 0.00811561 0.00124289 0.999947 -0.0102133 -0.00035922 -0.018272 0.0102343 0.999781 0.00771402 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2731/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 59 to 170281856 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.491920) and 255(1311875581.422646) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999751 0.000827874 0.0222984 0.000443848 -0.000852179 0.999999 0.00108048 -0.0415083 -0.0222975 -0.00109921 0.999751 0.0011996 Input.cpp[readImages,206]: Got image from sensor!258 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 6): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2825/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.757794 resInfo good: 5655, 14 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8950/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999818 -0.000265914 0.0190531 0.0164715 0.000268315 1 -0.000123464 -0.0299681 -0.0190531 0.000128554 0.999818 0.00100353 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!257 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 466 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 259 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.521900 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!259 INF|Input.cpp[getImages,132]: mNbReceivedImages!260 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999586 0.000379137 0.0287706 0.0281325 -0.000507358 0.99999 0.0044495 -0.0630129 -0.0287686 -0.00446225 0.999576 -0.00613116 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 59 to 170281856 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.521900) and 255(1311875581.422646) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999586 0.000379137 0.0287706 0.0281325 -0.000507358 0.99999 0.0044495 -0.0630129 -0.0287686 -0.00446225 0.999576 -0.00613116 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.99935 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1955/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 59 to 170281856 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.521900) and 255(1311875581.422646) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999619 0.00130505 0.0275863 0.0223266 -0.00141958 0.99999 0.00413259 -0.0628247 -0.0275807 -0.00417018 0.999611 -0.00259425 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 9): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3401/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 59 to 170281856 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.521900) and 255(1311875581.422646) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999657 0.000380139 0.026182 0.0366938 -0.000512456 0.999987 0.00504723 -0.0572397 -0.0261797 -0.00505891 0.999644 -0.00410336 Input.cpp[readImages,206]: Got image from sensor!259 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999906 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2389/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.900061 resInfo good: 5653, 16 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8654/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999644 -0.00252195 0.0265638 0.0362736 0.00260706 0.999992 -0.00316997 -0.0163184 -0.0265555 0.00323809 0.999642 0.00361068 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!258 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 260 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.558662 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!260 INF|Input.cpp[getImages,132]: mNbReceivedImages!261 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999408 -0.00475454 0.0340797 0.056064 0.00496858 0.999968 -0.00619878 -0.00263173 -0.0340492 0.00636443 0.9994 0.00611154 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 59 to 170281856 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.558662) and 255(1311875581.422646) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999408 -0.00475454 0.0340797 0.056064 0.00496858 0.999968 -0.00619878 -0.00263173 -0.0340492 0.00636443 0.9994 0.00611154 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999995 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1643/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 59 to 170281856 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.558662) and 255(1311875581.422646) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999139 -0.00226193 0.0414288 0.0157188 0.00249058 0.999982 -0.00546827 -0.0339045 -0.0414157 0.00556674 0.999126 0.00743189 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999762 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1100/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 59 to 170281856 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.558662) and 255(1311875581.422646) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999121 0.00180682 0.0418694 0.025959 -0.00228175 0.999934 0.0112983 -0.0992944 -0.0418462 -0.0113839 0.999059 -0.00485876 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1854/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.04251 resInfo good: 5519, 150 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5524/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999188 -0.00281651 0.0401899 0.0334571 0.00286796 0.999995 -0.00122249 -0.0376779 -0.0401863 0.00133676 0.999191 0.00974555 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875581.558662 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875581.558662 to keyframe with id: 170281856 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875581.558662 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 763 size: 5100 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId170281856 timestamp: 1311875581.558662 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -6.87766 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -8.53952 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -9.7305 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 234 keyframeId: 54 score: -10.5987 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 245 keyframeId: 57 score: -13.3311 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 250 keyframeId: 58 score: -12.6046 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 60 = 60 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xa25ee80 fh1 0x20f1be0fh->id: 16 60 259goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xa25ee80 fh1 0x51e2b20fh->id: 43 60 259goodE: 59 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xa25ee80 fh1 0x1cbab40fh->id: 52 60 259goodE: 172 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xa25ee80 fh1 0x605aae0fh->id: 54 60 259goodE: 40 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xa25ee80 fh1 0x12db9b60fh->id: 57 60 259goodE: 27 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xa25ee80 fh1 0x4900fc0fh->id: 58 60 259goodE: 40 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xa25ee80 fh1 0x11f18a60fh->id: 59 60 259goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew60 Input.cpp[readImages,206]: Got image from sensor!260 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 100 out of 124 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 124 newEdgePixels: 124 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1842 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 262 lastEnergy: 484.863 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 35 INF|LocalMapper.cpp[optimize,276]: Start Energy: 484.863 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -4.26098e-12 -1.51581e-13 -1.11385e-11 6.7426e-12 -0.00201577 0.00130384 0.00321277 -0.00163522 -0.000516426 0.00432369 -0.01765 -0.0101095 -0.00903934 -0.00238552 0.00178312 0.00341312 -0.0153827 -0.0200101 -0.00881143 -0.00221425 0.000411685 0.0030565 -0.0180681 0.0304059 -0.00450598 0.00376143 0.000191845 0.00621194 0.00128582 0.00297944 -0.00836024 0.00210437 -0.00129834 0.0046438 -0.00254313 0.00264725 -0.00745364 0.00217792 -0.00127511 0.00448172 -0.00875877 -0.010147 0.00205806 0.00127581 -0.000350719 0.00440637 -0.00904423 -0.0395578 -0.00289686 -0.00192507 -0.000129818 0.00306996 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1842 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 427.896 0 0 newEnergyL 0 lastEnergy: 484.863 0 0 lastEnergyL: 0mActiveResiduals: 1842 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 9.44051e-12 1.28925e-13 1.35908e-11 -1.119e-12 -0.00141829 0.000932104 -0.000277791 9.32677e-05 0.000155737 5.49946e-05 0.0027155 0.000632805 0.00155964 -0.000226375 -0.000409324 -7.62934e-05 0.0101797 0.0123588 0.00342968 0.00119117 -0.000969574 0.000542628 0.0148291 -0.0250028 0.00287822 -0.00343514 -0.00126638 -0.000821368 0.00368388 -0.0153525 0.00558343 -0.00258073 -0.00051203 -0.000580224 0.00341259 -0.00782576 0.00108346 -0.00165553 -0.000221636 -0.000343949 0.0152419 -0.0292925 -0.00470254 -0.00402229 -0.00142339 -0.00129999 0.0143735 -0.056062 -0.0103906 -0.00700618 -0.00102154 -0.0019264 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1842 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 411.132 0 0 newEnergyL 0 lastEnergy: 427.896 0 0 lastEnergyL: 0mActiveResiduals: 1842 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 261 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.59208e-12 -3.01682e-12 -3.73659e-12 5.08036e-12 0.00206681 0.00616129 0.00156132 -0.00198782 -0.000291735 -0.000420191 0.000979196 0.000336187 0.00447211 -0.00139497 -0.000791564 -0.000958223 0.00140774 -0.0176704 -0.00497516 -0.00330466 -0.000103397 -0.00099705 -0.00885892 -0.00613705 -0.00620882 -0.00119789 0.000803391 0.000185567 0.00474332 -0.0118278 -0.00603016 -0.00123049 -0.000152333 0.000357319 0.00260581 0.00120373 0.000799187 0.000153279 -0.000212899 0.00106836 -0.000747369 0.00563939 0.00403978 0.000711822 0.000251669 0.00109619 -0.00189346 0.0231232 0.00789456 0.00284984 0.000405905 0.00175287 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1842 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 419.903 0 0 newEnergyL 0 lastEnergy: 411.132 0 0 lastEnergyL: 0mActiveResiduals: 1842 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 3.8103e-12 2.99883e-12 5.82954e-12 -2.65731e-12 -0.00299667 -0.0099316 -0.0059718 0.00315098 0.000328113 -0.00154433 0.00694013 0.00619127 -0.00301277 0.00283441 -7.08655e-05 -0.000271968 0.000134992 0.0315848 0.00819742 0.00477365 -2.47316e-05 -0.000949075 0.00541583 0.00622386 0.00762927 0.000369491 -0.000231459 -0.00218254 -0.00218531 0.00806203 0.00472905 -0.000464035 0.000119401 -0.002925 -0.00765618 -0.00888579 -2.6045e-05 -0.00236518 0.00079894 -0.00313673 0.00159066 -0.00678217 -0.00559935 -0.00239326 -0.000437388 -0.0031933 -0.00203781 -0.0267943 -0.00573725 -0.00494648 6.89263e-05 -0.00365241 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1842 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 436.107 0 0 newEnergyL 0 lastEnergy: 419.903 0 0 lastEnergyL: 0mActiveResiduals: 1842 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -9.10851e-12 -1.8102e-12 -2.71591e-12 3.45295e-12 0.00776246 0.00970624 0.00235158 -0.00193171 -0.00102741 -0.00198925 9.3444e-05 -0.00431362 0.00476318 -0.000981236 -0.00087875 -0.00205222 -0.00163081 -0.0239552 -0.0072488 -0.00368104 0.000359319 -0.00286037 -0.00108078 0.0139571 -0.00296977 0.00148998 -9.09826e-05 -0.000858667 -0.00187451 -0.00582321 -0.00473619 -0.000295749 0.000734611 -0.00115095 0.000648075 -0.00526857 -0.00126829 -0.000522494 0.00044985 -0.00166832 -0.00644331 0.0103446 0.00784477 0.00136845 0.00141574 -0.000929312 0.00326438 0.00608246 0.00393143 0.000941957 0.000516432 -0.00127442 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1842 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 409.931 0 0 newEnergyL 0 lastEnergy: 436.107 0 0 lastEnergyL: 0mActiveResiduals: 1842 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 6.9053e-12 2.07789e-12 9.17891e-12 2.4545e-12 -0.00863201 -0.00966024 -0.00472021 0.00130571 0.000347373 0.00199046 -0.00416597 0.00414769 -0.00886085 0.000744128 0.000892033 0.00186263 0.0121043 0.02549 0.00994041 0.00338057 -0.00246024 0.00181896 0.0104308 -0.00097628 0.00305033 -0.000973088 -0.00176117 0.000631412 -0.00346626 -0.0016479 0.00693346 -0.00134914 -0.000956801 7.1788e-05 -0.00311878 -0.00862888 0.000654488 -0.00185467 -0.000933672 0.000420453 0.00294028 -0.00352598 -0.00593167 -0.00146766 -0.00207155 0.000683324 -0.00530003 -0.00669919 -0.0031757 -0.00189625 -0.00125032 0.00052704 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1842 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 420.131 0 0 newEnergyL 0 lastEnergy: 409.931 0 0 lastEnergyL: 0mActiveResiduals: 1842 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 420.131 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1842 INF|LocalMapper.cpp[optimize,345]: End Energy: 420.131 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.486375 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.486375 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 57 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 57 with idx: 4 and allID: 245 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->57 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 57->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->57 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 57->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->57 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 57->52 INF|LocalMapper.cpp[marginalizeFrame,801]: 57 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 57 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 9859 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0xa25ee80 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 60 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!261 INF|Input.cpp[getImages,132]: mNbReceivedImages!262 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 32 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 5 with distance 0.116Found rest min at: 31 with distance 0.062 overall min: 0.062 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 5 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 690 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 60 into DB 0.116 5 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 5 and real id(20) current kf: 60(259) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.905071 0.0921984 -0.415146 -0.234586 -0.0910887 0.995588 0.0225221 1.12881 0.41539 0.017431 0.909476 0.0216095 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 20 currFrame: 60 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00464505 eye: 0.000818755 edge: 60 to 20 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 60 to 20 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 31(1311875573.450627) and 259(1311875581.558662) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999777 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1514/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 60 to 20 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 31(1311875573.450627) and 259(1311875581.558662) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.931175 0.330358 -0.154196 0.897812 -0.265509 0.904352 0.334145 -1.64691 0.249835 -0.270208 0.929823 0.264287 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999798 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:884/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 60 to 20 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 31(1311875573.450627) and 259(1311875581.558662) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.93003 0.334131 -0.152973 0.90085 -0.26919 0.90281 0.335368 -1.65439 0.250162 -0.270724 0.929585 0.258156 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 0,0.999965 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:680/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.93002 0.33417 -0.152948 0.900811 -0.269229 0.90279 0.335388 -1.65435 0.250156 -0.27074 0.929582 0.258223 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 19 end 22 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 8885 o[1]: 459 o[2]: 61 o[3]: 5 histWeights: 1 1 1.25 1.5overlap: 542.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 5100 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 20 and 60 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 60 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 60 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 6250 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 260 keyframes 61 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 524 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.592917 Input.cpp[readImages,206]: Got image from sensor!261 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999919 -0.00277299 0.0124088 -0.00060376 0.00284176 0.999981 -0.00552719 0.0115573 -0.0123932 0.00556201 0.999908 0.0102542 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 60 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.592917) and 259(1311875581.558662) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999919 -0.00277299 0.0124088 -0.00060376 0.00284176 0.999981 -0.00552719 0.0115573 -0.0123932 0.00556201 0.999908 0.0102542 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999602 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1972/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 60 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.592917) and 259(1311875581.558662) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99992 -0.00230747 0.0124437 -0.00723483 0.00241107 0.999963 -0.00831728 0.00803043 -0.0124241 0.00834662 0.999888 -0.000372477 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 262 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2315/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 60 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.592917) and 259(1311875581.558662) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999907 -0.00333225 0.0132124 -0.00323282 0.00345048 0.999954 -0.00893586 0.0184395 -0.013182 0.00898061 0.999873 0.00156365 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999446 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1509/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.556712 resInfo good: 5100, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6636/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999942 -0.00214177 0.010583 0.0133811 0.00217372 0.999993 -0.00300859 -0.00210695 -0.0105765 0.00303142 0.999939 -0.000628358 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!260 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.622117 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!262 INF|Input.cpp[getImages,132]: mNbReceivedImages!263 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999767 -0.00425131 0.0211713 0.0267592 0.00437912 0.999972 -0.00599397 -0.0041829 -0.0211452 0.00608528 0.999758 -0.00140459 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 60 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.622117) and 259(1311875581.558662) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999767 -0.00425131 0.0211713 0.0267592 0.00437912 0.999972 -0.00599397 -0.0041829 -0.0211452 0.00608528 0.999758 -0.00140459 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 4): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2118/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 60 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.622117) and 259(1311875581.558662) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999779 -0.00494838 0.0204238 0.0222735 0.00506722 0.999971 -0.00577113 -0.00407824 -0.0203946 0.00587334 0.999775 -0.0122976 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999542 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2042/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 60 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.622117) and 259(1311875581.558662) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999736 -0.00383583 0.0226545 0.020643 0.00374223 0.999984 0.00417267 -0.0393383 -0.0226702 -0.00408679 0.999735 -0.0139419 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1423/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.826265 resInfo good: 5098, 2 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6430/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999759 -0.00498722 0.0213653 0.0305542 0.00495896 0.999987 0.00137536 -0.0216428 -0.0213718 -0.00126908 0.999771 -0.010199 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!261 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1357 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!262 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 263 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.689938 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!263 INF|Input.cpp[getImages,132]: mNbReceivedImages!264 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999621 -0.00642727 0.0267508 0.0391228 0.00633377 0.999974 0.00357853 -0.031408 -0.0267731 -0.00340774 0.999636 -0.0150219 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 60 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.689938) and 259(1311875581.558662) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999621 -0.00642727 0.0267508 0.0391228 0.00633377 0.999974 0.00357853 -0.031408 -0.0267731 -0.00340774 0.999636 -0.0150219 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999345 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1514/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 60 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.689938) and 259(1311875581.558662) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999261 -0.00625171 0.0379328 0.00212314 0.00563663 0.999851 0.0163002 -0.0905199 -0.0380291 -0.0160744 0.999147 -0.0173491 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999838 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1404/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 60 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.689938) and 259(1311875581.558662) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999445 -0.00918219 0.0320073 0.0350645 0.00900772 0.999944 0.00559091 -0.0323198 -0.0320569 -0.00529949 0.999472 -0.0123566 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999163 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:763/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.999979 resInfo good: 5054, 46 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4532/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999496 -0.00960901 0.0302587 0.0461282 0.0094078 0.999933 0.00678501 -0.0338949 -0.0303219 -0.00649692 0.999519 -0.010382 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!262 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!263 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 264 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.721877 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!264 INF|Input.cpp[getImages,132]: mNbReceivedImages!265 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999327 -0.0119372 0.0346951 0.0539355 0.0116139 0.999887 0.00950455 -0.0399946 -0.0348047 -0.0090952 0.999353 -0.0105014 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 60 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.721877) and 259(1311875581.558662) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999327 -0.0119372 0.0346951 0.0539355 0.0116139 0.999887 0.00950455 -0.0399946 -0.0348047 -0.0090952 0.999353 -0.0105014 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999733 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1626/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 60 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.721877) and 259(1311875581.558662) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999275 -0.0119536 0.0361404 0.0576988 0.0116613 0.999898 0.00828731 -0.0448878 -0.0362358 -0.00785985 0.999312 -0.00996233 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2473/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 60 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.721877) and 259(1311875581.558662) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999008 -0.0158314 0.0416103 0.0402206 0.0159385 0.99987 -0.00224246 0.010258 -0.0415694 0.00290344 0.999131 0.00302352 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1797/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.08107 resInfo good: 5006, 94 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6755/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999086 -0.0151964 0.0399485 0.0506581 0.0150827 0.999881 0.00314729 -0.0102649 -0.0399916 -0.00254188 0.999197 0.000759567 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875581.721877 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875581.721877 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875581.721877 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 773 size: 5580 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875581.721877 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -6.86258 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -8.55293 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -9.71094 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 234 keyframeId: 54 score: -10.0878 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 250 keyframeId: 58 score: -11.622 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 255 keyframeId: 59 score: -10.1102 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 61 = 61 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xdd09c20 fh1 0x20f1be0fh->id: 16 61 263goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xdd09c20 fh1 0x51e2b20fh->id: 43 61 263goodE: 59 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xdd09c20 fh1 0x1cbab40fh->id: 52 61 263goodE: 175 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xdd09c20 fh1 0x605aae0fh->id: 54 61 263goodE: 40 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xdd09c20 fh1 0x4900fc0fh->id: 58 61 263goodE: 46 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xdd09c20 fh1 0x11f18a60fh->id: 59 61 263goodE: 23 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xdd09c20 fh1 0xa25ee80fh->id: 60 61 263goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew61 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 123 out of 153 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 153 newEdgePixels: 153 Input.cpp[readImages,206]: Got image from sensor!264 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1902 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 312 lastEnergy: 510.852 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 40 INF|LocalMapper.cpp[optimize,276]: Start Energy: 510.852 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.77235e-12 -1.17559e-12 -2.33432e-11 -3.28273e-12 0.00323072 0.00337397 0.00709218 -0.000567793 0.00048313 0.00192226 -0.00654547 -0.00673727 0.00286555 -0.00120894 0.00135551 0.0011826 -0.00454146 -0.0239544 -0.000598522 -0.00262673 0.00128066 0.00182913 -0.0146521 -0.011245 0.00393383 -0.000222789 0.0019232 0.0024452 0.00756351 0.00411823 0.00489428 0.00224852 0.000127041 0.00231716 -0.0053793 0.00425703 0.0107875 0.00249864 0.00147025 0.00284506 0.00475425 -0.0063099 0.00707892 0.00156231 0.000501764 0.00254388 -0.0104457 -0.0649656 0.0164802 -0.00469281 0.00203345 0.00213151 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1902 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 460.459 0 0 newEnergyL 0 lastEnergy: 510.852 0 0 lastEnergyL: 0mActiveResiduals: 1902 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.7799e-12 -7.93751e-14 4.91865e-12 1.14258e-11 -0.000436479 0.000392655 -0.00020755 3.26974e-05 5.01954e-05 4.3317e-05 0.000227885 0.00289116 0.00207731 0.000419559 -7.45196e-05 -9.11252e-06 0.00281914 0.0136748 0.00269674 0.00168617 -0.000301572 0.000761829 0.0042517 -0.0214305 -0.00355176 -0.00249135 -6.40572e-05 -0.000590961 -0.00644546 -0.0163521 0.000591813 -0.00204902 0.00054271 0.000525682 -0.00336927 -0.0379853 -0.00504038 -0.00453762 0.000389673 -0.000510934 -0.00735116 -0.0250902 -0.00508976 -0.00332687 0.000595398 0.00029065 0.0116842 0.0242698 -0.000706219 0.00264515 -0.00116062 3.91493e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1902 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 443.914 0 0 newEnergyL 0 lastEnergy: 460.459 0 0 lastEnergyL: 0mActiveResiduals: 1902 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -4.485e-12 8.55487e-13 2.02862e-12 -3.89856e-12 0.00416702 0.00618287 0.00132071 -0.00182575 -0.000498808 -0.00075517 0.00431008 0.00203043 0.0010874 -0.00148529 -0.000897052 -0.000920984 -0.00162634 -0.0192026 -0.00555017 -0.00391151 0.000315723 -0.0018448 -0.00786901 -0.0161221 -0.00178531 -0.00259362 0.000724586 -0.00151106 0.00310141 0.0146113 0.000768893 0.00075267 -0.00016088 -0.000323005 0.000539752 0.0100055 0.000840919 0.000168654 0.000231269 -0.000242919 -0.00353975 0.0116365 0.00591726 0.000679522 0.000666017 -1.92696e-05 0.00220511 -0.00916674 -0.000830622 -0.00215447 0.000112437 3.53783e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1902 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 437.582 0 0 newEnergyL 0 lastEnergy: 443.914 0 0 lastEnergyL: 0mActiveResiduals: 1902 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 265 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 4.26057e-12 -2.60214e-15 1.06243e-11 3.84363e-12 -0.00197438 -0.00420908 -0.00201899 0.00137441 0.000226522 -0.00251601 0.00343274 0.00123506 -0.00102307 0.00202748 -0.000620797 -0.00178714 0.00843928 0.0260902 0.0033943 0.00390105 -0.00100385 -0.000202395 0.000632485 -0.00453469 0.0060744 -0.000136328 0.000157845 -0.00208411 0.00374238 -0.00146086 0.00335223 -0.000669733 -0.000579547 -0.0014407 -0.00429684 0.000384428 0.00185765 -0.00053533 0.000175711 -0.00135802 -0.00516804 -0.010583 -0.00485448 -0.00201218 0.000568566 -0.00204878 -0.00585428 -0.0071658 -0.00362122 -0.00142966 0.000664029 -0.00262527 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1902 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 431.701 0 0 newEnergyL 0 lastEnergy: 437.582 0 0 lastEnergyL: 0mActiveResiduals: 1902 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.20816e-11 1.2919e-12 -9.43223e-12 -5.65067e-12 0.00449865 0.00564821 0.00373728 -0.00166714 -0.00019687 0.00146474 -0.000882053 -0.00190903 0.00464251 -0.00191251 0.000182011 0.000490931 -0.00637765 -0.0249336 -0.00796626 -0.00385375 0.00128322 -0.000591013 -0.00977901 -0.00975342 -0.00675981 -0.00107466 0.00116562 0.000693599 0.000585697 0.0153824 -0.000468201 0.00231228 0.00039048 0.00165235 0.00282391 -0.000152781 -0.00128305 0.000788901 0.000568223 0.000897506 0.00557145 0.00785444 0.00348491 0.00179355 5.69956e-05 0.00123014 0.00374279 0.0088534 0.00351476 0.00174404 0.00021078 0.00219551 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1902 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 431.397 0 0 newEnergyL 0 lastEnergy: 431.701 0 0 lastEnergyL: 0mActiveResiduals: 1902 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.81822e-11 -1.87384e-12 9.5429e-12 9.19067e-12 -0.00224207 -0.00307581 -0.00317197 0.00094053 -0.000638819 -0.00290871 0.00349497 0.000664305 -0.00436588 0.00169026 -0.00157796 -0.00209774 0.0118417 0.0248404 0.0062423 0.00343788 -0.00214751 -0.00144466 0.00608461 0.00853934 0.00717756 0.000857374 -0.00108635 -0.00204045 0.00378558 -0.0084712 0.000305032 -0.00179378 -0.000816886 -0.00272755 -0.00682057 -0.00390445 0.00145248 -0.00146996 -5.35077e-07 -0.00253442 -0.0127542 -0.0143866 -0.00117493 -0.00281186 0.000874438 -0.00257344 -0.00270193 -0.00542859 -0.00231001 -0.00174547 -0.000105401 -0.00371628 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1902 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 412.658 0 0 newEnergyL 0 lastEnergy: 431.397 0 0 lastEnergyL: 0mActiveResiduals: 1902 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 412.658 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1902 INF|LocalMapper.cpp[optimize,345]: End Energy: 412.658 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.472802 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.472802 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 58 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 58 with idx: 4 and allID: 250 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->58 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 58->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->58 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 58->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->58 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 58->52 INF|LocalMapper.cpp[marginalizeFrame,801]: 58 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 58 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 9819 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0xdd09c20 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 61 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 33 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 4 with distance 0.118Found rest min at: 32 with distance 0.062 overall min: 0.062 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 4 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 679 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 61 into DB 0.118 4 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 4 and real id(19) current kf: 61(263) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.911982 0.0890565 -0.400447 -0.340619 -0.0903814 0.995785 0.0156197 1.08237 0.40015 0.0219481 0.916187 0.0285067 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 19 currFrame: 61 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00814732 eye: 0.000794192 edge: 61 to 19 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 61 to 19 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 29(1311875573.388082) and 263(1311875581.721877) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!265 INF|Input.cpp[getImages,132]: mNbReceivedImages!266 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999963 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1633/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 61 to 19 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 29(1311875573.388082) and 263(1311875581.721877) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.94915 0.280982 -0.141998 0.845784 -0.217524 0.91137 0.349412 -1.66682 0.227591 -0.300756 0.926147 0.170932 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999901 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:696/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 61 to 19 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 29(1311875573.388082) and 263(1311875581.721877) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.949106 0.281179 -0.141899 0.845654 -0.217738 0.91131 0.349435 -1.66701 0.227567 -0.300754 0.926153 0.170841 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 11,0.999998 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2507/2 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.935706 0.307349 -0.173179 1.00815 -0.230761 0.90455 0.358522 -1.69562 0.26684 -0.295509 0.917317 0.183058 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 18 end 21 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 9805 o[1]: 520 o[2]: 84 o[3]: 3 histWeights: 1 1 1.25 1.5overlap: 629.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 5580 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 19 and 61 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 61 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 61 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 8299 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 264 keyframes 62 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.757864 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,206]: Got image from sensor!265 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999651 -0.0140272 0.022399 -0.00756896 0.0142629 0.999844 -0.0103955 0.0630594 -0.0222497 0.0107113 0.999695 0.0176233 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 61 to 5206062489283723264 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.757864) and 263(1311875581.721877) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999651 -0.0140272 0.022399 -0.00756896 0.0142629 0.999844 -0.0103955 0.0630594 -0.0222497 0.0107113 0.999695 0.0176233 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999962 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2235/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 61 to 5206062489283723264 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.757864) and 263(1311875581.721877) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999728 -0.00722917 0.0221749 0.0126172 0.0072201 0.999974 0.000488769 -0.00942836 -0.0221779 -0.000328531 0.999754 -0.000856722 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 266 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999028 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2508/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 61 to 5206062489283723264 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.757864) and 263(1311875581.721877) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999736 -0.00747135 0.0217486 0.0217669 0.00741176 0.999969 0.00281924 -0.0102325 -0.021769 -0.0026573 0.999759 -0.00134205 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2059/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.75981 resInfo good: 5568, 12 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7883/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99968 -0.00807257 0.0239788 0.0154769 0.00797408 0.999959 0.00420009 -0.0116029 -0.0240117 -0.00400754 0.999704 0.0010232 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!264 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 479 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!266 INF|Input.cpp[getImages,132]: mNbReceivedImages!267 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.792754 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99928 -0.0121441 0.035951 0.0232583 0.0119226 0.999909 0.00637149 -0.0173562 -0.036025 -0.00593827 0.999333 0.00141297 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 61 to 5206062489283723264 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.792754) and 263(1311875581.721877) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99928 -0.0121441 0.035951 0.0232583 0.0119226 0.999909 0.00637149 -0.0173562 -0.036025 -0.00593827 0.999333 0.00141297 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.99975 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2518/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 61 to 5206062489283723264 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.792754) and 263(1311875581.721877) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999733 -0.00990972 0.0208812 0.0720065 0.0100917 0.999912 -0.00862622 0.0373776 -0.0207938 0.00883464 0.999745 0.00715343 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999771 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2069/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 61 to 5206062489283723264 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.792754) and 263(1311875581.721877) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999525 -0.0107252 0.0288987 0.0461201 0.0109551 0.999909 -0.00781012 0.0431016 -0.0288124 0.00812299 0.999552 0.00953733 Input.cpp[readImages,206]: Got image from sensor!266 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2008/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.976312 resInfo good: 5565, 15 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7482/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999482 -0.0101189 0.0305352 0.0435836 0.0101385 0.999948 -0.000488716 0.0165874 -0.0305287 0.000798045 0.999534 0.00657847 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!265 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 267 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!267 INF|Input.cpp[getImages,132]: mNbReceivedImages!268 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.822220 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999238 -0.0121335 0.0370997 0.0716692 0.0123334 0.999911 -0.00516321 0.0448087 -0.0370338 0.00561684 0.999298 0.0120832 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 61 to 5206062489283723264 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.822220) and 263(1311875581.721877) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999238 -0.0121335 0.0370997 0.0716692 0.0123334 0.999911 -0.00516321 0.0448087 -0.0370338 0.00561684 0.999298 0.0120832 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2773/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 61 to 5206062489283723264 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.822220) and 263(1311875581.721877) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99876 -0.00869645 0.0490256 0.0113619 0.00783335 0.999811 0.0177699 -0.0698159 -0.0491709 -0.0173639 0.998639 -0.00222759 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999725 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1836/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 61 to 5206062489283723264 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.822220) and 263(1311875581.721877) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998955 -0.0081397 0.044978 0.0362733 0.00715944 0.999734 0.0219124 -0.0777956 -0.0451444 -0.0215675 0.998748 -0.00807681 Input.cpp[readImages,206]: Got image from sensor!267 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2838/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.08198 resInfo good: 5535, 45 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8510/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998991 -0.0103281 0.0437141 0.0442349 0.00994874 0.999911 0.00888693 -0.016661 -0.043802 -0.00844306 0.999005 0.000982885 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875581.822220 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875581.822220 to keyframe with id: 5206062489283723264 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875581.822220 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 768 size: 6004 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId5206062489283723264 timestamp: 1311875581.822220 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 23 keyframeId: 16 score: -6.89776 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -8.61565 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -9.87288 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 234 keyframeId: 54 score: -9.80915 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 255 keyframeId: 59 score: -13.1067 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -11.6586 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 62 = 62 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1a311880 fh1 0x20f1be0fh->id: 16 62 266goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1a311880 fh1 0x51e2b20fh->id: 43 62 266goodE: 58 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1a311880 fh1 0x1cbab40fh->id: 52 62 266goodE: 170 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1a311880 fh1 0x605aae0fh->id: 54 62 266goodE: 39 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1a311880 fh1 0x11f18a60fh->id: 59 62 266goodE: 37 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1a311880 fh1 0xa25ee80fh->id: 60 62 266goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1a311880 fh1 0xdd09c20fh->id: 61 62 266goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew62 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 268 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 129 out of 136 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 136 newEdgePixels: 136 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1831 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 333 lastEnergy: 436.659 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 38 INF|LocalMapper.cpp[optimize,276]: Start Energy: 436.659 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.01142e-11 2.81675e-13 -2.63715e-11 4.65204e-12 -0.00453736 -0.00539939 0.000241932 0.00109681 0.00111538 0.00465745 -0.0104165 -0.00549992 0.0022204 -0.00088214 0.00289432 0.00431755 -0.022514 -0.0245867 -0.00276403 -0.00131947 0.0027826 0.00477427 -0.0138631 -0.00520701 0.00312818 0.00149116 0.000968777 0.00589554 0.0170984 0.0190398 0.00793193 0.00568686 -0.00166841 0.00602169 0.0132797 0.0168358 0.00730196 0.00585396 -0.00181183 0.00575431 -0.00185982 -0.00987333 0.0131031 0.00300344 -0.000243829 0.00626174 -0.0158061 -0.0377671 0.0185749 9.38577e-05 0.00173262 0.00609874 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1831 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 407.322 0 0 newEnergyL 0 lastEnergy: 436.659 0 0 lastEnergyL: 0mActiveResiduals: 1831 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 4.25627e-12 1.29147e-12 6.27391e-12 1.10811e-12 -0.000490523 0.000790284 -0.000129179 7.68232e-05 5.30617e-05 5.39344e-05 0.00131639 0.00304558 -0.000218151 0.000348999 -0.000121396 6.48572e-05 0.00983285 0.0132787 0.00743075 0.00152831 -0.00101476 -0.000100112 0.00892002 8.5647e-05 0.001908 -0.00026112 -0.000419487 -0.00106235 -0.0112804 -0.0231386 0.00296193 -0.00337415 0.00130666 -0.000925307 -0.0069986 -0.0424549 -0.00588038 -0.0058701 0.00107734 -0.00132554 0.00679148 -0.0120425 -0.010101 -0.00221882 -0.000135517 -0.00181439 0.0172644 -0.00180081 0.000751308 -0.000746048 -0.0017663 -0.00159161 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1831 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 389.833 0 0 newEnergyL 0 lastEnergy: 407.322 0 0 lastEnergyL: 0mActiveResiduals: 1831 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -4.89888e-12 -5.76742e-13 -2.81527e-12 -7.2712e-12 0.00470588 0.00547472 0.00557153 -0.00117679 -0.000874607 -0.000717264 -0.000559082 -0.00475487 0.000115199 -0.0011805 -0.00107152 -0.00069028 -0.0014287 -0.0162712 -0.00761084 -0.00251433 -0.000269395 -0.00119291 -0.00617182 -0.00715041 -0.00767529 -0.000729996 2.62736e-05 0.000109694 0.00296477 0.0128486 -0.000697797 0.00219584 -0.000462603 0.000637665 0.0118028 0.0240571 0.0044608 0.00360487 -0.00150126 0.000525383 -0.000312374 0.00200884 0.00741176 0.000913911 -0.000343001 0.00102906 -0.0076787 -0.0172411 0.000154808 -0.0014168 0.00100646 0.000379811 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1831 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!268 INF|Input.cpp[getImages,132]: mNbReceivedImages!269 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 392.364 0 0 newEnergyL 0 lastEnergy: 389.833 0 0 lastEnergyL: 0mActiveResiduals: 1831 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 6.17857e-12 1.50717e-12 7.35438e-13 6.86175e-12 -0.0049106 -0.00326036 -0.00506644 0.00196119 0.000344882 -0.00174517 0.00252934 0.00477018 -0.00189676 0.00212526 -0.000120882 -0.000624287 0.00596451 0.0230689 0.00953097 0.00371195 -0.000736865 -0.000738206 0.0123823 0.00897677 0.00941394 0.00117784 -0.00112151 -0.00162228 0.00164098 0.000962282 0.00151997 -0.00070447 -0.00024008 -0.0021434 -0.0116014 -0.0278221 -0.00187102 -0.00403272 0.00134033 -0.00241796 -0.00260053 -0.0152015 -0.00693485 -0.00271654 0.000520836 -0.00302 -0.00576503 0.00825395 -0.00209007 -4.08392e-05 0.000440337 -0.00181107 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1831 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 382.316 0 0 newEnergyL 0 lastEnergy: 392.364 0 0 lastEnergyL: 0mActiveResiduals: 1831 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -5.67261e-12 -8.91689e-13 2.93948e-12 -6.5219e-12 0.00767517 0.00538531 0.00375392 -0.00128147 -0.000623109 -0.00155097 0.00598918 -0.000302631 0.00617229 -0.000455693 -0.00129842 -0.0016469 -0.00369973 -0.0170519 -0.00951191 -0.00282645 0.00087407 -0.00270538 -0.0153166 -0.0103289 -0.00936934 -0.0012668 0.00187566 -0.00204816 -0.00202863 -0.00148627 0.00330686 -0.00020819 0.000745338 -0.000773985 0.0150947 0.0255468 0.00315941 0.0028524 -0.000911741 -0.00129119 -0.00689388 0.0164202 0.00547974 0.00173429 0.00142075 -0.000157717 0.00035233 -0.0174069 -0.000329875 -0.00231342 0.00100415 -0.00174731 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1831 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 379.403 0 0 newEnergyL 0 lastEnergy: 382.316 0 0 lastEnergyL: 0mActiveResiduals: 1831 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 7.84022e-12 1.06056e-12 8.8638e-13 6.23873e-12 -0.00743323 -0.00444354 -0.00325454 0.00158946 0.000538405 0.000149376 -0.00348791 0.000739412 -0.00343863 0.00115099 0.000604556 0.00043249 0.0107712 0.0240433 0.00889636 0.00352716 -0.00160985 0.00216022 0.0102803 -0.00618238 0.00747154 -0.000350032 -0.0012618 0.000404252 0.00555783 0.00569327 -0.00450187 0.000528334 -0.00109345 0.000482148 -0.016233 -0.0245506 -0.00232909 -0.00282855 0.00101776 0.00130691 0.00679165 0.00308765 0.000316122 0.000449727 -0.00165199 0.000482505 -0.00806873 0.0010977 -0.00176202 0.000222936 -6.87335e-05 0.00100393 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1831 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 375.664 0 0 newEnergyL 0 lastEnergy: 379.403 0 0 lastEnergyL: 0mActiveResiduals: 1831 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 375.664 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1831 INF|LocalMapper.cpp[optimize,345]: End Energy: 375.664 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.460305 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.460305 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 59 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 59 with idx: 4 and allID: 255 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->59 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 59->16 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->59 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 59->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->59 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 59->52 INF|LocalMapper.cpp[marginalizeFrame,801]: 59 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 59 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 10073 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1a311880 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 62 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 34 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 2 with distance 0.102Found rest min at: 33 with distance 0.06 overall min: 0.06 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 2 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 686 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 62 into DB 0.102 2 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 2 and real id(17) current kf: 62(266) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.933978 0.0636941 -0.351608 -0.323774 -0.0678371 0.997696 0.000537577 1.01195 0.350832 0.02335 0.936147 0.116884 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 17 currFrame: 62 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00800048 eye: 0.000644901 edge: 62 to 17 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 62 to 17 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 25(1311875573.250089) and 266(1311875581.822220) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999338 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:726/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 62 to 17 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 25(1311875573.250089) and 266(1311875581.822220) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997376 0.0688121 -0.0224891 0.165666 -0.0578027 0.943984 0.32489 -1.40916 0.0435857 -0.322738 0.945484 -0.0900185 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999934 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:741/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 62 to 17 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 25(1311875573.250089) and 266(1311875581.822220) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.997909 0.0615937 -0.019582 0.134944 -0.0514421 0.940353 0.33629 -1.44699 0.0391273 -0.334579 0.941555 -0.0834651 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.99941 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1430/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.998172 0.0583926 -0.0156031 0.112061 -0.0496826 0.9397 0.338373 -1.44614 0.0344207 -0.336979 0.940883 -0.0819906 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 16 end 19 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!268 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 10038 o[1]: 344 o[2]: 47 o[3]: 2 histWeights: 1 1 1.25 1.5overlap: 405.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 6004 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 17 and 62 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 62 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 62 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 6265 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 267 keyframes 63 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.861150 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 269 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999945 -0.000601583 0.010433 0.0116726 0.000560975 0.999992 0.00389475 -0.00874171 -0.0104353 -0.00388868 0.999938 -0.00798982 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 62 to 447157280 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.861150) and 266(1311875581.822220) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999945 -0.000601583 0.010433 0.0116726 0.000560975 0.999992 0.00389475 -0.00874171 -0.0104353 -0.00388868 0.999938 -0.00798982 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999644 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1156/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 62 to 447157280 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.861150) and 266(1311875581.822220) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999957 0.0013874 0.0091649 0.000251814 -0.00140576 0.999997 0.0019968 -0.0189254 -0.0091621 -0.0020096 0.999956 0.00651339 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!269 INF|Input.cpp[getImages,132]: mNbReceivedImages!270 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999068 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2309/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 62 to 447157280 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.861150) and 266(1311875581.822220) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999875 0.00203557 0.015665 -0.0152665 -0.00231462 0.999839 0.0178159 -0.0694567 -0.0156262 -0.01785 0.999719 -0.00542323 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999928 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1413/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.557124 resInfo good: 5993, 11 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5847/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999927 0.000271703 0.0121155 0.00416709 -0.000352979 0.999977 0.00670686 -0.0156874 -0.0121134 -0.00671064 0.999904 -0.00126986 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!267 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.890467 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999835 0.000377058 0.0181733 0.00624312 -0.000559927 0.999949 0.0100585 -0.0235347 -0.0181686 -0.010067 0.999784 -0.00188421 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 62 to 447157280 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.890467) and 266(1311875581.822220) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999835 0.000377058 0.0181733 0.00624312 -0.000559927 0.999949 0.0100585 -0.0235347 -0.0181686 -0.010067 0.999784 -0.00188421 Input.cpp[readImages,206]: Got image from sensor!269 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999834 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2712/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 62 to 447157280 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.890467) and 266(1311875581.822220) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999653 0.000372548 0.0263551 -0.00998442 -0.000599077 0.999963 0.0085879 -0.0357343 -0.0263509 -0.0086007 0.999616 0.0116266 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999553 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1547/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 62 to 447157280 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.890467) and 266(1311875581.822220) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999752 0.00108139 0.0222392 0.0179287 -0.0013326 0.999935 0.0112844 -0.0360826 -0.0222256 -0.0113112 0.999689 -0.0020889 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999188 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:727/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.752695 resInfo good: 6001, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5809/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99976 -0.000694074 0.0218914 0.0201314 0.000570291 0.999984 0.00566014 -0.00923441 -0.021895 -0.0056463 0.999744 0.00602565 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!268 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 549 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 270 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.925370 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999497 -0.0016494 0.0316662 0.0361606 0.00150376 0.999988 0.00462249 -0.00277463 -0.0316735 -0.00457254 0.999488 0.0131715 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 62 to 447157280 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.925370) and 266(1311875581.822220) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999497 -0.0016494 0.0316662 0.0361606 0.00150376 0.999988 0.00462249 -0.00277463 -0.0316735 -0.00457254 0.999488 0.0131715 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!270 INF|Input.cpp[getImages,132]: mNbReceivedImages!271 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2453/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 62 to 447157280 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.925370) and 266(1311875581.822220) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999494 -0.000231516 0.031803 0.0276084 -4.8547e-05 0.999961 0.0088051 -0.0390394 -0.0318038 -0.00880219 0.999455 0.00344276 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 7): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3011/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 62 to 447157280 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.925370) and 266(1311875581.822220) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999317 -0.000869076 0.0369343 0.0133056 0.000677469 0.999986 0.00519999 -0.0151456 -0.0369383 -0.00517141 0.999304 0.00699704 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.99984 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1000/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.96822 resInfo good: 5971, 33 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7314/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999492 -0.00217048 0.03179 0.0388648 0.00224457 0.999995 -0.00229488 0.0224812 -0.0317849 0.00236507 0.999492 0.0123587 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!269 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!270 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 271 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!271 INF|Input.cpp[getImages,132]: mNbReceivedImages!272 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.961760 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999321 -0.00287891 0.0367425 0.0482377 0.00311118 0.999976 -0.00626605 0.0383303 -0.0367236 0.00637611 0.999305 0.0155507 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 62 to 447157280 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.961760) and 266(1311875581.822220) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999321 -0.00287891 0.0367425 0.0482377 0.00311118 0.999976 -0.00626605 0.0383303 -0.0367236 0.00637611 0.999305 0.0155507 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 10,0.999998 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3410/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 62 to 447157280 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.961760) and 266(1311875581.822220) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998804 -0.00144124 0.0488783 0.00565865 0.00174188 0.99998 -0.00610879 0.0207734 -0.0488685 0.00618662 0.998786 0.0188103 Input.cpp[readImages,206]: Got image from sensor!271 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999109 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1983/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 62 to 447157280 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.961760) and 266(1311875581.822220) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99883 -0.00103535 0.0483461 0.0174381 0.000980509 0.999999 0.00115808 -0.000917161 -0.0483472 -0.00110932 0.99883 0.0113718 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.99995 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1383/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.07968 resInfo good: 5926, 78 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7658/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999066 -0.0015299 0.0431941 0.0440829 0.0016497 0.999995 -0.00273805 0.0218505 -0.0431896 0.00280675 0.999063 0.0121127 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875581.961760 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875581.961760 to keyframe with id: 447157280 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875581.961760 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 272 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 889 size: 5976 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId447157280 timestamp: 1311875581.961760 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 63 = 63 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x13511340 fh1 0x20f1be0fh->id: 16 63 270goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x13511340 fh1 0x51e2b20fh->id: 43 63 270goodE: 57 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x13511340 fh1 0x1cbab40fh->id: 52 63 270goodE: 155 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x13511340 fh1 0x605aae0fh->id: 54 63 270goodE: 34 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x13511340 fh1 0xa25ee80fh->id: 60 63 270goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x13511340 fh1 0xdd09c20fh->id: 61 63 270goodE: 14 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x13511340 fh1 0x1a311880fh->id: 62 63 270goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew63 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 185 out of 196 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 196 newEdgePixels: 196 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1846 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 278 lastEnergy: 466.263 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 41 INF|LocalMapper.cpp[optimize,276]: Start Energy: 466.263 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -9.52282e-12 -3.33736e-13 1.14931e-12 -4.95429e-12 0.000532059 -0.00482785 -0.000735529 -0.00125528 0.000552933 0.00377315 -0.00480997 -0.0048939 -0.00742702 -0.00198966 0.00185357 0.002616 -0.0130857 -0.0141581 -0.00737361 -0.00236487 0.00160497 0.00267743 -0.0172669 -0.00142651 -0.00528877 -0.000421231 0.00161255 0.00323362 0.00486545 0.035266 0.0109278 0.0051551 -0.000469053 0.00301118 -0.0076727 0.00694843 0.000456811 0.00219844 0.000588584 0.00331834 0.009867 0.0141343 -0.00316191 0.00307986 -0.00154714 0.00298762 0.0083858 0.0279332 0.00111909 0.00489504 -0.00127469 0.00315856 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1846 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 421.872 0 0 newEnergyL 0 lastEnergy: 466.263 0 0 lastEnergyL: 0mActiveResiduals: 1846 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!272 INF|Input.cpp[getImages,132]: mNbReceivedImages!273 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.21829e-11 -2.30821e-12 6.00867e-12 1.89593e-12 -0.000546209 0.000768419 -0.000131321 7.95823e-05 6.19074e-05 2.08396e-05 -0.000952995 0.0001946 0.00358375 -0.000170526 0.000257901 0.000185855 0.00552774 0.00788684 0.00585009 0.000793909 -0.000513495 7.71989e-05 0.0104913 -0.00735938 -0.00213282 -0.00102991 -0.000665704 -0.000913791 0.00592129 -0.0259993 -0.00348117 -0.00369728 -0.000400664 -0.000236 -0.0019047 -0.0276685 -0.00500836 -0.00407473 0.000234973 -0.000741864 0.00108082 -0.0128904 -0.00326132 -0.00230893 -7.03066e-05 -5.47253e-06 0.0238207 0.0178336 0.00371483 0.00149017 -0.00277869 -0.000340508 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1846 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 397.31 0 0 newEnergyL 0 lastEnergy: 421.872 0 0 lastEnergyL: 0mActiveResiduals: 1846 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.2413e-11 1.46735e-12 -2.04391e-12 -6.9731e-12 0.00237535 0.00301237 0.00358646 -0.00141711 0.000231358 0.00133496 -0.00229893 -0.00305309 0.000437998 -0.00171251 0.000601766 0.000511138 -0.00620724 -0.0174038 -0.00593987 -0.00287036 0.00117291 0.000585241 -0.00859678 -0.00692258 -0.0023682 -0.00094512 0.000963894 0.001562 0.00311059 0.0331424 0.00616995 0.00460539 7.38864e-05 0.00220391 0.00969903 0.00808522 0.00258079 0.00171921 -0.000408268 0.00193785 0.0120963 -0.00172521 0.00179984 0.000656117 -0.000642681 0.00117759 -0.0102521 -0.0148314 -0.00887122 -0.000951235 0.00226134 0.00121931 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1846 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 398.283 0 0 newEnergyL 0 lastEnergy: 397.31 0 0 lastEnergyL: 0mActiveResiduals: 1846 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 8.39705e-12 -1.33323e-12 7.4446e-12 7.20776e-12 -0.00215223 -0.00104998 -0.000930362 0.00285017 0.000261118 -0.00253355 0.00270026 0.00479684 0.00208432 0.00325934 -0.000481059 -0.00142762 0.00601087 0.0187777 0.00512637 0.0041754 -0.000498754 -0.00146113 0.00774361 0.00345269 0.00235558 0.00176586 -0.000285701 -0.00255564 0.0111018 -0.0149225 -0.00258201 -0.00177076 -0.00079733 -0.00304293 -0.00850799 -0.000555818 -0.00121083 -0.00015778 0.00121666 -0.00287723 -0.0192327 -0.000918635 -0.00316714 -0.000340082 0.00240805 -0.0024015 0.000399304 -0.00967854 0.00288425 -0.00146678 -3.00107e-05 -0.00267351 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1846 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 389.631 0 0 newEnergyL 0 lastEnergy: 398.283 0 0 lastEnergyL: 0mActiveResiduals: 1846 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.12644e-11 1.71015e-12 6.32204e-12 -5.26619e-12 0.00489078 0.00148096 0.000834126 -0.00232043 -0.000704888 2.65882e-05 0.00375255 -0.00232475 -0.00198366 -0.00201659 -0.000840615 -0.000198544 -0.00510127 -0.0140273 -0.00550098 -0.00361386 0.00036927 -0.000671913 -0.0135589 -0.00288298 -0.00159116 -0.00169593 0.000957415 -4.24199e-05 -0.00828257 0.0174597 0.00378514 0.00115138 0.000656298 0.000356761 0.00451128 0.00773739 0.00143103 5.66172e-05 -0.000381014 -0.000203489 0.0161238 -0.00759696 0.00250039 -0.00168785 -0.00163389 -0.000838548 0.000705714 -0.000101358 -0.00165987 -0.000985392 0.000198144 -0.00066861 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1846 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 377.652 0 0 newEnergyL 0 lastEnergy: 389.631 0 0 lastEnergyL: 0mActiveResiduals: 1846 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 8.20289e-12 1.44754e-12 5.54e-13 -8.32626e-13 -0.00649207 -0.000919172 -0.00469533 0.00292255 0.00124857 -0.00107394 -0.000834798 0.00769076 0.00563632 0.00327412 0.001071 -0.000643049 0.00365461 0.01497 0.00863174 0.00391517 0.00047643 -0.000514781 0.0128899 0.0102281 0.00360086 0.00254187 -5.95983e-05 -0.00130738 0.0111246 -0.0143086 -0.00360361 -0.00131868 -5.63761e-05 -0.00227759 -0.00401364 -0.00663945 -0.0015284 -0.000554279 0.00116979 -0.00156453 -0.013564 0.00343665 -0.00220206 0.000484288 0.00203918 -0.00108587 -0.00824937 -0.0128711 -0.00344296 -0.00149093 0.00139171 -0.000880797 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1846 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 390.116 0 0 newEnergyL 0 lastEnergy: 377.652 0 0 lastEnergyL: 0mActiveResiduals: 1846 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 390.116 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1846 INF|LocalMapper.cpp[optimize,345]: End Energy: 390.116 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.464898 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.464898 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 16 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 16 with idx: 0 and allID: 23 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 16<->16 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->16 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 16->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->16 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 16->52 INF|LocalMapper.cpp[marginalizeFrame,772]: 54<->16 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 16->54 INF|LocalMapper.cpp[marginalizeFrame,801]: 16 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 16 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 9770 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x13511340 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 63 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 35 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 2 with distance 0.102Found rest min at: 34 with distance 0.056 overall min: 0.056 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 2 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 710 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 63 into DB 0.102 2 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 2 and real id(17) current kf: 63(270) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.917717 0.0657838 -0.391749 -0.352645 -0.0694607 0.997573 0.00479606 0.996727 0.391114 0.0228097 0.92006 0.0881475 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 17 currFrame: 63 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00901607 eye: 0.000672941 edge: 63 to 17 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 63 to 17 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 25(1311875573.250089) and 270(1311875581.961760) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999441 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1300/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 63 to 17 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 25(1311875573.250089) and 270(1311875581.961760) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.993598 0.0673036 -0.0907393 0.431649 -0.0395014 0.959448 0.279105 -1.21425 0.105844 -0.273734 0.955964 -0.00670958 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1014/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 63 to 17 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 25(1311875573.250089) and 270(1311875581.961760) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.993598 0.0673041 -0.0907392 0.431649 -0.0395019 0.959448 0.279105 -1.21425 0.105844 -0.273734 0.955964 -0.00671016 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 0,0.99923 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:528/0 Input.cpp[readImages,206]: Got image from sensor!272 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.99348 0.0687766 -0.0909247 0.433233 -0.0408499 0.959332 0.279309 -1.21492 0.106437 -0.273773 0.955887 -0.00503181 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 16 end 19 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 10446 o[1]: 460 o[2]: 71 o[3]: 2 histWeights: 1 1 1.25 1.5overlap: 551.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 5976 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 17 and 63 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 63 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 63 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 6262 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 271 keyframes 64 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 468 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875581.989958 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 273 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999925 0.000587421 0.0121988 0.00067485 -0.000602002 0.999999 0.00119162 -0.00750672 -0.0121981 -0.00119887 0.999925 -0.00054026 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 63 to 76541344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.989958) and 270(1311875581.961760) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999925 0.000587421 0.0121988 0.00067485 -0.000602002 0.999999 0.00119162 -0.00750672 -0.0121981 -0.00119887 0.999925 -0.00054026 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999719 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2293/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 63 to 76541344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.989958) and 270(1311875581.961760) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999787 0.00650108 0.0195937 -0.0387322 -0.0074017 0.998903 0.0462481 -0.218948 -0.0192715 -0.0463833 0.998738 -0.0174138 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!273 INF|Input.cpp[getImages,132]: mNbReceivedImages!274 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999422 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2128/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 63 to 76541344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875581.989958) and 270(1311875581.961760) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999865 0.00169201 0.01634 -0.0183034 -0.00183037 0.999963 0.00845653 -0.047431 -0.0163251 -0.00848529 0.999831 -0.00470611 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2177/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.680439 resInfo good: 5960, 16 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7647/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999897 0.00178455 0.0142091 -0.00346727 -0.00195364 0.999927 0.0118949 -0.0560178 -0.0141868 -0.0119215 0.999828 -0.00946061 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!271 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.024046 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,206]: Got image from sensor!273 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99959 0.0033994 0.0284355 -0.00716858 -0.00407569 0.999709 0.0237592 -0.112137 -0.0283464 -0.0238653 0.999313 -0.0182026 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 63 to 76541344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.024046) and 270(1311875581.961760) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99959 0.0033994 0.0284355 -0.00716858 -0.00407569 0.999709 0.0237592 -0.112137 -0.0283464 -0.0238653 0.999313 -0.0182026 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2900/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 63 to 76541344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.024046) and 270(1311875581.961760) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999631 0.00259264 0.027022 -0.010292 -0.00320723 0.999737 0.0227258 -0.114507 -0.026956 -0.022804 0.999376 -0.0135417 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 274 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2542/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 63 to 76541344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.024046) and 270(1311875581.961760) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999634 0.000554076 0.0270394 -0.00282855 -0.000948797 0.999893 0.0145874 -0.0708525 -0.0270284 -0.0146077 0.999528 -0.010161 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2242/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.747897 resInfo good: 5976, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8867/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999747 -0.00056789 0.0224639 0.0184018 0.000536627 0.999999 0.00139773 -0.0111754 -0.0224646 -0.00138532 0.999747 -0.000105797 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!272 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!274 INF|Input.cpp[getImages,132]: mNbReceivedImages!275 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 466 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.057772 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999645 -0.00171144 0.0265998 0.0293271 0.0018143 0.999991 -0.0038432 0.0112272 -0.026593 0.00389009 0.999639 0.004681 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 63 to 76541344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.057772) and 270(1311875581.961760) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999645 -0.00171144 0.0265998 0.0293271 0.0018143 0.999991 -0.0038432 0.0112272 -0.026593 0.00389009 0.999639 0.004681 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999954 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2758/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 63 to 76541344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.057772) and 270(1311875581.961760) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999419 0.000861337 0.0340725 0.00509655 -0.000628973 0.999976 -0.00682983 0.00221391 -0.0340776 0.00680443 0.999396 0.00895288 Input.cpp[readImages,206]: Got image from sensor!274 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 7): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3271/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 63 to 76541344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.057772) and 270(1311875581.961760) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999431 -0.000219678 0.0337411 0.0156042 0.000127348 0.999996 0.00273853 -0.028308 -0.0337416 -0.00273268 0.999427 0.00143443 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 275 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999849 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2182/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.8781 resInfo good: 5953, 23 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9132/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999485 -0.00147905 0.0320573 0.0249447 0.00161591 0.99999 -0.00424381 0.00692458 -0.0320507 0.00429343 0.999477 0.0067921 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!273 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.090377 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!275 INF|Input.cpp[getImages,132]: mNbReceivedImages!276 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999319 -0.00191417 0.0368549 0.0282347 0.00217582 0.999973 -0.0070606 0.0159622 -0.0368404 0.00713598 0.999296 0.0102559 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 63 to 76541344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.090377) and 270(1311875581.961760) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999319 -0.00191417 0.0368549 0.0282347 0.00217582 0.999973 -0.0070606 0.0159622 -0.0368404 0.00713598 0.999296 0.0102559 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2210/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 63 to 76541344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.090377) and 270(1311875581.961760) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999277 -0.000703662 0.0380208 0.033521 0.00101645 0.999966 -0.00820798 0.0100974 -0.0380137 0.00824069 0.999243 0.00133576 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 8): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3388/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 63 to 76541344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.090377) and 270(1311875581.961760) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999216 -0.000638051 0.0395747 0.0350819 0.00047048 0.999991 0.00424347 -0.0347188 -0.039577 -0.00422153 0.999208 -0.00495508 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999941 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1622/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.999956 resInfo good: 5902, 74 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8147/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999102 -0.00163999 0.0423353 0.0274105 0.00152802 0.999995 0.00267712 -0.0229219 -0.0423395 -0.00261003 0.9991 -0.0026804 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!274 Input.cpp[readImages,206]: Got image from sensor!275 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 276 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.121892 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!276 INF|Input.cpp[getImages,132]: mNbReceivedImages!277 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998871 -0.00174709 0.0474722 0.028609 0.00145736 0.99998 0.00613713 -0.0378694 -0.0474819 -0.00606102 0.998854 -0.00734854 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 63 to 76541344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.121892) and 270(1311875581.961760) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998871 -0.00174709 0.0474722 0.028609 0.00145736 0.99998 0.00613713 -0.0378694 -0.0474819 -0.00606102 0.998854 -0.00734854 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 3): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2488/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 63 to 76541344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.121892) and 270(1311875581.961760) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998852 -0.000837457 0.0479011 0.0308046 0.000610386 0.999989 0.00475483 -0.044068 -0.0479045 -0.00472013 0.998841 -0.00253148 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999962 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2780/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 63 to 76541344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.121892) and 270(1311875581.961760) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998711 -0.00117712 0.0507515 0.0265503 0.00118505 0.999999 -0.000126103 -0.0153935 -0.0507513 0.000186084 0.998711 0.00148223 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999737 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1002/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.09701 resInfo good: 5893, 83 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7235/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998888 -0.00148784 0.0471202 0.0455161 0.00168538 0.99999 -0.00415276 0.00498227 -0.0471136 0.00422756 0.998881 0.00508762 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875582.121892 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875582.121892 to keyframe with id: 76541344 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875582.121892 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 871 size: 7430 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId76541344 timestamp: 1311875582.121892 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -8.32451 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -10.8428 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 234 keyframeId: 54 score: -11.3828 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -15.1182 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 263 keyframeId: 61 score: -16.227 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 266 keyframeId: 62 score: -12.2222 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 64 = 64 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x48fedc0 fh1 0x51e2b20fh->id: 43 64 275goodE: 51 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x48fedc0 fh1 0x1cbab40fh->id: 52 64 275goodE: 161 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x48fedc0 fh1 0x605aae0fh->id: 54 64 275goodE: 40 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x48fedc0 fh1 0xa25ee80fh->id: 60 64 275goodE: 111 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x48fedc0 fh1 0xdd09c20fh->id: 61 64 275goodE: 32 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x48fedc0 fh1 0x1a311880fh->id: 62 64 275goodE: 38 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x48fedc0 fh1 0x13511340fh->id: 63 64 275goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew64 Input.cpp[readImages,206]: Got image from sensor!276 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 277 INF|LocalMapper.cpp[optimize,276]: Start Energy: 539.366 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.50113e-11 2.74312e-12 8.20989e-12 -1.31894e-11 -0.00322072 -0.00812821 -0.00704752 -0.00272993 -0.000231249 0.00193174 -0.00387755 -0.0119084 -0.0079821 -0.00281661 -0.000817412 0.00184817 -0.0132319 -0.000623279 -0.00439511 -0.000896554 -0.000126872 0.00238963 -0.0126719 0.0204697 0.00373774 0.00265005 -0.000513216 0.00334655 0.00721003 0.0112839 -0.00359453 0.00168364 -0.00204051 0.00213653 0.0164137 0.0125129 -0.00459307 0.00186714 -0.00292761 0.00205524 0.0212259 0.00435219 -0.00596504 0.000931141 -0.00337695 0.00083349 0.00980912 -0.00609537 -0.000594667 0.000136852 -0.00236694 0.000993939 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2297 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 493.391 0 0 newEnergyL 0 lastEnergy: 539.366 0 0 lastEnergyL: 0mActiveResiduals: 2297 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.74469e-11 -4.77323e-12 -7.22555e-12 2.20303e-11 0.000177479 -0.00197667 0.000260373 -0.000199642 6.4622e-06 0.000592746 0.00330111 0.00433191 -0.000634116 0.000838045 -0.000497354 0.000326082 0.00348258 0.00161127 -0.00107345 6.88387e-05 -0.00026923 -8.60113e-05 0.00793826 -0.0214516 -0.00464586 -0.0028674 -0.000497811 -0.00129198 -0.0138882 -0.0237754 0.000741624 -0.0030429 0.00126111 -0.000103023 -0.0137144 -0.0128078 0.00456682 -0.00171296 0.00101333 0.00010081 -0.0209865 0.00525914 0.00354679 0.000463495 0.00189553 0.00120069 0.00314182 0.000649692 0.00440731 -2.29386e-05 -0.000514381 -0.000277527 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2297 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 475.584 0 0 newEnergyL 0 lastEnergy: 493.391 0 0 lastEnergyL: 0mActiveResiduals: 2297 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -5.87936e-12 1.21799e-12 1.42686e-11 -1.05504e-11 0.00075802 -0.00441126 -0.00148874 -0.00244563 0.000276603 0.000820612 -0.00460108 -0.0113824 -0.00302911 -0.00311729 0.000449477 0.00124117 -0.00978296 -0.00401878 -0.000866029 -0.00171809 0.000601058 0.00188853 -0.0120267 0.0146793 0.00327226 0.00128067 0.000558379 0.00324544 0.0070562 0.00831201 0.000105013 0.000569549 -0.000891435 0.00207874 0.00863198 -0.00434218 -0.0028072 -0.000732383 -0.00080081 0.001714 0.013361 -0.0012042 -0.000597615 -0.000411484 -0.00145109 0.00123315 -0.00174154 0.00261755 0.00160209 0.000111602 6.89443e-05 0.00201896 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2297 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 464.229 0 0 newEnergyL 0 lastEnergy: 475.584 0 0 lastEnergyL: 0mActiveResiduals: 2297 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -5.65018e-13 1.44114e-12 -4.87376e-12 -3.34128e-12 0.00039092 0.00680431 0.000436269 0.0043745 -0.00122506 -0.00230702 0.00854472 0.0194539 0.00578436 0.00523373 -0.00109472 -0.00330112 0.0128021 0.0143108 0.00361158 0.00388111 -0.00103673 -0.0038076 0.0171212 -0.0140409 -0.00411256 -0.000898671 -0.000763413 -0.0061169 -0.0091979 -0.016783 -0.00114238 -0.00137908 0.00146247 -0.00491144 -0.012702 0.00284861 0.00158705 0.00053645 0.00150371 -0.00429481 -0.0146124 -0.00739986 -0.000357241 -0.000820411 0.0016978 -0.00372841 -0.00378003 -0.0060325 0.000357683 -0.000749404 0.00053811 -0.00431132 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2297 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 473.443 0 0 newEnergyL 0 lastEnergy: 464.229 0 0 lastEnergyL: 0mActiveResiduals: 2297 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!277 INF|Input.cpp[getImages,132]: mNbReceivedImages!278 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -4.61319e-14 -7.58566e-13 5.83995e-12 4.66742e-13 -0.00115783 -0.00600686 -0.000621374 -0.0038246 0.00111955 0.00204974 -0.00673858 -0.0153312 -0.00345333 -0.00442714 0.000765152 0.00322039 -0.0125263 -0.0165678 -0.00457913 -0.003791 0.000976456 0.00330935 -0.0134998 0.00937986 0.0044357 0.000619689 0.00045538 0.00554607 0.0128572 0.026927 0.00144552 0.00273942 -0.00176871 0.00478179 0.0104356 -0.000515759 -0.00204178 -9.69518e-05 -0.00109518 0.00402327 0.0123006 -0.00136431 -0.0004215 -1.65659e-05 -0.00125247 0.00313982 -0.000769941 0.00415481 0.000156213 0.000781129 0.000100223 0.00367179 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2297 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 452.273 0 0 newEnergyL 0 lastEnergy: 473.443 0 0 lastEnergyL: 0mActiveResiduals: 2297 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.46362e-12 -1.01906e-12 -7.79986e-12 7.01873e-12 0.00506959 0.00683893 0.00363099 0.00391124 -0.000799529 -0.00193126 0.00623595 0.0144795 0.0019161 0.00416704 -0.000175357 -0.00297115 0.0062943 0.00990533 0.00370293 0.00282066 0.000247576 -0.00349112 0.0134093 -0.00597693 -0.003887 -0.000584329 -0.000229387 -0.00522532 -0.0158215 -0.0332184 -0.00138068 -0.00371622 0.00243333 -0.00485484 -0.0119561 0.00461135 0.00144612 0.000275418 0.00147075 -0.00392283 -0.0104167 0.00980128 0.00249106 0.000895905 0.00107464 -0.00313652 0.00523186 -0.00631516 -0.00249183 -0.00126974 -0.000383182 -0.00387281 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2297 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 465.406 0 0 newEnergyL 0 lastEnergy: 452.273 0 0 lastEnergyL: 0mActiveResiduals: 2297 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 465.406 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2297 INF|LocalMapper.cpp[optimize,345]: End Energy: 465.406 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.452996 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.452996 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 61 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 61 with idx: 4 and allID: 263 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->61 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 61->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->61 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 61->52 INF|LocalMapper.cpp[marginalizeFrame,772]: 54<->61 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 61->54 INF|LocalMapper.cpp[marginalizeFrame,801]: 61 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 61 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 11188 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x48fedc0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 64 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 36 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 1 with distance 0.134Found rest min at: 35 with distance 0.092 overall min: 0.092 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 684 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 64 into DB 0.134 1 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 1 and real id(16) current kf: 64(275) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.927328 0.0508563 -0.370777 -0.414649 -0.0644412 0.997625 -0.0243345 1.06047 0.368659 0.0464594 0.928403 0.141035 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 16 currFrame: 64 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00222474 eye: 0.000459594 edge: 64 to 16 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 64 to 16 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 23(1311875573.181943) and 275(1311875582.121892) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999936 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1815/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 64 to 16 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 23(1311875573.181943) and 275(1311875582.121892) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.992233 0.0275609 -0.121299 0.528314 0.00202735 0.971433 0.237307 -1.06812 0.124374 -0.23571 0.963832 0.00765872 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999988 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1006/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 64 to 16 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 23(1311875573.181943) and 275(1311875582.121892) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.992233 0.027547 -0.121303 0.528337 0.0020412 0.971434 0.237302 -1.06813 0.124375 -0.235707 0.963833 0.00763938 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 0,0.999271 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:454/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.991899 0.0295575 -0.123545 0.54034 0.00158017 0.969608 0.24466 -1.09845 0.127022 -0.242873 0.961706 0.00807733 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 15 end 18 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!277 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 12283 o[1]: 718 o[2]: 126 o[3]: 12 histWeights: 1 1 1.25 1.5overlap: 893.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7430 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 16 and 64 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 64 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 64 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 6615 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 276 keyframes 65 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 521 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.158340 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 278 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999995 -0.00055106 0.00297315 0.00626994 0.000564228 0.99999 -0.00442992 0.0190831 -0.00297068 0.00443158 0.999986 0.00280174 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 64 to 500945824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.158340) and 275(1311875582.121892) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999995 -0.00055106 0.00297315 0.00626994 0.000564228 0.99999 -0.00442992 0.0190831 -0.00297068 0.00443158 0.999986 0.00280174 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999579 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1770/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 64 to 500945824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.158340) and 275(1311875582.121892) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999992 0.0027961 0.0029793 0.0170854 -0.00280515 0.999991 0.00303989 -0.0339566 -0.00297077 -0.00304822 0.999991 -0.0094562 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!278 INF|Input.cpp[getImages,132]: mNbReceivedImages!279 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2716/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 64 to 500945824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.158340) and 275(1311875582.121892) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999959 0.00239656 0.00871914 0.00124035 -0.00246241 0.999968 0.00754931 -0.0405596 -0.00870077 -0.00757047 0.999933 -0.00842926 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999433 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2060/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.57704 resInfo good: 7417, 13 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7586/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999955 0.00191895 0.00933082 0.00212904 -0.00199853 0.999962 0.00852683 -0.0392149 -0.0093141 -0.00854509 0.99992 -0.00744738 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!276 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.189810 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999819 0.00375801 0.0186768 0.00411324 -0.00407632 0.999847 0.017034 -0.078496 -0.01861 -0.017107 0.99968 -0.0145789 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 64 to 500945824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.189810) and 275(1311875582.121892) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999819 0.00375801 0.0186768 0.00411324 -0.00407632 0.999847 0.017034 -0.078496 -0.01861 -0.017107 0.99968 -0.0145789 Input.cpp[readImages,206]: Got image from sensor!278 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999996 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3296/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 64 to 500945824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.189810) and 275(1311875582.121892) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999879 0.00770178 0.0135388 0.016439 -0.00793239 0.999823 0.0170632 -0.0933186 -0.0134049 -0.0171685 0.999763 -0.0130453 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 279 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 5): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3066/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 64 to 500945824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.189810) and 275(1311875582.121892) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999767 0.00617009 0.0206694 -0.00519098 -0.00640265 0.999917 0.0112044 -0.0604455 -0.0205986 -0.0113341 0.999724 -0.00974665 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999916 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2986/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.672395 resInfo good: 7423, 7 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10354/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999874 0.00513311 0.0150264 0.0216662 -0.00514334 0.999987 0.000641773 -0.0108666 -0.0150229 -0.000718978 0.999887 -0.00252653 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!277 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!279 INF|Input.cpp[getImages,132]: mNbReceivedImages!280 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.222553 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999818 0.00675686 0.0178644 0.0314797 -0.0066988 0.999972 -0.00330747 0.0032692 -0.0178862 0.0031872 0.999835 -2.44956e-05 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 64 to 500945824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.222553) and 275(1311875582.121892) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999818 0.00675686 0.0178644 0.0314797 -0.0066988 0.999972 -0.00330747 0.0032692 -0.0178862 0.0031872 0.999835 -2.44956e-05 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 8): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3886/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 64 to 500945824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.222553) and 275(1311875582.121892) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999571 0.0130283 0.0262166 0.0069283 -0.0133534 0.999836 0.0122621 -0.0773929 -0.0260525 -0.0126069 0.999581 -0.00799149 Input.cpp[readImages,206]: Got image from sensor!279 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999826 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2400/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 64 to 500945824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.222553) and 275(1311875582.121892) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999715 0.0111758 0.0210971 0.0369857 -0.0111327 0.999936 -0.0021589 -0.00700657 -0.0211199 0.00192342 0.999775 -0.00204523 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 280 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999843 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2459/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.807773 resInfo good: 7423, 7 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9748/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99966 0.0102888 0.0239611 0.0284121 -0.0103049 0.999947 0.000549715 -0.012693 -0.0239542 -0.000796446 0.999713 -0.00138326 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!278 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 468 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.258384 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!280 INF|Input.cpp[getImages,132]: mNbReceivedImages!281 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999513 0.0128663 0.0284276 0.0317853 -0.0128853 0.999917 0.00048639 -0.0136192 -0.028419 -0.00085245 0.999596 -0.000834217 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 64 to 500945824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.258384) and 275(1311875582.121892) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999513 0.0128663 0.0284276 0.0317853 -0.0128853 0.999917 0.00048639 -0.0136192 -0.028419 -0.00085245 0.999596 -0.000834217 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999795 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1087/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 64 to 500945824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.258384) and 275(1311875582.121892) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999377 0.0179918 0.0303502 0.0262756 -0.0182532 0.999798 0.00835757 -0.0513811 -0.0301937 -0.00890636 0.999504 -0.0210503 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999255 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1429/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 64 to 500945824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.258384) and 275(1311875582.121892) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999335 0.0151229 0.0331751 0.0277566 -0.0149989 0.99988 -0.00398508 -0.00503491 -0.0332313 0.00348484 0.999442 0.00191536 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999055 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1311/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.903422 resInfo good: 7406, 24 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4852/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99935 0.0147564 0.0329046 0.0315747 -0.014726 0.999891 -0.00116804 -0.0111848 -0.0329183 0.00068273 0.999458 0.000525486 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!279 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 449 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!280 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 281 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!281 INF|Input.cpp[getImages,132]: mNbReceivedImages!282 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.289799 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 12 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999157 0.016995 0.0373725 0.0331648 -0.0169305 0.999855 -0.00204173 -0.0104372 -0.0374018 0.00140727 0.999299 0.00147012 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 64 to 500945824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.289799) and 275(1311875582.121892) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999157 0.016995 0.0373725 0.0331648 -0.0169305 0.999855 -0.00204173 -0.0104372 -0.0374018 0.00140727 0.999299 0.00147012 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999672 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:8327/8 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 64 to 500945824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.289799) and 275(1311875582.121892) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999097 0.0195337 0.0377314 0.0353014 -0.0194051 0.999805 -0.00377013 -0.0190658 -0.0377977 0.00303454 0.999281 -0.000600448 Input.cpp[readImages,206]: Got image from sensor!281 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:6877/6 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 64 to 500945824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.289799) and 275(1311875582.121892) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998942 0.0186859 0.0420219 0.0253858 -0.0188512 0.999816 0.00354121 -0.0428118 -0.041948 -0.00432963 0.99911 -0.00575129 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 282 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999646 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:4116/4 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.995358 resInfo good: 7392, 38 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 22895/22 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998985 0.0179836 0.041297 0.0321839 -0.0180131 0.999838 0.000342982 -0.0244748 -0.0412841 -0.00108652 0.999147 -0.0029628 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!280 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 644 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.321885 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!282 INF|Input.cpp[getImages,132]: mNbReceivedImages!283 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998772 0.0195915 0.0454939 0.0324615 -0.0196613 0.999806 0.00108812 -0.0311226 -0.0454638 -0.00198126 0.998964 -0.00470065 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 64 to 500945824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.321885) and 275(1311875582.121892) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998772 0.0195915 0.0454939 0.0324615 -0.0196613 0.999806 0.00108812 -0.0311226 -0.0454638 -0.00198126 0.998964 -0.00470065 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999781 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2190/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 64 to 500945824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.321885) and 275(1311875582.121892) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998764 0.0202164 0.0453965 0.0343178 -0.0203195 0.999792 0.00181164 -0.0336276 -0.0453504 -0.00273184 0.998967 -0.00772247 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999976 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1662/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 64 to 500945824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.321885) and 275(1311875582.121892) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998505 0.0211732 0.0503941 0.025327 -0.0220741 0.999605 0.0173864 -0.0904457 -0.0500061 -0.0184728 0.998578 -0.0188611 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2498/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.12214 resInfo good: 7333, 97 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7640/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998648 0.0200769 0.0479429 0.0396215 -0.0205531 0.999744 0.00945881 -0.0517344 -0.0477408 -0.0104314 0.998805 -0.0127313 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875582.321885 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875582.321885 to keyframe with id: 500945824 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875582.321885 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1039 size: 6847 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId500945824 timestamp: 1311875582.321885 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -8.30802 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -10.8295 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 234 keyframeId: 54 score: -11.354 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -12.3716 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 266 keyframeId: 62 score: -14.7867 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 270 keyframeId: 63 score: -12.3985 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 65 = 65 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cf1a9e0 fh1 0x51e2b20fh->id: 43 65 281goodE: 42 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cf1a9e0 fh1 0x1cbab40fh->id: 52 65 281goodE: 169 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cf1a9e0 fh1 0x605aae0fh->id: 54 65 281goodE: 48 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cf1a9e0 fh1 0xa25ee80fh->id: 60 65 281goodE: 113 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cf1a9e0 fh1 0x1a311880fh->id: 62 65 281goodE: 40 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cf1a9e0 fh1 0x13511340fh->id: 63 65 281goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cf1a9e0 fh1 0x48fedc0fh->id: 64 65 281goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew65 Input.cpp[readImages,206]: Got image from sensor!282 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 124 out of 128 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 128 newEdgePixels: 128 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2353 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 283 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 453 lastEnergy: 530.137 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 64 INF|LocalMapper.cpp[optimize,276]: Start Energy: 530.137 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -2.38584e-12 9.93041e-13 -1.63582e-11 -1.54433e-11 -0.0055951 -0.00373132 -0.00502728 -0.00200777 0.000698025 0.00126256 -0.0031957 -0.0162535 0.00110604 -0.00295643 -1.94024e-05 0.00115434 -0.00261065 -0.00962391 0.00319069 -0.00165226 -0.000522769 0.00158365 -0.00828711 0.0132596 0.0090723 0.00189764 5.70645e-05 0.00296105 0.0253796 0.00653691 0.00653458 0.00129425 -0.00276456 0.00147689 0.0213485 -0.00878815 0.00115313 -0.000574421 -0.00199363 0.000444711 0.0122004 0.00745234 0.00589074 0.00140563 -0.00132307 0.00126371 0.0057001 -0.057321 0.00427955 -0.00593076 -0.000958404 0.00144261 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2353 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 482.497 0 0 newEnergyL 0 lastEnergy: 530.137 0 0 lastEnergyL: 0mActiveResiduals: 2353 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.24276e-12 -2.88387e-12 -1.60482e-11 4.64845e-12 0.000639734 -0.000798035 0.00516192 -0.000135786 3.09256e-06 0.000553317 -0.00434283 0.00402187 -0.00283898 0.000813106 0.000439143 0.000125827 0.00024153 0.00279286 -0.00536362 0.000227276 0.00025803 -0.000165415 0.00514969 -0.0205452 -0.0066098 -0.00270389 -0.000104402 -0.00134451 -0.0223393 -0.0194741 -0.00425914 -0.00264149 0.0021673 0.000285646 -0.0206486 -0.0174792 -0.000214143 -0.00230669 0.0017991 0.000720493 -0.0280903 -0.0179367 -0.00327237 -0.00239469 0.00283037 0.000998691 -0.00745586 -0.00472052 0.00033104 -0.000385663 0.000817044 -0.000343232 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2353 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 475.496 0 0 newEnergyL 0 lastEnergy: 482.497 0 0 lastEnergyL: 0mActiveResiduals: 2353 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 5.54605e-12 -2.01276e-12 1.8462e-11 6.15318e-12 0.00195151 -0.000977155 -0.00262089 -0.00188887 9.48425e-05 0.00104031 -0.00315306 -0.00952823 -0.0017176 -0.00290276 1.13525e-05 0.00126269 -0.0049058 -0.007383 -0.00338382 -0.00231033 6.38378e-05 0.00132477 -0.00515731 0.0038734 0.00495155 -0.000269788 -0.000591132 0.00253447 0.00541447 0.00557235 0.00302026 0.00018339 -0.00108006 0.0014015 0.0046076 0.00211754 -0.00395104 -0.000280924 -0.00075601 0.000973093 0.0140495 0.00846528 0.00244496 0.00058099 -0.00189117 0.00079623 -0.0107584 -0.00249228 -0.000408773 -0.00102828 0.000645285 0.00218347 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2353 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 459.353 0 0 newEnergyL 0 lastEnergy: 475.496 0 0 lastEnergyL: 0mActiveResiduals: 2353 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -7.0865e-15 3.54575e-13 2.74599e-13 1.43901e-13 0.00179428 0.00703485 0.00329048 0.0032741 -0.00027774 -0.000927461 0.000855616 0.0113555 0.00366948 0.00360441 0.000477525 -0.00208675 0.00706514 0.00315532 0.00241075 0.00221855 0.000106241 -0.00297909 0.0099286 -0.00294731 -0.00398617 0.000325019 0.000486962 -0.00432555 -0.00807793 -0.00816439 -0.00462732 -0.000731338 0.00169603 -0.00316896 -0.00076758 0.00552262 0.00420628 0.000833091 0.000554487 -0.00228564 -0.014502 -0.00797232 -0.00139582 -0.000887176 0.00210934 -0.00237325 0.000757001 -0.00763425 0.00050339 -0.000739103 0.000603807 -0.00348763 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2353 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 465.959 0 0 newEnergyL 0 lastEnergy: 459.353 0 0 lastEnergyL: 0mActiveResiduals: 2353 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!283 INF|Input.cpp[getImages,132]: mNbReceivedImages!284 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -4.80551e-13 -1.81609e-12 -3.72458e-12 2.78193e-12 -0.00471275 -0.00875481 -0.00408623 -0.00365781 0.000121118 0.00113279 0.00348608 -0.00919025 -0.00281986 -0.00351024 -0.00142511 0.00252122 -0.00791886 -0.00690428 -0.00345081 -0.00256432 -0.000427056 0.00320195 -0.00702432 0.00168878 0.00260162 -0.000233603 -0.00110877 0.00451224 0.00926478 0.0155689 0.00414319 0.00176181 -0.00207111 0.00369224 0.00384023 -0.00501133 -0.00276014 -0.000563278 -0.00113978 0.00268374 0.00840795 0.0126513 0.00458748 0.00168765 -0.00160162 0.0030306 -0.00211628 -0.000604223 -0.0013878 1.06081e-05 -0.000549403 0.0039111 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2353 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 457.438 0 0 newEnergyL 0 lastEnergy: 465.959 0 0 lastEnergyL: 0mActiveResiduals: 2353 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.56199e-12 4.85606e-12 2.30325e-12 -6.84359e-12 0.00392186 0.00875827 0.00287469 0.0044098 0.000570874 -0.00127979 -0.000877207 0.0143457 0.00710782 0.00472601 0.00158393 -0.00240632 0.00815521 0.00622492 0.00653591 0.00292188 0.00101905 -0.00348295 0.00787508 -0.0101651 -0.00245266 -0.000544707 0.00160968 -0.0050446 -0.010513 -0.0138154 -0.00307169 -0.00140098 0.00274154 -0.00391499 -0.00287342 0.0023965 0.000281177 0.00045889 0.00148886 -0.00292942 -0.00704472 -0.00959414 -0.00499226 -0.00122884 0.0017309 -0.00339661 -0.00424694 0.00230206 -0.00181309 0.000190353 0.00165194 -0.00432877 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2353 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 473.834 0 0 newEnergyL 0 lastEnergy: 457.438 0 0 lastEnergyL: 0mActiveResiduals: 2353 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 473.834 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2353 INF|LocalMapper.cpp[optimize,345]: End Energy: 473.834 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.45379 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.45379 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 62 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 62 with idx: 4 and allID: 266 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->62 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 62->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->62 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 62->52 INF|LocalMapper.cpp[marginalizeFrame,772]: 54<->62 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 62->54 INF|LocalMapper.cpp[marginalizeFrame,801]: 62 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 62 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 11640 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1cf1a9e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 65 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 37 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 1 with distance 0.138Found rest min at: 36 with distance 0.088 overall min: 0.088 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 684 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 65 into DB 0.138 1 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 1 and real id(16) current kf: 65(281) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.910216 0.0321066 -0.412887 -0.464118 -0.0460518 0.998654 -0.0238652 1.07873 0.411565 0.0407367 0.910469 0.134077 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 16 currFrame: 65 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00303006 eye: 0.000488809 edge: 65 to 16 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 65 to 16 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 23(1311875573.181943) and 281(1311875582.321885) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 22,0.999779 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4124/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 65 to 16 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 23(1311875573.181943) and 281(1311875582.321885) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.995668 -0.00413275 -0.0928914 0.164611 0.0271619 0.968365 0.248056 -1.13116 0.0889276 -0.249504 0.964282 -0.0232056 Input.cpp[readImages,206]: Got image from sensor!283 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999251 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1639/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 65 to 16 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 23(1311875573.181943) and 281(1311875582.321885) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.996035 -0.00641147 -0.0887359 0.136462 0.0293907 0.965116 0.260169 -1.17446 0.0839723 -0.261745 0.961477 -0.0397544 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 0,0.99914 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:655/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.996028 -0.00630554 -0.088818 0.135321 0.029317 0.965096 0.260252 -1.17399 0.0840768 -0.261822 0.961447 -0.0398853 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 15 end 18 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 11214 o[1]: 715 o[2]: 123 o[3]: 10 histWeights: 1 1 1.25 1.5overlap: 883.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 6847 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 16 and 65 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 65 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 65 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 9814 Input.cpp[readImages,215]: mInputFrameQueue: 2 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 282 keyframes 66 Input.cpp[readImages,218]: mNbOfImages: 284 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 525 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.389749 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999995 0.00056906 0.00315426 0.00456829 -0.000572409 0.999999 0.00106113 0.00241983 -0.00315366 -0.00106293 0.999994 -0.00426739 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 65 to 216410720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.389749) and 281(1311875582.321885) on lvl: 2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!284 INF|Input.cpp[getImages,132]: mNbReceivedImages!285 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999995 0.00056906 0.00315426 0.00456829 -0.000572409 0.999999 0.00106113 0.00241983 -0.00315366 -0.00106293 0.999994 -0.00426739 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999802 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1880/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 65 to 216410720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.389749) and 281(1311875582.321885) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999991 -0.000216273 0.00417329 0.00783207 0.000209096 0.999998 0.00172008 0.00150738 -0.00417366 -0.00171919 0.99999 0.00928282 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999856 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2971/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 65 to 216410720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.389749) and 281(1311875582.321885) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999965 -0.000293578 0.00832251 -0.00292668 0.000144958 0.999841 0.0178526 -0.0566788 -0.00832642 -0.0178508 0.999806 -0.00728503 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999621 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1650/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.570698 resInfo good: 6831, 16 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7748/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99995 -0.000941187 0.00999905 -0.0054211 0.000808842 0.999912 0.0132316 -0.0323704 -0.0100106 -0.0132228 0.999862 -0.00405038 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!282 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 661 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.421913 Input.cpp[readImages,206]: Got image from sensor!284 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999546 -0.00321952 0.0299514 -0.0162877 0.00202863 0.999209 0.0397064 -0.0972702 -0.0300555 -0.0396276 0.998762 -0.0107018 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 65 to 216410720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.421913) and 281(1311875582.321885) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999546 -0.00321952 0.0299514 -0.0162877 0.00202863 0.999209 0.0397064 -0.0972702 -0.0300555 -0.0396276 0.998762 -0.0107018 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 285 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999894 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2442/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 65 to 216410720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.421913) and 281(1311875582.321885) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999561 0.00261944 0.0295137 -0.0300709 -0.00414846 0.998645 0.0518658 -0.159987 -0.0293378 -0.0519655 0.998218 -0.0223953 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.99975 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1888/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 65 to 216410720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.421913) and 281(1311875582.321885) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999551 0.00129099 0.0299224 -0.0234215 -0.00272891 0.998841 0.0480644 -0.128809 -0.0298256 -0.0481245 0.998396 -0.0201145 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!285 INF|Input.cpp[getImages,132]: mNbReceivedImages!286 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 5): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2526/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.910304 resInfo good: 6710, 137 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7979/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999769 -0.00124531 0.0214765 0.0166582 0.000542208 0.999465 0.0327129 -0.0538364 -0.0215058 -0.0326936 0.999234 -0.0124082 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!283 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.457933 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999629 -0.00148118 0.0272116 0.0276625 0.000324898 0.999099 0.0424478 -0.0646298 -0.0272499 -0.0424232 0.998728 -0.0165248 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 65 to 216410720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.457933) and 281(1311875582.321885) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999629 -0.00148118 0.0272116 0.0276625 0.000324898 0.999099 0.0424478 -0.0646298 -0.0272499 -0.0424232 0.998728 -0.0165248 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 4): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2467/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 65 to 216410720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.457933) and 281(1311875582.321885) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999334 0.0058643 0.0360171 -0.00832715 -0.00884981 0.996485 0.0833001 -0.260366 -0.035402 -0.0835634 0.995873 -0.0256676 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999645 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:926/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 65 to 216410720 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.457933) and 281(1311875582.321885) on lvl: 0 Input.cpp[readImages,206]: Got image from sensor!285 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999446 0.00680467 0.0325925 0.0140216 -0.00956287 0.996315 0.0852334 -0.257253 -0.0318924 -0.0854979 0.995828 -0.0284937 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 286 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 14,0.999758 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3386/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.04441 resInfo good: 6451, 396 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7991/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999562 -0.000675481 0.029581 0.0281611 -0.000550524 0.999142 0.0414179 -0.0559469 -0.0295836 -0.0414161 0.998704 -0.0134059 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875582.457933 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875582.457933 to keyframe with id: 216410720 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875582.457933 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 735 size: 5015 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId216410720 timestamp: 1311875582.457933 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -8.46272 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -11.1391 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 234 keyframeId: 54 score: -11.5601 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -11.4227 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 270 keyframeId: 63 score: -13.0263 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 275 keyframeId: 64 score: -11.0783 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 66 = 66 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xce62a80 fh1 0x51e2b20fh->id: 43 66 284goodE: 37 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xce62a80 fh1 0x1cbab40fh->id: 52 66 284goodE: 162 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xce62a80 fh1 0x605aae0fh->id: 54 66 284goodE: 49 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xce62a80 fh1 0xa25ee80fh->id: 60 66 284goodE: 114 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xce62a80 fh1 0x13511340fh->id: 63 66 284goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xce62a80 fh1 0x48fedc0fh->id: 64 66 284goodE: 71 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xce62a80 fh1 0x1cf1a9e0fh->id: 65 66 284goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew66 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 99 out of 104 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 104 newEdgePixels: 104 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2388 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 352 lastEnergy: 544.799 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 52 INF|LocalMapper.cpp[optimize,276]: Start Energy: 544.799 0 0 lastEnergyL: 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!286 INF|Input.cpp[getImages,132]: mNbReceivedImages!287 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -2.85738e-13 -3.06493e-12 -3.1682e-11 -5.09474e-13 -0.00336174 -0.00581579 0.00239802 -0.0020376 -0.000358241 0.000115086 -0.00498194 -0.0132187 -0.00408885 -0.00274867 -0.000159412 0.000307269 -0.00753376 -0.00990255 -0.00131327 -0.00176221 -0.000230677 0.000775407 -0.0179067 0.0156731 0.0063237 0.00187192 0.000436316 0.00293114 0.00696219 0.00338581 0.00477357 0.000450212 -0.000896055 0.000779549 0.0165509 0.0187586 0.0027847 0.00240723 -0.00219666 0.00132733 0.00185869 0.0130123 0.00636575 0.00159732 -0.00069413 0.00220525 -0.0212057 -0.0657334 0.00423241 -0.00701192 0.00157957 0.00178178 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2388 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 492.934 0 0 newEnergyL 0 lastEnergy: 544.799 0 0 lastEnergyL: 0mActiveResiduals: 2388 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -3.17489e-15 2.00838e-12 -1.30861e-11 7.88305e-12 0.000280485 -0.000172342 0.00206275 -2.83216e-05 1.72126e-05 0.000328159 -0.00634934 -0.00176581 -0.001564 1.71709e-05 0.000701158 9.01985e-05 0.00388988 0.00322892 -0.00091793 0.000241896 -0.000395306 0.00020309 0.00892188 -0.00703936 -0.0063923 -0.00118771 -0.000659589 -0.000478321 -0.00745087 -0.0262189 -0.00611489 -0.00320502 0.000416014 0.000481256 -0.0208181 -0.0205218 -0.00655095 -0.00254991 0.00182651 0.000970235 -0.0187057 -0.019143 -0.00650956 -0.00213093 0.00174456 0.000210192 0.00599889 0.000514075 -0.0031757 0.000355142 -0.000743614 0.000198618 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2388 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 476.211 0 0 newEnergyL 0 lastEnergy: 492.934 0 0 lastEnergyL: 0mActiveResiduals: 2388 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 3.81046e-12 -5.73845e-12 5.43667e-12 9.17963e-12 0.00256877 -0.00253779 0.00192861 -0.00153761 -0.00126322 0.000484419 0.00338856 -0.0033847 -0.00312357 -0.0014247 -0.00134354 -0.000313987 -0.00340298 -0.00402751 -0.00599576 -0.00113454 -0.000541167 0.000178547 -0.0108553 -0.00511596 0.00212056 -0.000765253 0.000142449 0.00103588 -0.00357098 0.00308142 0.00053132 0.000135017 -7.52732e-05 -0.000158856 0.0158895 0.0178507 0.00365412 0.0018208 -0.00203584 -0.000215834 0.0136315 0.0138411 0.0039005 0.00124874 -0.0019002 0.000306687 -0.015455 -0.0194724 -0.00092818 -0.00262295 0.001353 0.000193334 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2388 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 473.408 0 0 newEnergyL 0 lastEnergy: 476.211 0 0 lastEnergyL: 0mActiveResiduals: 2388 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -5.69873e-12 5.01752e-12 8.65046e-12 -7.32345e-12 -0.00109179 0.00442068 0.000844478 0.00230323 0.000925767 -0.000804159 -0.00134913 0.00936848 0.00406562 0.00254156 0.00115609 -0.000397675 0.00244093 -0.000848975 0.00353405 0.00124368 0.000998638 -0.00154688 0.01103 0.00311837 -0.00133138 0.000836123 0.000342184 -0.0022377 0.0157771 0.00524657 -0.000570046 0.00104518 -0.000963541 -0.00100393 -0.0186066 -0.0247418 -0.00253396 -0.00252214 0.00268709 -0.000855727 -0.0216442 -0.00204681 -0.00162577 0.0002519 0.00310806 -0.00118467 0.0099642 0.00592498 -0.000739773 0.00106069 -0.000412687 -0.00147234 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2388 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 469.406 0 0 newEnergyL 0 lastEnergy: 473.408 0 0 lastEnergyL: 0mActiveResiduals: 2388 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 7.85356e-12 -3.24955e-12 9.78108e-13 3.46364e-12 0.000385337 -0.00261624 -0.00169957 -0.00238996 -0.00136987 0.00044619 0.00409506 -0.0083798 -0.00358542 -0.0027795 -0.00204508 0.000409739 -0.000444021 -0.00310583 -0.00480667 -0.00190861 -0.00174149 0.00139993 -0.0117502 -0.00700016 0.00120603 -0.00127683 -0.000721426 0.00209445 -0.00928474 0.00324382 -0.000431336 -0.000128045 -0.000302718 0.00101587 0.0128631 0.0215718 0.0020706 0.00199803 -0.00231884 0.000718813 0.0174016 0.00340252 0.00353183 -0.000177193 -0.00287579 0.00133494 -0.00880273 -0.00775653 0.00332766 -0.00134488 0.000113812 0.00162018 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2388 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 466.679 0 0 newEnergyL 0 lastEnergy: 469.406 0 0 lastEnergyL: 0mActiveResiduals: 2388 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.24793e-11 3.4116e-12 3.24651e-12 -3.45922e-12 0.00151773 0.00308532 0.00145595 0.00262887 0.00102348 -0.000745171 -0.00311167 0.0103802 0.00430317 0.00311052 0.00176288 -0.000690444 -0.00241996 0.00153208 0.00375309 0.00174549 0.00203504 -0.00204624 0.0147904 0.00627078 -0.00305578 0.000871371 0.000153091 -0.00244297 0.00730939 -0.00261834 0.000429296 -1.73701e-05 0.000156158 -0.0012454 -0.0117998 -0.0208307 -0.000622869 -0.00209787 0.00192872 -0.00112027 -0.0154581 -0.00545514 -0.00443829 -0.000342875 0.00234674 -0.00175041 0.00572259 0.0081878 -0.000486109 0.00115663 -5.82277e-05 -0.00227993 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2388 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 470.046 0 0 newEnergyL 0 lastEnergy: 466.679 0 0 lastEnergyL: 0mActiveResiduals: 2388 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 470.046 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2388 INF|LocalMapper.cpp[optimize,345]: End Energy: 470.046 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.458187 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.458187 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 63 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 63 with idx: 4 and allID: 270 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->63 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 63->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->63 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 63->52 INF|LocalMapper.cpp[marginalizeFrame,772]: 54<->63 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 63->54 INF|LocalMapper.cpp[marginalizeFrame,801]: 63 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 63 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 11413 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0xce62a80 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 66 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 38 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 8 with distance 0.13Found rest min at: 37 with distance 0.114 overall min: 0.114 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 8 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 689 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 66 into DB 0.13 8 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 8 and real id(23) current kf: 66(284) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.700293 0.145911 -0.698785 -0.466365 -0.0805438 0.988787 0.125748 0.934799 0.709298 -0.0317775 0.704193 -0.294173 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 23 currFrame: 66 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.102466 eye: 0.000724158 edge: 66 to 23 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 66 to 23 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 39(1311875573.718930) and 284(1311875582.457933) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,206]: Got image from sensor!286 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999759 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1407/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 66 to 23 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 39(1311875573.718930) and 284(1311875582.457933) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.959562 -0.0281988 0.280081 -1.20628 -0.0250349 0.982479 0.184687 -0.774394 -0.280382 -0.18423 0.942043 -0.241368 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999374 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:405/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 66 to 23 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 39(1311875573.718930) and 284(1311875582.457933) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.959591 -0.0292725 0.279873 -1.2056 -0.0240949 0.982375 0.185362 -0.774146 -0.280366 -0.184615 0.941972 -0.2381 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999621 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:813/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.958979 -0.030097 0.281876 -1.21424 -0.0234482 0.982519 0.184681 -0.7692 -0.282507 -0.183715 0.941509 -0.231527 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 22 end 25 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 287 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 9186 o[1]: 178 o[2]: 39 o[3]: 5 histWeights: 1 1 1.25 1.5overlap: 234.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 5015 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 23 and 66 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 66 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 66 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 5836 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 285 keyframes 67 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 523 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.493298 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!287 INF|Input.cpp[getImages,132]: mNbReceivedImages!288 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999992 -8.37122e-05 0.00400879 0.00603676 8.40026e-05 1 -7.22847e-05 0.0194959 -0.00400879 7.26209e-05 0.999992 -0.000655563 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 66 to 485577840 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.493298) and 284(1311875582.457933) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999992 -8.37122e-05 0.00400879 0.00603676 8.40026e-05 1 -7.22847e-05 0.0194959 -0.00400879 7.26209e-05 0.999992 -0.000655563 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999637 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1614/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 66 to 485577840 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.493298) and 284(1311875582.457933) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999987 0.00139601 0.00489193 0.00959234 -0.00139111 0.999999 -0.00100409 0.0146699 -0.00489332 0.00099727 0.999988 0.0135056 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2364/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 66 to 485577840 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.493298) and 284(1311875582.457933) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999968 0.00171951 0.00783905 0.00738426 -0.00179226 0.999955 0.00928297 -0.0197253 -0.00782273 -0.00929672 0.999926 0.00450543 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999882 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1597/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.582738 resInfo good: 5015, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6388/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99996 0.00076556 0.00892588 0.00459653 -0.00075667 0.999999 -0.000999317 0.0285475 -0.00892664 0.000992523 0.99996 0.0101415 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!285 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.522483 Input.cpp[readImages,206]: Got image from sensor!287 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99991 0.00115165 0.0133883 0.00693688 -0.00113165 0.999998 -0.0015015 0.0428162 -0.01339 0.00148621 0.999909 0.0152074 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 66 to 485577840 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.522483) and 284(1311875582.457933) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99991 0.00115165 0.0133883 0.00693688 -0.00113165 0.999998 -0.0015015 0.0428162 -0.01339 0.00148621 0.999909 0.0152074 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 288 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 1): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1479/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 66 to 485577840 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.522483) and 284(1311875582.457933) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999905 0.000697122 0.0137356 0.00835862 -0.000669251 0.999998 -0.00203359 0.0404627 -0.013737 0.00202421 0.999904 0.0123909 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999739 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1862/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 66 to 485577840 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.522483) and 284(1311875582.457933) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999869 0.00124824 0.0161569 0.0106655 -0.00147473 0.999901 0.0140144 -0.0197318 -0.0161378 -0.0140364 0.999771 -0.000326723 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999434 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1649/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.644073 resInfo good: 5015, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5824/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999856 0.000930583 0.0169387 0.0109165 -0.00110984 0.999943 0.0105763 -9.90027e-05 -0.0169279 -0.0105935 0.999801 0.000410598 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!286 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!288 INF|Input.cpp[getImages,132]: mNbReceivedImages!289 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.557754 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99978 0.000978273 0.0209452 0.0140454 -0.00132115 0.999865 0.0163625 -0.0144646 -0.0209264 -0.0163865 0.999647 -0.0043492 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 66 to 485577840 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.557754) and 284(1311875582.457933) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99978 0.000978273 0.0209452 0.0140454 -0.00132115 0.999865 0.0163625 -0.0144646 -0.0209264 -0.0163865 0.999647 -0.0043492 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999936 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1481/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 66 to 485577840 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.557754) and 284(1311875582.457933) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99978 -0.000669654 0.0209833 0.0146765 0.000293829 0.99984 0.0179087 -0.0088964 -0.020992 -0.0178985 0.999619 -0.00107986 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999635 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2728/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 66 to 485577840 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.557754) and 284(1311875582.457933) on lvl: 0 Input.cpp[readImages,206]: Got image from sensor!288 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999741 -0.000529072 0.0227556 0.0176663 -0.000196066 0.999493 0.0318523 -0.062156 -0.0227609 -0.0318485 0.999234 -0.00962403 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 9): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3113/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.827007 resInfo good: 5015, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8125/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999704 -0.00131473 0.024287 0.0147149 0.000752043 0.999731 0.023163 -0.0201693 -0.0243109 -0.0231379 0.999437 -0.00870437 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!287 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 289 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.621563 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999606 -0.00247191 0.0279499 0.0166051 0.00164807 0.999565 0.0294602 -0.030244 -0.0280106 -0.0294025 0.999175 -0.0131777 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 66 to 485577840 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.621563) and 284(1311875582.457933) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999606 -0.00247191 0.0279499 0.0166051 0.00164807 0.999565 0.0294602 -0.030244 -0.0280106 -0.0294025 0.999175 -0.0131777 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!289 INF|Input.cpp[getImages,132]: mNbReceivedImages!290 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999823 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1374/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 66 to 485577840 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.621563) and 284(1311875582.457933) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999612 -0.0025837 0.027749 0.0165524 0.0017479 0.999545 0.0301019 -0.0276267 -0.0278141 -0.0300418 0.999162 -0.000600821 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999998 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2758/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 66 to 485577840 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.621563) and 284(1311875582.457933) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999539 -0.00315733 0.0301809 0.0163229 0.00221912 0.999515 0.0310691 -0.0231816 -0.0302644 -0.0309879 0.999061 -0.00762422 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999685 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:672/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.896073 resInfo good: 4994, 21 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5574/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999513 -0.00406549 0.0309319 0.0174194 0.00319792 0.999602 0.0280457 -0.00449741 -0.0310336 -0.0279331 0.999128 -0.00894451 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!288 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!289 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 290 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.689527 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!290 INF|Input.cpp[getImages,132]: mNbReceivedImages!291 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999271 -0.00684802 0.0375619 0.0200815 0.00561085 0.999441 0.0329438 0.0111801 -0.0377666 -0.032709 0.998751 -0.00927814 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 66 to 485577840 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.689527) and 284(1311875582.457933) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999271 -0.00684802 0.0375619 0.0200815 0.00561085 0.999441 0.0329438 0.0111801 -0.0377666 -0.032709 0.998751 -0.00927814 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1608/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 66 to 485577840 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.689527) and 284(1311875582.457933) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99924 -0.00655489 0.0384329 0.0244983 0.0052485 0.999408 0.0339942 0.014325 -0.038633 -0.0337666 0.998683 -0.00966635 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999381 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1749/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 66 to 485577840 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.689527) and 284(1311875582.457933) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999274 -0.00589168 0.0376506 0.0379724 0.00407632 0.998834 0.0481121 -0.0383763 -0.0378901 -0.0479237 0.998132 -0.0142373 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999625 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1162/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.06983 resInfo good: 4970, 45 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5325/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999135 -0.00722494 0.0409539 0.0279328 0.0056011 0.999199 0.0396273 0.00329859 -0.0412074 -0.0393636 0.998375 -0.0163496 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875582.689527 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875582.689527 to keyframe with id: 485577840 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875582.689527 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 859 size: 5788 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId485577840 timestamp: 1311875582.689527 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -8.49059 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -11.2085 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 234 keyframeId: 54 score: -11.5692 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -10.5799 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 275 keyframeId: 64 score: -11.6678 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 281 keyframeId: 65 score: -10.2484 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 67 = 67 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xe46b060 fh1 0x51e2b20fh->id: 43 67 289goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xe46b060 fh1 0x1cbab40fh->id: 52 67 289goodE: 153 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xe46b060 fh1 0x605aae0fh->id: 54 67 289goodE: 45 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xe46b060 fh1 0xa25ee80fh->id: 60 67 289goodE: 107 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xe46b060 fh1 0x48fedc0fh->id: 64 67 289goodE: 73 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xe46b060 fh1 0x1cf1a9e0fh->id: 65 67 289goodE: 22 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xe46b060 fh1 0xce62a80fh->id: 66 67 289goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew67 Input.cpp[readImages,206]: Got image from sensor!290 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 120 out of 125 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 125 newEdgePixels: 125 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2233 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 343 lastEnergy: 534.214 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 63 INF|LocalMapper.cpp[optimize,276]: Start Energy: 534.214 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 8.44832e-12 -1.48336e-12 -1.53828e-12 -2.73619e-12 -0.00447445 -0.00283339 -0.00448367 -0.0010683 0.000765958 0.000304488 0.000835302 -0.00742253 -0.00300767 -0.00152578 0.000131054 0.000212146 0.0062674 0.00459208 0.00249564 5.12167e-05 -0.00103966 0.00149648 -0.0206146 0.00199272 0.0141189 0.0007945 0.00169357 0.00198381 0.0176412 0.0064632 0.00933414 0.00106456 -0.00108108 0.00028254 0.0208971 4.05835e-05 0.0115682 0.000363821 -0.00170925 0.000956613 0.00862913 0.0122137 0.00574687 0.00168458 -0.000266694 0.00148459 0.0153129 -0.0240895 0.0187991 -0.00238704 -0.00139675 0.00161116 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2233 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 488.866 0 0 newEnergyL 0 lastEnergy: 534.214 0 0 lastEnergyL: 0mActiveResiduals: 2233 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 291 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.93026e-13 1.12464e-12 1.33909e-13 5.84099e-12 0.000266178 0.000258556 0.000954016 4.03055e-05 -2.97934e-05 0.000198837 -0.000563462 0.000369861 0.000534847 5.81641e-05 0.000106423 0.000385842 0.00477501 -0.00391264 -0.00258172 -0.000484432 -0.000328523 6.06309e-05 0.00898983 6.71656e-05 -0.00753694 -0.000297003 -0.000720227 -6.97635e-05 -0.00425644 -0.0145997 -0.00791796 -0.00160244 -9.98501e-05 0.000893393 -0.00757782 -0.0135081 -0.010943 -0.00149562 0.000166078 0.000647844 0.00425672 -0.0148597 -0.00369492 -0.00136987 -0.00119834 0.000441931 -0.00385318 -0.000292778 -0.00898954 -7.72204e-05 -2.24996e-05 0.000841699 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2233 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 474.606 0 0 newEnergyL 0 lastEnergy: 488.866 0 0 lastEnergyL: 0mActiveResiduals: 2233 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 4.95381e-12 -2.26892e-12 -6.74362e-13 9.487e-12 0.00113068 -0.00942276 -0.00126126 -0.00399983 -0.00084792 0.00156215 0.00251555 -0.00717753 -0.0047791 -0.00303769 -0.00193763 0.00200305 -0.00776201 -0.00607444 -0.00614688 -0.00277307 -0.000994736 0.00287014 -0.010681 -0.00482017 -0.000275903 -0.00150596 -0.00121406 0.00381465 0.00147651 0.0139416 0.00138804 0.00123435 -0.00197896 0.00338314 0.0150167 0.00521255 0.00633332 0.000552701 -0.00334838 0.00312413 -0.000884566 0.00804619 -0.000646955 0.000911992 -0.00128353 0.00327113 0.00530882 -0.000274257 0.00296726 0.0002747 -0.00230403 0.00373212 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2233 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 464.524 0 0 newEnergyL 0 lastEnergy: 474.606 0 0 lastEnergyL: 0mActiveResiduals: 2233 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.52752e-12 2.35856e-12 9.65882e-12 -3.36274e-12 -0.00533293 0.00558642 -0.00133043 0.00341413 0.00081454 -0.00224643 -0.000226093 0.00700058 0.00425377 0.00296517 0.00111217 -0.00191647 0.0111184 0.0107301 0.00610102 0.00321381 -2.06063e-05 -0.00243163 0.00878843 0.00702874 0.000362548 0.00174612 0.000794227 -0.00339995 0.00222404 -0.0123526 -0.000128954 -0.000912002 0.000874792 -0.00273543 -0.0141181 -0.00173266 -0.00361427 9.01004e-05 0.00252418 -0.00281111 -0.00742407 -0.0145461 -0.00136708 -0.00155968 0.00160246 -0.00281128 0.000748643 -0.00174557 -0.0024729 -0.000253915 0.00100671 -0.00349261 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2233 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 464.934 0 0 newEnergyL 0 lastEnergy: 464.524 0 0 lastEnergyL: 0mActiveResiduals: 2233 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 3.81632e-12 -1.81367e-12 5.30863e-12 9.84332e-13 0.00334955 -0.00348984 -0.00172979 -0.00351587 -0.00181416 0.00111979 0.00213959 -0.00779284 -0.00559975 -0.00351984 -0.00204824 0.0011733 -0.0057744 -0.0123338 -0.00620061 -0.00370604 -0.00140039 0.00195948 -0.0105724 -0.00370232 0.00176593 -0.00153834 -0.00132482 0.00327596 0.0021512 0.0125295 0.000571667 0.000643119 -0.00196013 0.00230588 0.0173442 0.00605366 0.00584935 0.000101099 -0.00322989 0.00277785 0.00148957 0.0134717 0.000374512 0.0011152 -0.00117422 0.00300638 -0.00368986 -0.00546061 0.00410971 -0.000909552 -0.000991597 0.00347354 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2233 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 465.416 0 0 newEnergyL 0 lastEnergy: 464.934 0 0 lastEnergyL: 0mActiveResiduals: 2233 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.7499e-12 1.27186e-12 -1.04768e-11 -8.05302e-13 -0.00131641 0.00680237 0.000482755 0.00474628 0.000799385 -0.00234742 -0.00035268 0.0117532 0.0066979 0.00430566 0.00149798 -0.00273263 0.00945832 0.013055 0.00631014 0.00408249 0.000648265 -0.00341477 0.00957381 0.00255381 -0.00244513 0.0013136 0.00121059 -0.00495776 -0.0060738 -0.011836 0.00225836 -0.000874773 0.00213943 -0.0033008 -0.018327 -0.0155219 -0.00551283 -0.00166779 0.00308764 -0.00417838 -0.00348266 -0.0129233 -0.000331866 -0.0015548 0.00108278 -0.00445727 0.00503762 0.00616137 -0.00467442 0.000460488 0.000438748 -0.0048911 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2233 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!291 INF|Input.cpp[getImages,132]: mNbReceivedImages!292 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 470.412 0 0 newEnergyL 0 lastEnergy: 465.416 0 0 lastEnergyL: 0mActiveResiduals: 2233 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 470.412 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2233 INF|LocalMapper.cpp[optimize,345]: End Energy: 470.412 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.467756 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.467756 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 64 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 64 with idx: 4 and allID: 275 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->64 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 64->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->64 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 64->52 INF|LocalMapper.cpp[marginalizeFrame,772]: 54<->64 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 64->54 INF|LocalMapper.cpp[marginalizeFrame,801]: 64 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 64 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 11709 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0xe46b060 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 67 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 39 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 6 with distance 0.124Found rest min at: 38 with distance 0.122 overall min: 0.122 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 6 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 703 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 67 into DB 0.124 6 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 6 and real id(21) current kf: 67(289) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.712986 0.107305 -0.692919 -0.468029 -0.120323 0.992286 0.0298581 1.13704 0.690778 0.0620856 0.720397 -0.174091 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 21 currFrame: 67 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 2.80506 eye: 0.000723475 edge: 67 to 21 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 67 to 21 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 35(1311875573.588579) and 289(1311875582.689527) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 11,0.999718 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2061/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 67 to 21 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 35(1311875573.588579) and 289(1311875582.689527) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.993191 -0.111243 0.0345971 -0.203756 0.116027 0.971246 -0.207892 0.731891 -0.0104757 0.210491 0.97754 1.18419 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.99967 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:949/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 67 to 21 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 35(1311875573.588579) and 289(1311875582.689527) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.993282 -0.113303 0.0235181 -0.155602 0.115718 0.972352 -0.202831 0.719386 0.000113523 0.20419 0.978931 1.20533 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.99906 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:892/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.992854 -0.116186 0.0272498 -0.168099 0.119336 0.965001 -0.233521 0.846735 0.000835774 0.235104 0.97197 1.25499 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 20 end 23 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 12634 o[1]: 514 o[2]: 57 o[3]: 12 histWeights: 1 1 1.25 1.5overlap: 603.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 5788 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 21 and 67 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 67 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 67 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 7214 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 290 keyframes 68 Input.cpp[readImages,206]: Got image from sensor!291 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.721406 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 292 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999981 -0.0013053 0.00609335 0.00124911 0.00127689 0.999988 0.00466461 0.0082247 -0.00609936 -0.00465674 0.999971 -0.00598254 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 67 to 524018656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.721406) and 289(1311875582.689527) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999981 -0.0013053 0.00609335 0.00124911 0.00127689 0.999988 0.00466461 0.0082247 -0.00609936 -0.00465674 0.999971 -0.00598254 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999387 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2803/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 67 to 524018656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.721406) and 289(1311875582.689527) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999997 -0.00109209 0.00224506 0.00919975 0.00107269 0.999962 0.00862483 -0.0265221 -0.00225439 -0.00862239 0.99996 -0.0083624 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!292 INF|Input.cpp[getImages,132]: mNbReceivedImages!293 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.99998 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2994/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 67 to 524018656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.721406) and 289(1311875582.689527) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999989 -0.00224361 0.00421542 0.00953225 0.00220561 0.999957 0.00899777 -0.0184163 -0.00423543 -0.00898837 0.999951 -0.00394884 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2820/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.471105 resInfo good: 5779, 9 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9766/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999981 -0.0025831 0.00552117 0.0062675 0.00253503 0.999959 0.00869524 -0.0116779 -0.0055434 -0.00868108 0.999947 -0.00227445 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!290 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.757642 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999958 -0.00389258 0.00827322 0.00940779 0.00378444 0.999908 0.0130479 -0.0175182 -0.00832325 -0.013016 0.999881 -0.00338663 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 67 to 524018656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.757642) and 289(1311875582.689527) on lvl: 2 Input.cpp[readImages,206]: Got image from sensor!292 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999958 -0.00389258 0.00827322 0.00940779 0.00378444 0.999908 0.0130479 -0.0175182 -0.00832325 -0.013016 0.999881 -0.00338663 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999289 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:649/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 67 to 524018656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.757642) and 289(1311875582.689527) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999968 -0.00155304 0.00785856 0.00751815 0.00146793 0.99994 0.0108242 -0.0225229 -0.00787491 -0.0108123 0.999911 -0.0183381 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 293 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3125/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 67 to 524018656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.757642) and 289(1311875582.689527) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999952 -0.0032457 0.00922421 0.011024 0.00311816 0.9999 0.0138076 -0.0178926 -0.0092681 -0.0137782 0.999862 -0.0115786 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 8): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3918/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.582538 resInfo good: 5786, 2 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8647/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999946 -0.00423915 0.00950465 0.0131863 0.0041377 0.999935 0.0106684 3.23487e-05 -0.00954926 -0.0106285 0.999898 -0.00946617 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!291 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!293 INF|Input.cpp[getImages,132]: mNbReceivedImages!294 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.789443 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999892 -0.00590293 0.0134847 0.0200574 0.00573243 0.999904 0.0126479 0.0117396 -0.0135581 -0.0125692 0.999829 -0.0167084 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 67 to 524018656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.789443) and 289(1311875582.689527) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999892 -0.00590293 0.0134847 0.0200574 0.00573243 0.999904 0.0126479 0.0117396 -0.0135581 -0.0125692 0.999829 -0.0167084 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1961/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 67 to 524018656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.789443) and 289(1311875582.689527) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999892 -0.00643661 0.0132026 0.0179961 0.00626423 0.999895 0.0130569 0.0098139 -0.0132852 -0.0129728 0.999828 -0.0205312 Input.cpp[readImages,206]: Got image from sensor!293 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999993 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2584/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 67 to 524018656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.789443) and 289(1311875582.689527) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999898 -0.00601726 0.0129262 0.0260592 0.00573794 0.999752 0.0215384 -0.0148587 -0.0130526 -0.0214621 0.999684 -0.0193785 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.99913 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1936/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.742065 resInfo good: 5788, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7485/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99986 -0.00630458 0.0154678 0.0186396 0.00598935 0.999775 0.0203419 -0.00524091 -0.0155925 -0.0202464 0.999673 -0.0166544 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!292 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 770 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 294 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.821403 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99986 -0.00630458 0.0154678 0.0186396 0.00598935 0.999775 0.0203419 -0.00524091 -0.0155925 -0.0202464 0.999673 -0.0166544 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 67 to 524018656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.821403) and 289(1311875582.689527) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99986 -0.00630458 0.0154678 0.0186396 0.00598935 0.999775 0.0203419 -0.00524091 -0.0155925 -0.0202464 0.999673 -0.0166544 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!294 INF|Input.cpp[getImages,132]: mNbReceivedImages!295 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 6): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3046/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 67 to 524018656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.821403) and 289(1311875582.689527) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999831 -0.00715814 0.0169423 0.0235408 0.00681975 0.999778 0.0199475 -0.00652409 -0.0170813 -0.0198286 0.999657 -0.0187769 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 10,0.999996 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3721/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 67 to 524018656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.821403) and 289(1311875582.689527) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999745 -0.00743272 0.0213149 0.0128553 0.00703879 0.999804 0.0184974 0.00999409 -0.0214482 -0.0183427 0.999602 -0.0140698 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.99923 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1578/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.817607 resInfo good: 5780, 8 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9378/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999739 -0.00849387 0.0212203 0.0164544 0.00809884 0.999794 0.0186326 0.0160548 -0.0213742 -0.0184559 0.999601 -0.0114846 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!293 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 470 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!294 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 295 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.858049 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!295 INF|Input.cpp[getImages,132]: mNbReceivedImages!296 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999579 -0.0106728 0.0269759 0.0142551 0.0102181 0.999804 0.0169354 0.0373368 -0.0271514 -0.0166526 0.999493 -0.00626489 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 67 to 524018656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.858049) and 289(1311875582.689527) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999579 -0.0106728 0.0269759 0.0142551 0.0102181 0.999804 0.0169354 0.0373368 -0.0271514 -0.0166526 0.999493 -0.00626489 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 7): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3182/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 67 to 524018656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.858049) and 289(1311875582.689527) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999715 -0.00862992 0.0222722 0.0436169 0.00787417 0.999398 0.0338002 -0.0205763 -0.0225504 -0.0336152 0.99918 -0.0397712 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999981 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2494/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 67 to 524018656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.858049) and 289(1311875582.689527) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999609 -0.00901126 0.0264874 0.0328704 0.00816715 0.999461 0.0318057 -0.00267958 -0.0267597 -0.0315769 0.999143 -0.0336558 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999174 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1967/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.993412 resInfo good: 5757, 31 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8725/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999615 -0.0101056 0.0258375 0.0393609 0.00931487 0.99949 0.0305422 0.0081101 -0.026133 -0.0302898 0.999199 -0.0308246 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!294 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 505 Input.cpp[readImages,206]: Got image from sensor!295 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 296 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!296 INF|Input.cpp[getImages,132]: mNbReceivedImages!297 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.921286 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 12 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999615 -0.0101056 0.0258375 0.0393609 0.00931487 0.99949 0.0305422 0.0081101 -0.026133 -0.0302898 0.999199 -0.0308246 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 67 to 524018656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.921286) and 289(1311875582.689527) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999615 -0.0101056 0.0258375 0.0393609 0.00931487 0.99949 0.0305422 0.0081101 -0.026133 -0.0302898 0.999199 -0.0308246 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999944 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:10331/10 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 67 to 524018656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.921286) and 289(1311875582.689527) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999591 -0.0091102 0.0271092 0.0425815 0.0082836 0.999502 0.030449 0.0079175 -0.0273731 -0.030212 0.999169 -0.0417376 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999698 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:8957/8 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 67 to 524018656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.921286) and 289(1311875582.689527) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999456 -0.00947796 0.0315825 0.0316992 0.00854128 0.999523 0.0296621 0.021354 -0.0318486 -0.0293762 0.999061 -0.0358851 Input.cpp[readImages,206]: Got image from sensor!296 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999788 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2803/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.04504 resInfo good: 5747, 41 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 26109/26 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999487 -0.0105561 0.0302324 0.0392988 0.0095976 0.999452 0.0316772 0.0183761 -0.0305502 -0.0313708 0.999041 -0.0325018 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875582.921286 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875582.921286 to keyframe with id: 524018656 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875582.921286 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1751 size: 7173 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId524018656 timestamp: 1311875582.921286 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -8.46487 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -11.0181 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 234 keyframeId: 54 score: -11.3118 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -10.0957 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 281 keyframeId: 65 score: -12.3355 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 284 keyframeId: 66 score: -11.3756 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 68 = 68 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b90d440 fh1 0x51e2b20fh->id: 43 68 295goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b90d440 fh1 0x1cbab40fh->id: 52 68 295goodE: 129 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b90d440 fh1 0x605aae0fh->id: 54 68 295goodE: 39 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b90d440 fh1 0xa25ee80fh->id: 60 68 295goodE: 99 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b90d440 fh1 0x1cf1a9e0fh->id: 65 68 295goodE: 30 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b90d440 fh1 0xce62a80fh->id: 66 68 295goodE: 25 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b90d440 fh1 0xe46b060fh->id: 67 68 295goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew68 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 297 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 209 out of 214 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 214 newEdgePixels: 214 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2115 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 416 lastEnergy: 545.247 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 77 INF|LocalMapper.cpp[optimize,276]: Start Energy: 545.247 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -3.96674e-12 8.21797e-12 3.2612e-11 -4.96868e-11 0.00206555 0.00172104 -0.000643415 -0.000605505 0.000914478 0.000962373 -0.0012673 -0.00599318 -3.01543e-05 -0.00107494 0.00109268 0.000872062 -0.00440007 0.00224401 -0.00424006 7.41717e-05 0.00173387 0.00175189 -0.00372871 -0.00295602 0.00998648 0.000386509 0.00101729 0.00180993 0.0283415 0.0143111 0.00876299 0.00251158 -0.00157321 0.00106161 0.0436182 0.0112843 0.00837413 0.00211849 -0.00318652 0.00139975 0.02937 0.000416489 0.00370495 0.00102743 -0.00192918 0.00165348 0.000397956 0.00317828 0.00562493 0.00130685 0.00118767 0.00196695 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2115 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 496.911 0 0 newEnergyL 0 lastEnergy: 545.247 0 0 lastEnergyL: 0mActiveResiduals: 2115 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!297 INF|Input.cpp[getImages,132]: mNbReceivedImages!298 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 7.3095e-12 -1.00095e-12 -3.487e-12 7.85844e-12 0.000280402 -3.5743e-05 0.000492201 -4.75565e-06 -1.90791e-05 0.000219686 0.00230132 0.000191434 0.0022035 0.000144944 -0.000326843 0.000166323 0.00910021 0.0114789 -0.000576158 0.00116367 -0.000924697 0.000647092 0.00862857 -0.00589414 -0.00574015 -0.00085053 -0.00061466 -0.000204896 -0.0054903 -0.00327672 -0.0035175 -0.000256273 0.000259728 3.73911e-05 -0.00295273 -0.0179422 -0.00155889 -0.00176399 -9.62697e-05 -0.000378723 -0.0204435 -0.0176136 -0.00723846 -0.00205192 0.00221961 -0.000201711 -0.0067187 -0.0158711 -0.00801956 -0.00191453 0.000518971 -6.92278e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2115 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 479.471 0 0 newEnergyL 0 lastEnergy: 496.911 0 0 lastEnergyL: 0mActiveResiduals: 2115 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -6.92687e-13 -3.64407e-13 -1.90564e-12 1.50028e-12 0.0046019 -0.00572232 0.000278457 -0.00294595 -0.00134656 0.0013222 -0.000183168 -0.00631055 -0.0068718 -0.00271846 -0.00124898 0.00101024 -0.00728822 -0.00852306 -0.00306369 -0.0027082 -0.000821297 0.00184042 -0.0134576 0.000695103 -0.000998044 -0.000636591 -0.000232077 0.00201125 0.017231 0.0135779 0.00506112 0.00131696 -0.00343464 0.00280107 0.00112351 -0.00319184 -0.00398912 -0.000787134 -0.00136362 0.00307606 0.00711639 0.00306892 -0.00111655 0.00026908 -0.00206158 0.0033731 -0.00335491 0.00660708 0.00813073 0.000887598 -0.000817549 0.00325745 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2115 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 465.802 0 0 newEnergyL 0 lastEnergy: 479.471 0 0 lastEnergyL: 0mActiveResiduals: 2115 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.69741e-12 -7.3519e-13 3.98716e-12 6.6722e-12 -0.00496276 0.0146756 -0.00027204 0.00422541 0.000548783 -0.00208017 0.00127689 0.00925299 0.0062902 0.00324893 0.000961683 -0.00277691 0.0131917 0.00390811 0.00412102 0.00281081 3.59031e-05 -0.00355967 0.0185949 -0.00148698 0.00245411 0.00086482 0.000157845 -0.00382514 -0.0114921 -0.0142645 -0.00191575 -0.00156846 0.00352756 -0.00411434 -0.00795519 -0.00765131 -0.000506346 -0.000800047 0.00300841 -0.00424012 -0.0131225 0.00239744 0.00119712 9.23195e-05 0.0035059 -0.00454068 -0.00228083 -0.00701513 -0.00588909 -0.00133341 0.00235938 -0.00470938 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2115 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 458.818 0 0 newEnergyL 0 lastEnergy: 465.802 0 0 lastEnergyL: 0mActiveResiduals: 2115 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -5.69732e-12 -3.50749e-13 -7.11407e-12 7.25654e-12 0.0079072 -0.012383 -0.00165116 -0.00380978 -0.00120373 0.00143256 0.00122755 -0.00778819 -0.00725587 -0.0033562 -0.00162931 0.00171588 -0.0172739 -0.00433536 -0.00337708 -0.00328165 7.20269e-06 0.00268799 -0.0142852 -0.00301342 -0.00227576 -0.00200578 -0.000841731 0.00316882 0.0141739 0.0073714 0.00418078 0.000146962 -0.00416023 0.00360653 0.00725804 0.0150068 0.00158987 0.0010321 -0.0033111 0.00411853 0.00981503 -0.00340868 -0.000809829 -0.000892633 -0.00337557 0.00425837 -0.000165369 0.00807359 0.00551678 0.000763814 -0.0023762 0.0044502 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2115 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 445.591 0 0 newEnergyL 0 lastEnergy: 458.818 0 0 lastEnergyL: 0mActiveResiduals: 2115 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.02665e-11 -1.32453e-12 9.00338e-12 -1.0187e-11 -0.00777695 0.0120687 0.000524521 0.0037494 0.000648614 -0.00175645 -0.00238551 0.00635221 0.00590601 0.00311246 0.00137358 -0.00239749 0.0165891 0.00821734 0.0036267 0.00356388 -0.000384171 -0.00269281 0.0173039 0.00457228 0.00201024 0.00204424 0.000269435 -0.00318936 -0.00961181 -0.0103398 -0.00258571 -0.00054742 0.00348729 -0.00375984 -0.00846675 -0.0185265 -0.00246324 -0.00155924 0.00347091 -0.0042797 -0.0117508 0.00450498 0.00113455 0.000962472 0.00354511 -0.00414153 -0.0010937 -0.00664601 -0.00456708 -0.000646971 0.00251631 -0.00420117 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2115 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 447.749 0 0 newEnergyL 0 lastEnergy: 445.591 0 0 lastEnergyL: 0mActiveResiduals: 2115 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 447.749 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2115 INF|LocalMapper.cpp[optimize,345]: End Energy: 447.749 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.464189 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.464189 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 65 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 65 with idx: 4 and allID: 281 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->65 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 65->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->65 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 65->52 INF|LocalMapper.cpp[marginalizeFrame,772]: 54<->65 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 65->54 INF|LocalMapper.cpp[marginalizeFrame,801]: 65 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 65 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 16482 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1b90d440 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 68 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 40 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 7 with distance 0.148Found rest min at: 39 with distance 0.116 overall min: 0.116 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 7 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 791 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 68 into DB 0.148 7 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 7 and real id(22) current kf: 68(295) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.673433 0.114645 -0.730304 -0.537826 -0.108613 0.992525 0.0556537 0.901701 0.731226 0.0418413 0.680851 -0.256734 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 22 currFrame: 68 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.73853 eye: 0.000622975 edge: 68 to 22 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 68 to 22 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 37(1311875573.652043) and 295(1311875582.921286) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,206]: Got image from sensor!297 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 18,0.999592 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4649/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 68 to 22 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 37(1311875573.652043) and 295(1311875582.921286) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.924445 -0.104723 -0.366653 1.57052 0.119098 0.992741 0.0167351 -0.309478 0.362239 -0.0591383 0.930207 1.58631 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999998 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1626/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 68 to 22 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 37(1311875573.652043) and 295(1311875582.921286) on lvl: 0 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 298 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.924599 -0.102128 -0.366996 1.58288 0.119838 0.99246 0.025734 -0.344644 0.361601 -0.0677738 0.929866 1.60824 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!298 INF|Input.cpp[getImages,132]: mNbReceivedImages!299 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 27,0.99998 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:6278/6 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.932097 -0.0419569 -0.35977 1.64453 0.109542 0.979409 0.169582 -0.945119 0.345247 -0.197477 0.917501 1.83797 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 21 end 24 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 17863 o[1]: 368 o[2]: 59 o[3]: 7 histWeights: 1 1 1.25 1.5overlap: 452.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7173 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 22 and 68 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 68 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 68 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 16059 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 296 keyframes 69 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 522 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.957519 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999983 3.77539e-05 0.0058608 0.0145166 -4.70239e-05 0.999999 0.00158157 0.021538 -0.00586073 -0.00158182 0.999982 -0.00643473 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 68 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.957519) and 295(1311875582.921286) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999983 3.77539e-05 0.0058608 0.0145166 -4.70239e-05 0.999999 0.00158157 0.021538 -0.00586073 -0.00158182 0.999982 -0.00643473 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999926 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1297/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 68 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.957519) and 295(1311875582.921286) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999999 0.000800422 0.000748018 0.0340525 -0.000804944 0.999981 0.00606481 -0.00168824 -0.00074315 -0.00606541 0.999981 -0.0308815 Input.cpp[readImages,206]: Got image from sensor!298 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999792 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1218/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 68 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.957519) and 295(1311875582.921286) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999992 0.00147048 0.00360524 0.0243018 -0.0015147 0.999923 0.0122925 -0.00929979 -0.00358689 -0.0122978 0.999918 -0.0230719 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.9992 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1521/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.588944 resInfo good: 7107, 66 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5275/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999984 0.000428101 0.00563607 0.0179316 -0.000505874 0.999905 0.013805 -0.00937767 -0.00562962 -0.0138077 0.999889 -0.0198819 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!296 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 299 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875582.991738 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999964 0.000612956 0.00845613 0.0268538 -0.000787942 0.999785 0.0207056 -0.0141725 -0.00844162 -0.0207115 0.99975 -0.0298116 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 68 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.991738) and 295(1311875582.921286) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999964 0.000612956 0.00845613 0.0268538 -0.000787942 0.999785 0.0207056 -0.0141725 -0.00844162 -0.0207115 0.99975 -0.0298116 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!299 INF|Input.cpp[getImages,132]: mNbReceivedImages!300 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2627/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 68 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.991738) and 295(1311875582.921286) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99996 0.0044555 0.00775357 0.0234079 -0.00460343 0.999806 0.0191668 -0.0156847 -0.00766667 -0.0192017 0.999786 -0.0317838 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999794 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2365/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 68 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875582.991738) and 295(1311875582.921286) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999942 0.00253172 0.0104443 0.0198308 -0.00274589 0.999785 0.0205428 -0.0108044 -0.0103901 -0.0205703 0.999734 -0.0248804 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999918 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2069/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.726444 resInfo good: 7139, 34 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8155/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999946 0.00103328 0.0102954 0.022189 -0.00125924 0.999758 0.0219654 -0.0103932 -0.0102702 -0.0219772 0.999706 -0.0237232 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!297 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 448 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.026140 Input.cpp[readImages,206]: Got image from sensor!299 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999946 0.00103328 0.0102954 0.022189 -0.00125924 0.999758 0.0219654 -0.0103932 -0.0102702 -0.0219772 0.999706 -0.0237232 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 68 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.026140) and 295(1311875582.921286) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999946 0.00103328 0.0102954 0.022189 -0.00125924 0.999758 0.0219654 -0.0103932 -0.0102702 -0.0219772 0.999706 -0.0237232 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 300 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999827 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2529/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 68 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.026140) and 295(1311875582.921286) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999932 0.00153581 0.0115599 0.0276451 -0.00178196 0.999771 0.0213139 -0.0075998 -0.0115245 -0.0213331 0.999706 -0.0358885 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999341 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2584/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 68 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.026140) and 295(1311875582.921286) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999914 0.000998794 0.0130429 0.0279679 -0.00131198 0.99971 0.0240256 -0.0082585 -0.0130151 -0.0240407 0.999626 -0.030984 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!300 INF|Input.cpp[getImages,132]: mNbReceivedImages!301 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 5): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3103/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.808883 resInfo good: 7147, 26 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9339/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999909 0.000233467 0.0134556 0.029355 -0.000567766 0.999691 0.0248462 -0.00584611 -0.0134456 -0.0248516 0.999601 -0.0297449 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!298 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.057402 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999862 -0.000575424 0.0166133 0.0364986 0.000114548 0.999615 0.027729 -0.00131123 -0.0166229 -0.0277233 0.999477 -0.0358024 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 68 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.057402) and 295(1311875582.921286) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999862 -0.000575424 0.0166133 0.0364986 0.000114548 0.999615 0.027729 -0.00131123 -0.0166229 -0.0277233 0.999477 -0.0358024 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999897 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1356/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 68 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.057402) and 295(1311875582.921286) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999865 0.00173086 0.016363 0.0351263 -0.00217396 0.99963 0.0271007 -0.00217414 -0.0163101 -0.0271326 0.999499 -0.0559492 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999202 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:930/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 68 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.057402) and 295(1311875582.921286) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999847 0.0022077 0.0173758 0.0387756 -0.0027219 0.999557 0.0296251 0.00182468 -0.0173027 -0.0296679 0.99941 -0.0446863 Input.cpp[readImages,206]: Got image from sensor!300 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999642 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1416/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.937272 resInfo good: 7063, 110 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4827/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999838 0.00140992 0.0179518 0.0400334 -0.0019769 0.999498 0.031605 0.000302723 -0.0178982 -0.0316353 0.999339 -0.0411495 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!299 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 301 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.092185 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!301 INF|Input.cpp[getImages,132]: mNbReceivedImages!302 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999745 0.00255582 0.0224555 0.0506687 -0.00341609 0.999258 0.0383559 0.00636002 -0.0223408 -0.0384228 0.999012 -0.052643 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 68 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.092185) and 295(1311875582.921286) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999745 0.00255582 0.0224555 0.0506687 -0.00341609 0.999258 0.0383559 0.00636002 -0.0223408 -0.0384228 0.999012 -0.052643 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999801 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1779/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 68 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.092185) and 295(1311875582.921286) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999598 0.00500686 0.0278949 0.0175705 -0.00602944 0.999308 0.0366957 0.00239691 -0.0276919 -0.0368492 0.998937 -0.0646535 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999244 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:959/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 68 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.092185) and 295(1311875582.921286) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999507 0.0032118 0.031226 0.0114838 -0.00446641 0.999182 0.0401921 0.0033552 -0.0310713 -0.0403118 0.998704 -0.0572428 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999272 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1478/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.05009 resInfo good: 7045, 128 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5452/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999687 0.00162434 0.024967 0.0420192 -0.00272031 0.999031 0.0439255 -0.00432509 -0.0248715 -0.0439797 0.998723 -0.0487002 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875583.092185 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875583.092185 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875583.092185 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 960 size: 6691 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875583.092185 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 182 keyframeId: 43 score: -8.57901 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -11.1051 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 234 keyframeId: 54 score: -11.5397 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -10.3727 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 284 keyframeId: 66 score: -13.5724 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 289 keyframeId: 67 score: -11.9523 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 69 = 69 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b919ca0 fh1 0x51e2b20fh->id: 43 69 300goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b919ca0 fh1 0x1cbab40fh->id: 52 69 300goodE: 137 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b919ca0 fh1 0x605aae0fh->id: 54 69 300goodE: 42 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b919ca0 fh1 0xa25ee80fh->id: 60 69 300goodE: 104 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b919ca0 fh1 0xce62a80fh->id: 66 69 300goodE: 29 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b919ca0 fh1 0xe46b060fh->id: 67 69 300goodE: 30 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b919ca0 fh1 0x1b90d440fh->id: 68 69 300goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew69 Input.cpp[readImages,206]: Got image from sensor!301 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 202 out of 208 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 208 newEdgePixels: 208 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2100 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 338 lastEnergy: 523.121 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 57 INF|LocalMapper.cpp[optimize,276]: Start Energy: 523.121 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.12437e-12 -6.46385e-13 1.22669e-12 7.01769e-13 -0.000337801 -0.010338 -0.00290103 -0.00128653 0.00139566 0.001072 -0.0044457 0.00127127 -0.00189338 -0.000290104 0.00105352 0.00135942 -0.0191006 -0.0159803 0.00445397 -0.00208267 0.00216673 0.000903141 -0.00664087 -0.00848294 0.00211374 -0.000723137 0.000814292 0.000851991 0.0291238 0.0150993 0.00433961 0.00226091 -0.00354335 0.00165863 0.0372526 0.00352949 -0.00295554 0.000923295 -0.00410514 0.00178262 0.0323344 0.0150101 0.00482309 0.00260675 -0.00377945 0.00173394 0.0279649 0.0129133 -0.00423625 0.00281334 -0.00363232 0.0017936 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2100 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 302 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 479.211 0 0 newEnergyL 0 lastEnergy: 523.121 0 0 lastEnergyL: 0mActiveResiduals: 2100 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -2.30665e-12 9.77908e-13 2.32798e-12 -1.20504e-11 0.00103096 0.000379424 0.000918169 1.92202e-05 -0.000132224 0.000141554 0.00133343 -0.00417042 -0.000161567 -0.000371652 -0.000315294 0.000424002 0.00720779 0.00464329 -0.00168826 0.000551301 -0.00064496 -2.41018e-05 -0.00187227 -0.00330687 0.00308 -0.000479701 0.000229529 8.04484e-06 -0.00524221 -0.00375921 -0.00293726 -0.000442207 0.000634686 -0.000613357 -0.0181957 -4.9274e-05 0.000506904 0.000115676 0.00179304 -0.000951818 -0.00834733 -0.00663572 -0.00260612 -0.00095508 0.000721089 -0.000493566 -0.0127138 -0.00130376 -5.58496e-05 -0.000178449 0.00159432 -0.000303899 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2100 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 464.414 0 0 newEnergyL 0 lastEnergy: 479.211 0 0 lastEnergyL: 0mActiveResiduals: 2100 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -8.28067e-12 -1.85209e-12 3.39319e-12 1.15483e-11 0.00525653 -0.0126003 0.000581676 -0.0014184 0.00142427 0.00127589 -0.00280888 -0.00173259 0.000143385 -0.000610155 0.000904792 0.00184243 -0.0131383 -0.0010331 0.00103969 -0.00122361 0.0018486 0.00200139 -0.00973628 0.00266913 -0.00694881 -0.000311946 0.000563442 0.00190929 0.00333139 0.0127526 0.00174319 0.00152245 -0.00210438 0.00261032 0.0149064 -0.0035427 -0.00296243 -0.000357172 -0.00300053 0.0028242 0.000509595 0.00364845 0.00171442 0.000874647 -0.00160281 0.002655 0.00368731 0.000117063 0.000812192 0.000583873 -0.00231525 0.00238513 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2100 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 464.394 0 0 newEnergyL 0 lastEnergy: 464.414 0 0 lastEnergyL: 0mActiveResiduals: 2100 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 3.35824e-12 1.29867e-12 -2.07853e-12 -5.79524e-12 -0.00901366 0.0117101 -5.93869e-05 0.000399256 -0.00122796 -0.000650308 0.00665904 -0.00533645 0.00042576 -0.000331336 -0.0010934 -0.00105183 0.0124889 0.0044501 -0.000418447 0.0017357 -0.00167631 -0.000637195 0.00350141 -0.00574976 0.00561527 0.00040655 0.000321195 -0.00099029 -0.0037249 -0.00950467 -0.00262321 -0.000453176 0.00240738 -0.00157574 -0.0118457 0.00508787 0.00149304 0.00121668 0.00300488 -0.00189194 0.00283118 -0.00419776 -0.00354326 -0.000198055 0.00172162 -0.00188663 -0.00438443 0.00369997 -2.89388e-05 0.000644014 0.00290802 -0.00157706 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2100 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 460.458 0 0 newEnergyL 0 lastEnergy: 464.394 0 0 lastEnergyL: 0mActiveResiduals: 2100 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -6.90907e-12 -1.4489e-12 -5.70165e-12 7.0376e-12 0.00556612 -0.0113776 0.000203092 -0.000708868 0.00313912 0.0016395 -0.00620918 0.00225049 0.00383698 0.000265638 0.00230047 0.00301866 -0.011296 -0.00390082 0.00323951 -0.00135187 0.00284526 0.00227453 -0.00370223 -0.00593674 -0.00723241 -0.00123421 0.00115794 0.00190236 0.00513588 0.0122712 -0.000686197 0.00176408 -0.00152183 0.00280249 0.0109449 -0.00173865 -0.00157373 0.00029391 -0.00197464 0.00315615 -0.00634369 0.0101113 0.00278233 0.00203558 -0.000404219 0.0033227 0.00484872 -0.00196486 -0.00322661 0.000706467 -0.00208674 0.00299765 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2100 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 473.537 0 0 newEnergyL 0 lastEnergy: 460.458 0 0 lastEnergyL: 0mActiveResiduals: 2100 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.4173e-11 -4.05032e-13 1.12782e-11 -1.24692e-11 -0.00513464 0.00504422 0.000857525 -0.000432726 -0.00287018 -0.00124018 0.00657613 -0.00717126 -0.00531339 -0.0012169 -0.00255174 -0.00184925 0.0040164 0.00703839 -0.00599987 0.00104115 -0.00230143 -0.000799027 -0.001042 0.00512053 0.00501409 0.00114558 -0.00124064 -0.00081352 -0.00105956 -0.000999032 0.00049356 -0.000241061 4.10077e-05 -0.00107406 -0.0036759 0.00142694 -0.000591654 -0.000123683 0.000441807 -0.00149472 0.00803157 -0.00887787 -0.00064149 -0.0014132 -0.000703606 -0.00172394 -0.00444204 -0.00056717 0.00589096 -0.000524824 0.00106022 -0.00142968 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2100 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!302 INF|Input.cpp[getImages,132]: mNbReceivedImages!303 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 452.06 0 0 newEnergyL 0 lastEnergy: 473.537 0 0 lastEnergyL: 0mActiveResiduals: 2100 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 452.06 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2100 INF|LocalMapper.cpp[optimize,345]: End Energy: 452.06 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.469478 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.469478 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 66 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 66 with idx: 4 and allID: 284 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->66 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 66->43 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->66 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 66->52 INF|LocalMapper.cpp[marginalizeFrame,772]: 54<->66 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 66->54 INF|LocalMapper.cpp[marginalizeFrame,801]: 66 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 66 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 11532 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1b919ca0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 69 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 41 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 20 with distance 0.19Found rest min at: 40 with distance 0.13 overall min: 0.13 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 20 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 693 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 69 into DB 0.19 20 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 20 and real id(48) current kf: 69(300) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.72638 -0.0214451 -0.686958 -0.762803 0.0135153 0.999766 -0.0169192 0.371204 0.68716 0.00300531 0.7265 -0.317332 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 48 currFrame: 69 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.72638 -0.0214451 -0.686958 -0.762803 0.0135153 0.999766 -0.0169192 0.371204 0.68716 0.00300531 0.7265 -0.317332 avg 0.00135459 eye: 0.000688503 edge: 69 to 48 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 408 < 6283 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 69 and 48 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 69 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 69 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1195 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 301 keyframes 70 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 530 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.125452 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999996 0.00031366 0.00279351 0.0045738 -0.000332308 0.999978 0.00667742 -0.00315315 -0.00279136 -0.00667832 0.999974 -0.00314655 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 69 to 516335136 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.125452) and 300(1311875583.092185) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999996 0.00031366 0.00279351 0.0045738 -0.000332308 0.999978 0.00667742 -0.00315315 -0.00279136 -0.00667832 0.999974 -0.00314655 Input.cpp[readImages,206]: Got image from sensor!302 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 7): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3553/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 69 to 516335136 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.125452) and 300(1311875583.092185) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999999 0.00129684 0.000752596 0.0117176 -0.00130027 0.999989 0.00457813 -0.0132104 -0.000746651 -0.0045791 0.999989 0.00190198 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 303 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 8): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3940/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 69 to 516335136 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.125452) and 300(1311875583.092185) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99998 0.00150209 0.00610908 -0.000849339 -0.00152937 0.999989 0.00446313 -0.00523959 -0.00610231 -0.00447239 0.999971 -0.000984257 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2292/2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!303 INF|Input.cpp[getImages,132]: mNbReceivedImages!304 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.418092 resInfo good: 6691, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10903/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999977 0.00111745 0.00664592 0.0019474 -0.0011572 0.999981 0.00597972 -0.00647903 -0.00663912 -0.00598727 0.99996 -0.00383603 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!301 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1206 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.158391 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999949 0.00166125 0.00997127 0.00290879 -0.00175068 0.999958 0.00896659 -0.00972795 -0.00995595 -0.00898359 0.99991 -0.00574431 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 69 to 516335136 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.158391) and 300(1311875583.092185) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999949 0.00166125 0.00997127 0.00290879 -0.00175068 0.999958 0.00896659 -0.00972795 -0.00995595 -0.00898359 0.99991 -0.00574431 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.99914 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1211/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 69 to 516335136 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.158391) and 300(1311875583.092185) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999947 0.00437515 0.00933723 0.00164463 -0.00444521 0.999962 0.00749594 -0.0104488 -0.00930408 -0.00753704 0.999928 -0.00381296 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999902 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:897/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 69 to 516335136 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.158391) and 300(1311875583.092185) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999942 0.00255566 0.0104183 0.0134293 -0.00262667 0.999973 0.00680759 -0.000442588 -0.0104006 -0.00683456 0.999923 -0.0182107 Input.cpp[readImages,206]: Got image from sensor!303 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999629 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2712/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.556137 resInfo good: 6683, 8 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5895/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999945 0.00209628 0.010236 0.011059 -0.00216096 0.999978 0.00631199 0.00482087 -0.0102225 -0.00633376 0.999928 -0.0125569 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!302 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 467 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 304 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.189545 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!304 INF|Input.cpp[getImages,132]: mNbReceivedImages!305 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999924 0.00258522 0.0120311 0.0156072 -0.00266328 0.999975 0.00647677 0.0104663 -0.012014 -0.00650832 0.999907 -0.0169309 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 69 to 516335136 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.189545) and 300(1311875583.092185) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999924 0.00258522 0.0120311 0.0156072 -0.00266328 0.999975 0.00647677 0.0104663 -0.012014 -0.00650832 0.999907 -0.0169309 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3829/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 69 to 516335136 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.189545) and 300(1311875583.092185) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999972 0.00372204 0.00647946 0.037015 -0.0038266 0.999861 0.0162005 -0.0131989 -0.00641827 -0.0162249 0.999848 -0.0188398 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999163 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:907/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 69 to 516335136 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.189545) and 300(1311875583.092185) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99993 0.00303873 0.0113995 0.0298666 -0.00324329 0.999833 0.0179691 -0.0127194 -0.011343 -0.0180048 0.999774 -0.0312224 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.99996 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1237/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.710721 resInfo good: 6676, 15 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7136/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999906 0.00243348 0.0135083 0.0193396 -0.00267322 0.999839 0.0177581 -0.00851308 -0.0134629 -0.0177925 0.999751 -0.024226 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!303 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 450 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!304 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 305 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!305 INF|Input.cpp[getImages,132]: mNbReceivedImages!306 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.225112 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 11 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999855 0.00273315 0.016784 0.0275772 -0.00322254 0.999568 0.0292001 -0.0219831 -0.016697 -0.02925 0.999433 -0.0357687 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 69 to 516335136 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.225112) and 300(1311875583.092185) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999855 0.00273315 0.016784 0.0275772 -0.00322254 0.999568 0.0292001 -0.0219831 -0.016697 -0.02925 0.999433 -0.0357687 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999412 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:15149/15 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 69 to 516335136 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.225112) and 300(1311875583.092185) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999873 0.00398409 0.0154376 0.0169574 -0.00431956 0.999754 0.0217583 0.0100225 -0.0153471 -0.0218222 0.999644 -0.0192327 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999733 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:7361/7 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 69 to 516335136 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.225112) and 300(1311875583.092185) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999866 0.0034849 0.0159882 0.0242337 -0.00390348 0.999648 0.0262244 0.000351147 -0.0158911 -0.0262833 0.999528 -0.0293404 Input.cpp[readImages,206]: Got image from sensor!305 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999956 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2408/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.819161 resInfo good: 6669, 22 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 29326/29 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999836 0.00302864 0.0178321 0.0195682 -0.00351902 0.999615 0.0275329 -0.00078321 -0.0177418 -0.0275912 0.999462 -0.0300318 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!304 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 870 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 306 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.257619 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!306 INF|Input.cpp[getImages,132]: mNbReceivedImages!307 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999795 0.00331032 0.019996 0.0196751 -0.0039576 0.999467 0.032418 0.00306026 -0.019878 -0.0324905 0.999274 -0.0329634 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 69 to 516335136 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.257619) and 300(1311875583.092185) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999795 0.00331032 0.019996 0.0196751 -0.0039576 0.999467 0.032418 0.00306026 -0.019878 -0.0324905 0.999274 -0.0329634 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999913 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3320/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 69 to 516335136 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.257619) and 300(1311875583.092185) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999819 0.00664572 0.0178439 0.0175219 -0.00717802 0.999526 0.0299344 0.00482239 -0.0176365 -0.0300571 0.999393 -0.0223875 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999514 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2968/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 69 to 516335136 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.257619) and 300(1311875583.092185) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999834 0.00598115 0.0171924 0.0304043 -0.00653307 0.999459 0.0322274 0.00302506 -0.0169903 -0.0323344 0.999333 -0.0316404 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999228 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1931/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.913267 resInfo good: 6660, 31 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9826/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999801 0.00536511 0.019223 0.0250521 -0.00595573 0.999508 0.0308001 0.0131039 -0.0190482 -0.0309085 0.999341 -0.032791 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!305 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 515 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!306 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 307 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.292612 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999758 0.00769692 0.0206214 0.0305652 -0.00839666 0.999384 0.0340636 0.0269687 -0.0203465 -0.0342285 0.999207 -0.0356035 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 69 to 516335136 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.292612) and 300(1311875583.092185) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999758 0.00769692 0.0206214 0.0305652 -0.00839666 0.999384 0.0340636 0.0269687 -0.0203465 -0.0342285 0.999207 -0.0356035 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!307 INF|Input.cpp[getImages,132]: mNbReceivedImages!308 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999823 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2406/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 69 to 516335136 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.292612) and 300(1311875583.092185) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999885 0.0142126 -0.00522585 0.129034 -0.0139296 0.998617 0.0507018 -0.039928 0.00593922 -0.0506232 0.9987 -0.0262044 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999654 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1236/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 69 to 516335136 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.292612) and 300(1311875583.092185) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999906 0.0136013 0.00185159 0.110132 -0.0136795 0.998543 0.0521952 -0.0395813 -0.00113897 -0.0522156 0.998635 -0.0376028 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999132 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1099/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.16106 resInfo good: 6569, 122 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5898/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999899 0.0127732 0.00624107 0.0954073 -0.0130696 0.998662 0.0500241 -0.0286724 -0.00559376 -0.0501006 0.998729 -0.0417447 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875583.292612 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875583.292612 to keyframe with id: 516335136 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875583.292612 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 877 size: 5175 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId516335136 timestamp: 1311875583.292612 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 70 = 70 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ec6a640 fh1 0x51e2b20fh->id: 43 70 306goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ec6a640 fh1 0x1cbab40fh->id: 52 70 306goodE: 129 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ec6a640 fh1 0x605aae0fh->id: 54 70 306goodE: 41 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ec6a640 fh1 0xa25ee80fh->id: 60 70 306goodE: 102 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ec6a640 fh1 0xe46b060fh->id: 67 70 306goodE: 50 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ec6a640 fh1 0x1b90d440fh->id: 68 70 306goodE: 43 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ec6a640 fh1 0x1b919ca0fh->id: 69 70 306goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew70 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 165 out of 168 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 168 newEdgePixels: 168 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2114 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 348 lastEnergy: 570.225 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 65 INF|LocalMapper.cpp[optimize,276]: Start Energy: 570.225 0 0 lastEnergyL: 0 Input.cpp[readImages,206]: Got image from sensor!307 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.04736e-11 5.54369e-13 -1.09985e-11 1.80798e-11 0.00185295 0.00707115 -0.00134042 0.00212625 -0.00023083 -0.00116293 -9.27762e-05 0.0132569 0.0050795 0.00218995 -1.42378e-05 -0.00157496 0.00593692 -0.00931372 0.00390246 -0.000509071 -0.000426343 -0.00283818 0.0116189 -0.00998534 -0.00684613 -0.00170487 -0.000799845 -0.00262905 0.00354938 0.000287326 -0.00203459 -0.00082883 -0.00128942 -0.00115077 0.00182846 0.0133544 -0.00858163 0.000827409 -0.00102048 -0.000255531 0.0136269 -0.000654993 -0.012972 -0.000919296 -0.00266283 -0.000956628 0.072753 0.0149325 -0.00617732 0.00102919 -0.00943014 -0.00276873 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2114 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 511.561 0 0 newEnergyL 0 lastEnergy: 570.225 0 0 lastEnergyL: 0mActiveResiduals: 2114 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 7.59408e-12 2.03957e-12 1.20051e-11 -1.72996e-12 0.000589726 3.30832e-05 -1.02747e-05 1.92451e-05 -8.58415e-05 3.2749e-05 0.00093317 -0.00136431 -5.97526e-05 -0.000245953 -0.000124846 -0.000134606 -0.00239472 0.00168456 0.00279141 0.000240488 0.000114999 7.22899e-05 -0.00144062 0.0101646 0.00179438 0.00121959 7.68989e-05 0.00021035 0.00913665 0.00352887 -0.00318889 6.33492e-05 -0.000481856 -0.00104963 0.0080256 0.000291873 0.00269532 -0.000287966 -0.000509997 -0.00150021 -0.00898677 0.00292099 0.00395659 8.61118e-05 0.00156797 -0.00115157 0.0593098 2.56091e-05 0.00373483 -6.94777e-05 -0.00709734 -0.00170692 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2114 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 474.25 0 0 newEnergyL 0 lastEnergy: 511.561 0 0 lastEnergyL: 0mActiveResiduals: 2114 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -2.89454e-12 -4.46033e-12 -1.05194e-11 1.36006e-11 0.00209631 -0.00341226 -0.000345842 0.000288693 5.68005e-05 -0.000259743 -0.00191463 0.00184497 0.000139438 0.00052688 8.60841e-05 -7.5997e-05 0.000584939 0.000300834 -5.61392e-05 -0.000338402 -0.000101772 -0.000467221 -0.00334968 0.000259537 -0.00298194 -0.000550627 4.60625e-05 -0.00029508 0.000262271 0.00335322 0.001223 6.02865e-05 -0.00148177 0.000262549 -0.0048169 0.00878225 -0.00117959 0.000592121 -0.00098108 0.000495601 0.00488561 -0.000574562 -0.000138204 -0.000480728 -0.00224748 0.000431186 0.00414303 -0.0102897 0.00442231 -0.00178175 -0.00220575 -0.000518193 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 308 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2114 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 477.576 0 0 newEnergyL 0 lastEnergy: 474.25 0 0 lastEnergyL: 0mActiveResiduals: 2114 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.64245e-12 2.97722e-12 5.44571e-12 -7.57986e-12 -0.0020823 -0.000431311 0.00167321 -0.00133391 0.000705163 0.00106735 0.00148418 -0.00617863 0.000544628 -0.00128164 0.000433371 0.0012921 -0.00149037 -0.00341036 0.0002454 -0.000421943 0.000617669 0.00129096 -0.00368175 0.00185155 0.00409773 0.000710686 0.000785245 0.00183909 -0.00157728 0.00546125 -0.00198817 0.0013477 0.00133963 0.00136555 0.0063838 -0.00150301 -0.00250827 0.00064654 0.000753055 0.0010415 -0.00669049 -0.0004193 -0.00251044 0.00083751 0.00234586 0.00103565 0.00373234 0.0043875 -0.00179956 0.00139022 0.00121491 0.00109046 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2114 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 468.712 0 0 newEnergyL 0 lastEnergy: 477.576 0 0 lastEnergyL: 0mActiveResiduals: 2114 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.02456e-11 -1.3538e-12 -6.32013e-12 1.27369e-11 0.00219306 -0.00230766 -0.0011255 0.000687743 -9.02139e-05 -0.000803795 -0.000814658 0.00364612 -0.000437581 0.000826925 4.96158e-06 -0.000435867 -9.94005e-06 0.00135533 -0.00123144 -1.35889e-05 7.05498e-05 -0.000756974 -0.0019834 -0.00262977 -0.00326667 -0.000900581 3.38522e-05 -0.000926812 0.00497173 0.00181173 0.000914119 -0.000355573 -0.00193307 -0.000227604 -0.00168008 0.00815434 0.00316403 0.000385414 -0.00168494 -0.00014946 0.00539085 0.000118536 0.00189369 -0.000614252 -0.00252817 7.60702e-05 -0.00457258 -0.00994504 0.0014338 -0.00201597 -0.00162158 -0.000130063 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2114 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 470.877 0 0 newEnergyL 0 lastEnergy: 468.712 0 0 lastEnergyL: 0mActiveResiduals: 2114 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 5.97065e-12 2.34086e-13 3.98224e-12 -7.45071e-12 -0.00223404 0.00364131 0.000727456 -0.000418945 -0.00153742 -0.000862121 0.00581305 -0.00231528 -0.00222006 -0.000767908 -0.00124337 -0.00146649 -1.35568e-06 -0.00212551 0.00141242 -0.000153728 -0.000825647 -0.000813123 0.00055074 0.00442017 0.00461489 0.000680407 -0.000410849 -0.000380591 -0.00635301 0.00449547 -0.00144899 9.04478e-05 0.00133917 -0.000982896 -0.00262308 0.00134026 -0.00263481 -0.000251591 0.00147123 -0.00103656 -0.00527033 -0.00305943 -0.00168012 -0.000880016 0.00184155 -0.00116296 0.00839469 -0.00614386 0.00343786 -0.00122521 0.000574908 -0.00102267 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2114 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 470.893 0 0 newEnergyL 0 lastEnergy: 470.877 0 0 lastEnergyL: 0mActiveResiduals: 2114 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 470.893 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2114 INF|LocalMapper.cpp[optimize,345]: End Energy: 470.893 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.479625 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.479625 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 43 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 43 with idx: 0 and allID: 182 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 43<->43 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->43 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 43->52 INF|LocalMapper.cpp[marginalizeFrame,772]: 54<->43 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 43->54 INF|LocalMapper.cpp[marginalizeFrame,772]: 60<->43 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 43->60 INF|LocalMapper.cpp[marginalizeFrame,801]: 43 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 43 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 11256 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1ec6a640 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 70 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 42 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 21 with distance 0.182Found rest min at: 41 with distance 0.138 overall min: 0.138 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 21 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 683 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 70 into DB 0.182 21 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 21 and real id(49) current kf: 70(306) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.737638 -0.0658883 -0.671974 -0.796459 -0.00388338 0.994797 -0.101804 0.349957 0.675186 0.0777043 0.733544 -0.269453 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 49 currFrame: 70 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!308 INF|Input.cpp[getImages,132]: mNbReceivedImages!309 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.737638 -0.0658883 -0.671974 -0.796459 -0.00388338 0.994797 -0.101804 0.349957 0.675186 0.0777043 0.733544 -0.269453 avg 0.00314287 eye: 0.00129241 edge: 70 to 49 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 486 < 4689 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 70 and 49 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 70 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 70 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1086 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 307 keyframes 71 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.325032 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999988 0.00324337 0.00354744 -0.000792048 -0.00330915 0.99982 0.0186969 -0.0382692 -0.00348616 -0.0187085 0.999819 -0.0180331 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.325032) and 306(1311875583.292612) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999988 0.00324337 0.00354744 -0.000792048 -0.00330915 0.99982 0.0186969 -0.0382692 -0.00348616 -0.0187085 0.999819 -0.0180331 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999509 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2151/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.325032) and 306(1311875583.292612) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999981 0.00521115 -0.0033237 0.0137947 -0.00517512 0.999929 0.0107605 -0.000984119 0.00337954 -0.0107431 0.999937 0.00207486 Input.cpp[readImages,206]: Got image from sensor!308 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.99916 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2032/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.325032) and 306(1311875583.292612) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999982 0.00545603 0.0024454 0.000695051 -0.00548708 0.999902 0.0128746 -0.00179046 -0.00237492 -0.0128878 0.999914 -0.00194693 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999957 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1421/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.549433 resInfo good: 5175, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6508/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99999 0.00445308 0.000655008 0.0102856 -0.00446064 0.999918 0.0120285 0.00847989 -0.00060139 -0.0120313 0.999927 -0.00261349 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!307 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 470 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 309 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!309 INF|Input.cpp[getImages,132]: mNbReceivedImages!310 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.360413 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99999 0.00445308 0.000655008 0.0102856 -0.00446064 0.999918 0.0120285 0.00847989 -0.00060139 -0.0120313 0.999927 -0.00261349 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.360413) and 306(1311875583.292612) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99999 0.00445308 0.000655008 0.0102856 -0.00446064 0.999918 0.0120285 0.00847989 -0.00060139 -0.0120313 0.999927 -0.00261349 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999032 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1101/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.360413) and 306(1311875583.292612) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999966 0.00823314 -0.000968306 0.00406779 -0.00822062 0.999891 0.0122928 0.00941001 0.00106941 -0.0122844 0.999924 -0.00191438 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999811 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2921/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.360413) and 306(1311875583.292612) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999964 0.00840374 0.00101648 0.0107353 -0.00841483 0.999899 0.0114437 0.017282 -0.000920207 -0.0114518 0.999934 -0.00405799 Input.cpp[readImages,206]: Got image from sensor!309 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 12): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:4008/4 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.662422 resInfo good: 5174, 1 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9009/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999966 0.00780513 0.00283918 0.0065356 -0.0078371 0.999904 0.0114281 0.0263977 -0.00274971 -0.01145 0.999931 -0.00591588 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!308 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 310 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!310 INF|Input.cpp[getImages,132]: mNbReceivedImages!311 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.392563 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 11 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999966 0.00780513 0.00283918 0.0065356 -0.0078371 0.999904 0.0114281 0.0263977 -0.00274971 -0.01145 0.999931 -0.00591588 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.392563) and 306(1311875583.292612) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999966 0.00780513 0.00283918 0.0065356 -0.0078371 0.999904 0.0114281 0.0263977 -0.00274971 -0.01145 0.999931 -0.00591588 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999924 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:5734/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.392563) and 306(1311875583.292612) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999958 0.00894039 0.00200728 0.00320146 -0.00896164 0.999901 0.01084 0.023632 -0.00191017 -0.0108575 0.999939 -0.0100993 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999607 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:9285/9 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.392563) and 306(1311875583.292612) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999961 0.0087144 0.00106573 0.0155811 -0.00873532 0.99973 0.0215151 -0.00946323 -0.000877953 -0.0215235 0.999768 -0.0126145 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999866 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:4068/4 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.643498 resInfo good: 5168, 7 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 22474/22 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999965 0.00787415 0.00294096 0.0132578 -0.00792998 0.999779 0.0194811 0.00419286 -0.00278692 -0.0195038 0.999806 -0.0123712 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!309 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 867 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!310 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 311 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.425045 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!311 INF|Input.cpp[getImages,132]: mNbReceivedImages!312 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999965 0.00787415 0.00294096 0.0132578 -0.00792998 0.999779 0.0194811 0.00419286 -0.00278692 -0.0195038 0.999806 -0.0123712 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.425045) and 306(1311875583.292612) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999965 0.00787415 0.00294096 0.0132578 -0.00792998 0.999779 0.0194811 0.00419286 -0.00278692 -0.0195038 0.999806 -0.0123712 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999659 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2942/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.425045) and 306(1311875583.292612) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999969 0.00617599 -0.00492257 0.032083 -0.00607749 0.999786 0.019781 0.0177046 0.00504368 -0.0197505 0.999792 -0.0171452 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999223 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:603/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.425045) and 306(1311875583.292612) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99998 0.00581111 0.00248955 0.00400981 -0.00587182 0.999667 0.0251159 0.0086969 -0.00234277 -0.02513 0.999681 -0.0178841 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999759 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1422/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.770403 resInfo good: 5142, 33 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6092/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999976 0.00569531 0.00387003 0.00861894 -0.00578467 0.999707 0.023485 0.0213327 -0.00373515 -0.0235068 0.999717 -0.0206287 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!310 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 523 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!311 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 312 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.489285 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999976 0.00569531 0.00387003 0.00861894 -0.00578467 0.999707 0.023485 0.0213327 -0.00373515 -0.0235068 0.999717 -0.0206287 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.489285) and 306(1311875583.292612) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999976 0.00569531 0.00387003 0.00861894 -0.00578467 0.999707 0.023485 0.0213327 -0.00373515 -0.0235068 0.999717 -0.0206287 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!312 INF|Input.cpp[getImages,132]: mNbReceivedImages!313 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999739 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2001/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.489285) and 306(1311875583.292612) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999988 0.00307951 -0.00388062 0.015893 -0.00296035 0.999535 0.0303464 -0.00395963 0.00397226 -0.0303345 0.999532 -0.0180459 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999867 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2545/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.489285) and 306(1311875583.292612) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999995 0.00305814 -0.000688979 0.0116856 -0.0030375 0.999598 0.0281941 0.0155386 0.000774923 -0.0281918 0.999602 -0.02127 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 9,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2392/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.851197 resInfo good: 5135, 40 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7823/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999997 0.00247256 -0.000286861 0.0152004 -0.00246397 0.999636 0.0268617 0.0293392 0.000353174 -0.0268609 0.999639 -0.0219314 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!311 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!312 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 313 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!313 INF|Input.cpp[getImages,132]: mNbReceivedImages!314 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.525276 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999955 -0.00393092 -0.00863299 0.0282991 0.00421869 0.999427 0.0335724 0.0454047 0.00849608 -0.0336073 0.999399 -0.0245378 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.525276) and 306(1311875583.292612) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999955 -0.00393092 -0.00863299 0.0282991 0.00421869 0.999427 0.0335724 0.0454047 0.00849608 -0.0336073 0.999399 -0.0245378 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999078 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1493/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.525276) and 306(1311875583.292612) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999867 0.00224964 -0.0161825 0.0448481 -0.00151399 0.998971 0.0453296 -0.0280771 0.0162678 -0.045299 0.998841 -0.0362987 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999088 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1370/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.525276) and 306(1311875583.292612) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999973 0.00159938 -0.00718383 0.0158907 -0.00130823 0.999185 0.0403528 0.00584534 0.00724252 -0.0403423 0.99916 -0.0399322 Input.cpp[readImages,206]: Got image from sensor!313 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.99997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1950/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.892107 resInfo good: 5112, 63 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5728/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999984 0.000336902 -0.00566264 0.0155336 -0.000101788 0.99914 0.0414694 0.0105648 0.00567174 -0.0414681 0.999124 -0.038236 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!312 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 471 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 314 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!314 INF|Input.cpp[getImages,132]: mNbReceivedImages!315 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.588942 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 12 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999965 -0.0007014 -0.00836203 0.0157488 0.00110838 0.99881 0.0487653 0.00108897 0.00831787 -0.0487728 0.998775 -0.0462841 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.588942) and 306(1311875583.292612) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999965 -0.0007014 -0.00836203 0.0157488 0.00110838 0.99881 0.0487653 0.00108897 0.00831787 -0.0487728 0.998775 -0.0462841 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999868 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:683/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.588942) and 306(1311875583.292612) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999808 -0.000104509 -0.0195705 0.0394483 0.00105294 0.998825 0.0484581 -0.0130969 0.0195424 -0.0484694 0.998633 -0.0384242 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999317 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:560/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.588942) and 306(1311875583.292612) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999881 -0.00037025 -0.0154424 0.0380936 0.00110363 0.99887 0.04751 -0.00012445 0.0154074 -0.0475213 0.998751 -0.0375656 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999322 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:479/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.966141 resInfo good: 5110, 65 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2633/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999914 -0.000761419 -0.0130716 0.0300998 0.00139723 0.998812 0.0487009 -0.00266739 0.013019 -0.048715 0.998728 -0.0451437 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!313 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!314 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 315 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.626705 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!315 INF|Input.cpp[getImages,132]: mNbReceivedImages!316 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999607 -0.00279653 -0.0279097 0.0594377 0.00455442 0.997995 0.0631216 -0.0292155 0.0276773 -0.0632239 0.997616 -0.058348 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.626705) and 306(1311875583.292612) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999607 -0.00279653 -0.0279097 0.0594377 0.00455442 0.997995 0.0631216 -0.0292155 0.0276773 -0.0632239 0.997616 -0.058348 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999938 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1173/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.626705) and 306(1311875583.292612) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999588 4.1222e-05 -0.0287088 0.0596097 0.00166128 0.99824 0.0592758 -0.032624 0.0286608 -0.0592991 0.997829 -0.037815 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999545 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1221/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 70 to 93432800 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.626705) and 306(1311875583.292612) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999584 -0.000154074 -0.0288439 0.0704307 0.00196688 0.998022 0.0628309 -0.0378401 0.0287772 -0.0628615 0.997607 -0.0437219 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999736 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:998/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.09691 resInfo good: 5028, 147 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4334/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999701 -0.00211532 -0.0243493 0.0564384 0.00347872 0.99842 0.0560882 -0.00535307 0.0241921 -0.0561561 0.998129 -0.0518966 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875583.626705 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875583.626705 to keyframe with id: 93432800 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875583.626705 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 765 size: 3333 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId93432800 timestamp: 1311875583.626705 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -10.7244 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 234 keyframeId: 54 score: -11.9045 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -11.6688 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 289 keyframeId: 67 score: -15.5896 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 295 keyframeId: 68 score: -15.7971 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 300 keyframeId: 69 score: -10.8168 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 71 = 71 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x591ac00 fh1 0x1cbab40fh->id: 52 71 314goodE: 119 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x591ac00 fh1 0x605aae0fh->id: 54 71 314goodE: 39 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x591ac00 fh1 0xa25ee80fh->id: 60 71 314goodE: 105 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x591ac00 fh1 0xe46b060fh->id: 67 71 314goodE: 144 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x591ac00 fh1 0x1b90d440fh->id: 68 71 314goodE: 43 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x591ac00 fh1 0x1b919ca0fh->id: 69 71 314goodE: 27 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x591ac00 fh1 0x1ec6a640fh->id: 70 71 314goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew71 Input.cpp[readImages,206]: Got image from sensor!315 INF|LocalMapper.cpp[optimize,276]: Start Energy: 652.564 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -9.67833e-12 -4.86317e-13 -1.87599e-11 2.79792e-11 -0.00591654 0.00316207 0.00206904 0.000907079 0.000948886 0.00104784 0.00380641 0.00598522 0.000413357 0.00112708 -0.000106575 0.000533352 0.0072456 -0.00958126 -0.00362891 -0.000790045 -0.000312779 -4.90561e-05 0.015348 -0.0142322 0.00127189 -0.00104252 -0.00170227 0.000362616 0.00700653 -0.000720312 0.00205198 0.000593757 -0.00120695 0.000218109 0.0044877 0.0108573 -0.00107697 0.00198659 -0.00103374 0.000477704 -0.00808376 -0.00482314 -0.00702012 7.96701e-05 0.000159898 0.00103412 0.0147192 -0.0201866 -0.00411212 -0.00162512 -0.00224471 -2.49544e-06 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2519 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 611.922 0 0 newEnergyL 0 lastEnergy: 652.564 0 0 lastEnergyL: 0mActiveResiduals: 2519 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 316 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.41057e-11 -1.27868e-12 2.7484e-11 -1.81522e-11 -6.48232e-05 -0.00143414 0.000164994 -0.000230049 5.099e-05 -0.000597229 -0.00169582 0.0055524 0.00168429 0.000572254 0.00010346 0.000383764 -0.00408977 0.00865514 0.00392195 0.00112034 0.000214559 0.000400299 -0.0134013 0.00877274 -0.00141339 0.00087171 0.00160217 -0.000223546 -0.00623968 0.00447146 -0.0016685 0.00040732 0.00135422 6.71461e-05 -0.0125837 0.00533434 0.00220959 0.000514643 0.00213551 -0.000489658 0.0118993 0.00147392 0.00565178 0.000181136 -0.000558027 4.44362e-05 0.000238667 0.0197524 0.00135935 0.00278604 0.000151404 -0.000325423 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2519 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 598.699 0 0 newEnergyL 0 lastEnergy: 611.922 0 0 lastEnergyL: 0mActiveResiduals: 2519 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -6.96619e-12 1.08975e-12 -1.20159e-11 2.09323e-11 -0.00306186 0.00115612 0.000465064 0.000434765 0.000592375 0.00150624 0.00213489 -0.00225853 -0.00223598 -0.000131312 6.21745e-05 0.000867 0.00115456 -0.00397844 -0.00426123 -0.000191771 0.000114339 0.000628014 0.00559957 -0.00424275 0.00117514 0.000261116 -0.000644503 0.00105028 0.00493772 -0.00340849 0.00579682 0.00040571 -0.00124444 0.000546429 0.00661201 -0.000909862 -0.00106165 0.000662397 -0.00138759 0.00109092 -0.0212474 0.0117959 -0.00424639 0.00221116 0.00166211 0.00086648 0.00567037 0.00230837 0.00265887 0.0012222 -0.0011326 0.00118363 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2519 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 588.825 0 0 newEnergyL 0 lastEnergy: 598.699 0 0 lastEnergyL: 0mActiveResiduals: 2519 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 4.13485e-12 -2.57834e-12 6.54327e-12 -1.60952e-11 0.00217347 -0.0069713 -0.00121058 -0.00113216 -0.000610998 -0.000121361 -0.00133218 0.00220205 0.000835916 7.38627e-06 -0.000404681 0.000929686 -0.00617095 0.000595875 0.00300695 8.18184e-05 -0.000135133 0.00102415 -0.00541112 -0.000929546 -0.00299186 3.33958e-05 -0.000249716 0.00084939 0.00147561 -0.00390546 -0.00679759 -0.000241582 -0.000295823 0.00126209 -0.00826205 0.00036924 -1.17246e-06 0.000319801 0.000813666 0.00118362 0.0130751 -0.00684094 0.00244528 -0.000438155 -0.00134011 0.00120779 0.00392393 0.0157402 0.00058731 0.00280071 -0.000696874 0.000725626 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2519 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 584.331 0 0 newEnergyL 0 lastEnergy: 588.825 0 0 lastEnergyL: 0mActiveResiduals: 2519 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -7.58673e-12 -2.49877e-13 -9.54341e-12 1.66025e-11 -0.00300494 0.00622777 0.00157552 0.000824116 0.000270748 0.00139062 0.00324668 -0.00240013 -0.00112044 9.31273e-06 -0.00031186 0.000560226 0.00428464 -0.0037562 -0.00328856 -5.21186e-05 -2.35091e-05 4.14643e-05 0.00634994 -0.0069761 0.00393737 -0.000138774 3.16406e-05 0.00024012 -0.0044045 -0.000316824 0.00540973 0.000589929 0.00057387 -0.000382874 0.00419031 -0.00236119 -0.00186359 0.000304881 -0.000394541 -0.00024011 -0.0101634 0.00311266 -0.00188937 0.000975514 0.00103673 -0.000183606 6.36962e-05 0.00600835 -0.00227337 0.00148153 0.000128419 0.000574218 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2519 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 580.825 0 0 newEnergyL 0 lastEnergy: 584.331 0 0 lastEnergyL: 0mActiveResiduals: 2519 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 8.28e-12 -3.27432e-12 1.3651e-11 -1.61543e-11 0.00384999 -0.00670735 -0.00148395 -0.000911403 -0.000657738 0.000212898 -0.00272229 0.00249248 0.000369278 3.47974e-06 -7.75507e-05 0.00100832 -0.00683429 -0.00433653 0.000821179 -0.000497527 -0.000110158 0.0010103 -0.00291545 -0.00074192 -0.00326203 9.1654e-05 -0.000973545 0.000810318 0.00576976 -0.00433627 -0.00681781 -0.000200672 -0.00121567 0.00146219 -0.0053828 0.00249708 0.00240656 0.00070735 2.03146e-06 0.00157771 0.000135879 0.00307058 0.000130856 0.000842833 -0.000273921 0.00138182 0.00866057 0.0089834 0.00362078 0.00186465 -0.00151527 0.000851282 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2519 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!316 INF|Input.cpp[getImages,132]: mNbReceivedImages!317 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 580.411 0 0 newEnergyL 0 lastEnergy: 580.825 0 0 lastEnergyL: 0mActiveResiduals: 2519 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 580.411 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2519 INF|LocalMapper.cpp[optimize,345]: End Energy: 580.411 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.49456 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.49456 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 68 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 68 with idx: 4 and allID: 295 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->68 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 68->52 INF|LocalMapper.cpp[marginalizeFrame,772]: 54<->68 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 68->54 INF|LocalMapper.cpp[marginalizeFrame,772]: 60<->68 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 68->60 INF|LocalMapper.cpp[marginalizeFrame,801]: 68 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 68 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 12170 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x591ac00 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 71 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 43 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 7 with distance 0.21Found rest min at: 42 with distance 0.2 overall min: 0.2 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 7 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 686 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 71 into DB 0.21 7 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 7 and real id(22) current kf: 71(314) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.649901 -0.0155069 -0.759861 -0.710846 -0.0933991 0.990584 -0.100099 0.962437 0.754258 0.136024 0.642333 -0.228986 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 22 currFrame: 71 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00219475 edge: 71 to 22 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 0 < 3333 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 71 and 22 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 71 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 71 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 956 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 315 keyframes 72 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 505 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.658948 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.658948) and 314(1311875583.626705) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.99939 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1139/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.658948) and 314(1311875583.626705) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999977 3.5751e-05 -0.00678692 0.0227541 -4.55386e-05 0.999999 -0.00144197 -0.0164233 0.00678686 0.00144225 0.999976 -0.0120627 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999998 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1496/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.658948) and 314(1311875583.626705) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999999 0.000847796 -0.00144132 0.00648596 -0.000848573 0.999999 -0.000538767 -0.00679018 0.00144086 0.000539989 0.999999 -0.00249746 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999434 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:698/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.24681 resInfo good: 3329, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3851/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 1 0.000565057 0.000193385 0.00509493 -0.000565062 1 2.83373e-05 -0.00451918 -0.000193369 -2.84466e-05 1 -0.00330506 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!315 Input.cpp[readImages,206]: Got image from sensor!316 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 487 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 317 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.692952 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0.000847583 0.000290084 0.0076412 -0.000847595 1 4.2465e-05 -0.00677988 -0.000290048 -4.27108e-05 1 -0.00495791 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.692952) and 314(1311875583.626705) on lvl: 2 Input.cpp[readImages,192]: readImages loop! INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0.000847583 0.000290084 0.0076412 -0.000847595 1 4.2465e-05 -0.00677988 -0.000290048 -4.27108e-05 1 -0.00495791 INF|Input.cpp[getImages,128]: getimages!317 INF|Input.cpp[getImages,132]: mNbReceivedImages!318 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.99962 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:627/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.692952) and 314(1311875583.626705) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 1 -0.000799277 0.000516637 0.00861112 0.000799535 1 -0.00049797 -0.00828901 -0.000516239 0.000498383 1 -0.0113769 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 4): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1330/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.692952) and 314(1311875583.626705) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999995 -0.00284761 -0.00102657 0.019994 0.00284898 0.999995 0.00134319 -0.00515425 0.00102274 -0.00134611 0.999999 -0.0126537 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1289/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.355225 resInfo good: 3333, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3820/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999993 -0.00291066 0.00237067 0.00878126 0.002907 0.999995 0.00154782 5.67111e-05 -0.00237516 -0.00154092 0.999996 -0.0100149 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!316 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!317 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 318 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.727297 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.727297) and 314(1311875583.626705) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!318 INF|Input.cpp[getImages,132]: mNbReceivedImages!319 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1254/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.727297) and 314(1311875583.626705) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99998 -0.00623162 0.00112853 0.00689836 0.00623259 0.99998 -0.000855066 -0.0044728 -0.00112318 0.000862083 0.999999 -0.0164681 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 5): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1574/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.727297) and 314(1311875583.626705) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999977 -0.00647461 0.00185096 0.00951692 0.00647005 0.999976 0.00245883 -0.00464532 -0.00186683 -0.0024468 0.999995 -0.0089388 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999374 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:785/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.34745 resInfo good: 3320, 13 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4200/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999968 -0.00675461 0.00419503 0.00394691 0.0067436 0.999974 0.00263513 9.49155e-05 -0.00421272 -0.00260675 0.999988 -0.00860345 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!317 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!318 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 319 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.788867 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999968 -0.00675461 0.00419503 0.00394691 0.0067436 0.999974 0.00263513 9.49155e-05 -0.00421272 -0.00260675 0.999988 -0.00860345 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.788867) and 314(1311875583.626705) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999968 -0.00675461 0.00419503 0.00394691 0.0067436 0.999974 0.00263513 9.49155e-05 -0.00421272 -0.00260675 0.999988 -0.00860345 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!319 INF|Input.cpp[getImages,132]: mNbReceivedImages!320 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999987 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1259/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.788867) and 314(1311875583.626705) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999931 -0.0077246 -0.00881336 0.053554 0.00772804 0.99997 0.000356501 -0.015174 0.00881034 -0.000424587 0.999961 -0.0279511 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999543 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1091/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.788867) and 314(1311875583.626705) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999966 -0.00824623 -0.000207549 0.0240523 0.00824655 0.999965 0.00158282 -0.00935859 0.000194489 -0.00158448 0.999999 -0.01914 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1189/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.469962 resInfo good: 3329, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4114/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999958 -0.00911957 0.00125857 0.0218434 0.00911718 0.999957 0.00188721 -0.005301 -0.00127573 -0.00187566 0.999997 -0.0199369 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!318 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!319 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 320 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.825393 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999893 -0.0138557 -0.00460899 0.0577737 0.0138576 0.999904 0.000370495 -0.0159397 0.00460342 -0.000434325 0.999989 -0.0424583 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.825393) and 314(1311875583.626705) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999893 -0.0138557 -0.00460899 0.0577737 0.0138576 0.999904 0.000370495 -0.0159397 0.00460342 -0.000434325 0.999989 -0.0424583 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!320 INF|Input.cpp[getImages,132]: mNbReceivedImages!321 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.9993 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:936/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.825393) and 314(1311875583.626705) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999766 -0.0179962 0.0119982 0.00915374 0.0178861 0.999797 0.00922261 -0.00142562 -0.0121618 -0.00900585 0.999885 -0.0331095 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999005 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:521/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.825393) and 314(1311875583.626705) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999789 -0.0169671 0.0115787 0.0213738 0.0167986 0.999754 0.0144996 -0.0095351 -0.0118219 -0.0143021 0.999828 -0.027046 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999507 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:507/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.670854 resInfo good: 3323, 10 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2524/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999753 -0.0183582 0.0125274 0.0170587 0.0181766 0.99973 0.0144585 -0.00434438 -0.0127894 -0.0142272 0.999817 -0.021612 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!319 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 498 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!320 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 321 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.888915 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999753 -0.0183582 0.0125274 0.0170587 0.0181766 0.99973 0.0144585 -0.00434438 -0.0127894 -0.0142272 0.999817 -0.021612 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.888915) and 314(1311875583.626705) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999753 -0.0183582 0.0125274 0.0170587 0.0181766 0.99973 0.0144585 -0.00434438 -0.0127894 -0.0142272 0.999817 -0.021612 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999995 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:684/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.888915) and 314(1311875583.626705) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999792 -0.0201385 0.00307765 0.05677 0.0201044 0.99974 0.0107279 -0.0320174 -0.0032929 -0.0106638 0.999938 -0.0424489 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!321 INF|Input.cpp[getImages,132]: mNbReceivedImages!322 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999857 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1453/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.888915) and 314(1311875583.626705) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999745 -0.0198954 0.0106467 0.0342379 0.0198019 0.999765 0.00881089 -0.0114331 -0.0108195 -0.00859782 0.999905 -0.029247 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999186 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:423/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.74252 resInfo good: 3307, 26 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3113/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999711 -0.0210163 0.0116655 0.0339871 0.0208934 0.999726 0.0105604 -0.0109143 -0.0118842 -0.0103136 0.999876 -0.0291347 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!320 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!321 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 322 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!322 INF|Input.cpp[getImages,132]: mNbReceivedImages!323 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.924910 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999603 -0.026342 0.00997279 0.0679147 0.0263157 0.99965 0.00275687 -0.0238295 -0.0100419 -0.00249333 0.999946 -0.0442146 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.924910) and 314(1311875583.626705) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999603 -0.026342 0.00997279 0.0679147 0.0263157 0.99965 0.00275687 -0.0238295 -0.0100419 -0.00249333 0.999946 -0.0442146 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999533 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1216/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.924910) and 314(1311875583.626705) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999474 -0.024542 0.0211939 0.0582891 0.0245302 0.999699 0.000817571 -0.0298698 -0.0212076 -0.000297251 0.999775 -0.0522947 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999783 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:458/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.924910) and 314(1311875583.626705) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999327 -0.0233161 0.0283188 0.0355175 0.0233569 0.999727 -0.001112 -0.00906838 -0.0282851 0.00177269 0.999598 -0.0393252 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999319 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:546/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.906579 resInfo good: 3306, 27 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2803/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99925 -0.02523 0.0293911 0.0323393 0.0252045 0.999682 0.00123505 -0.0116462 -0.0294129 -0.000493337 0.999567 -0.0377483 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!321 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!322 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 323 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.958305 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!323 INF|Input.cpp[getImages,132]: mNbReceivedImages!324 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998895 -0.0272711 0.0382653 0.0314592 0.027421 0.999618 -0.00339866 -0.0119844 -0.0381581 0.00444419 0.999262 -0.0420464 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.958305) and 314(1311875583.626705) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998895 -0.0272711 0.0382653 0.0314592 0.027421 0.999618 -0.00339866 -0.0119844 -0.0381581 0.00444419 0.999262 -0.0420464 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999251 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:928/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.958305) and 314(1311875583.626705) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998995 -0.0261002 0.0364321 0.0355799 0.0262303 0.999651 -0.00309708 -0.0102 -0.0363385 0.0040496 0.999331 -0.0529742 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999128 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1098/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 71 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.958305) and 314(1311875583.626705) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999003 -0.0275562 0.0351135 0.0442301 0.0275259 0.99962 0.00134586 -0.0154171 -0.0351373 -0.000377981 0.999382 -0.0451808 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999976 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:575/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.03205 resInfo good: 3295, 38 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3166/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.99898 -0.0282686 0.0352127 0.0474938 0.0281991 0.999599 0.00246704 -0.0133345 -0.0352683 -0.00147156 0.999377 -0.0451709 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875583.958305 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875583.958305 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875583.958305 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 814 size: 3769 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875583.958305 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -10.7549 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 234 keyframeId: 54 score: -11.9511 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -11.7462 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 289 keyframeId: 67 score: -11.9738 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 300 keyframeId: 69 score: -13.3086 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 306 keyframeId: 70 score: -10.8703 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 72 = 72 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2026d0e0 fh1 0x1cbab40fh->id: 52 72 322goodE: 117 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2026d0e0 fh1 0x605aae0fh->id: 54 72 322goodE: 38 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2026d0e0 fh1 0xa25ee80fh->id: 60 72 322goodE: 97 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2026d0e0 fh1 0xe46b060fh->id: 67 72 322goodE: 136 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2026d0e0 fh1 0x1b919ca0fh->id: 69 72 322goodE: 31 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2026d0e0 fh1 0x1ec6a640fh->id: 70 72 322goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2026d0e0 fh1 0x591ac00fh->id: 71 72 322goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew72 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 79 out of 82 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 82 newEdgePixels: 82 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2363 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 363 lastEnergy: 673.889 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 60 INF|LocalMapper.cpp[optimize,276]: Start Energy: 673.889 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -7.02648e-12 -2.97791e-12 -1.96299e-11 1.78462e-11 0.00171844 0.00651931 0.00270764 0.00097716 0.000147145 -0.00253256 0.00780761 -3.15395e-05 0.00093989 7.01305e-05 -0.000172971 -0.0032093 0.00955636 0.00197339 -0.00392049 -0.000708306 0.000152898 -0.002969 0.00430058 0.00800914 0.00385479 -0.000734157 0.000869802 -0.0027728 -0.00780144 0.0189159 0.000842869 0.000169288 0.00157043 -0.00340538 -0.00571793 0.00713491 0.00258462 -0.00151526 0.000769338 -0.00333861 0.00439137 -0.0027862 -0.00457846 -0.00259107 -0.000443333 -0.00264727 -0.00581386 0.00232149 -0.00179816 -0.00149156 0.000728891 -0.00210513 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2363 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 627.349 0 0 newEnergyL 0 lastEnergy: 673.889 0 0 lastEnergyL: 0mActiveResiduals: 2363 Input.cpp[readImages,206]: Got image from sensor!323 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.16603e-11 -6.34635e-13 5.77719e-12 -2.86552e-11 -0.00310469 -0.000283103 -0.0021181 -0.000131873 0.000455062 -0.000330771 -0.00378296 0.00402087 0.00038062 0.000351193 0.000362886 0.000184347 -0.00242078 0.00836787 0.00670702 0.00120163 1.08779e-05 0.000321511 0.0067623 0.00403964 0.00239803 0.000447412 -0.000810916 -0.000208527 0.00207761 0.00379782 0.00460807 0.000443379 0.000308174 0.000274659 0.0133459 -0.004576 0.0059325 -0.000579281 -0.000571301 0.000270848 0.011259 -0.00190303 0.00785448 1.40381e-06 -0.000557651 2.84423e-05 0.0138979 0.00685723 0.00485144 0.00144864 -0.00160942 0.000447814 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2363 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 609.072 0 0 newEnergyL 0 lastEnergy: 627.349 0 0 lastEnergyL: 0mActiveResiduals: 2363 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -6.88444e-12 3.59853e-12 -8.10025e-12 2.65593e-11 -0.0028969 0.00389095 0.00300286 0.000494984 0.00162038 0.000397956 0.00189617 0.00205143 0.00393685 0.000733651 0.00103431 0.000677104 0.00433234 -0.00855375 0.00234565 -0.000511676 0.00158253 -0.000184746 0.00625763 -0.00104406 0.00521982 0.000419864 0.00228751 -0.000332681 -0.00203367 0.00219553 0.000198058 0.000709556 0.00290437 -0.000842104 -0.00345347 0.000417202 -0.00196924 0.00049384 0.0025811 -0.000800529 -0.00259486 0.0024501 -0.00395971 0.000862113 0.00278341 -0.000648501 -0.00666197 -0.00428284 -0.00644062 0.000136187 0.00370786 -0.000745363 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2363 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 594.862 0 0 newEnergyL 0 lastEnergy: 609.072 0 0 lastEnergyL: 0mActiveResiduals: 2363 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 9.83478e-12 -4.39924e-12 6.40722e-12 -1.23284e-11 -0.00270785 -0.0051181 -0.00308126 -0.000123644 0.000213791 0.000353555 0.000160492 0.00130232 -0.00375583 -0.000349157 -0.000174301 0.000202736 -0.00164888 0.00648481 -0.00420638 0.000282129 -0.0010174 0.000514971 0.00184961 -0.00229105 -0.003268 -0.000564751 -0.0026898 0.000546976 0.000452005 -0.000146151 0.000580478 -8.55882e-05 -0.00220467 0.000803156 0.0067738 -0.00479807 0.00327237 -0.000670035 -0.00248407 0.000963224 -0.00164902 0.00037344 0.00405578 0.000160046 -0.0020631 0.000689646 0.00168549 0.00650141 0.00251157 0.00104795 -0.00287689 0.00168648 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2363 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 590.706 0 0 newEnergyL 0 lastEnergy: 594.862 0 0 lastEnergyL: 0mActiveResiduals: 2363 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 324 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.13843e-11 3.14405e-12 -1.61964e-12 -8.62026e-12 0.00312518 -0.00151351 0.00295343 -0.000289722 -0.000726201 -0.000751094 0.00304344 0.00471499 0.000228617 0.00116138 -0.00060362 -9.5086e-05 -0.00644079 -0.00469625 0.00555435 0.000219974 0.00111701 -0.000535374 -0.00136978 -0.00553335 0.00395785 -0.000222103 0.00172645 -0.000356886 -0.0048606 -0.00537552 1.92711e-05 -0.000372601 0.00184338 -0.000162014 -0.00211084 0.00712236 -0.0038076 0.00117527 0.00102278 -0.000126956 0.00373929 0.00610882 -0.00411419 0.00131501 0.000727786 -0.000492162 0.00148157 -0.00332606 -0.00423251 0.000220147 0.00149274 -0.000398212 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2363 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 588.423 0 0 newEnergyL 0 lastEnergy: 590.706 0 0 lastEnergyL: 0mActiveResiduals: 2363 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 9.37482e-12 -4.52993e-12 -1.48484e-12 -9.07808e-13 -0.00393017 -0.000135013 0.000393727 0.000454126 0.00139244 0.000699923 0.00139751 -0.000699389 0.000722725 -0.000384896 0.000788519 0.000553088 0.00220291 -0.00144169 -0.00364906 -0.000501226 0.000274425 0.000214795 0.00199535 0.00553814 -0.00246591 0.00058544 -0.00080225 0.000263722 0.00263046 0.00559794 2.08854e-05 0.000727801 -0.000609982 2.52446e-05 -0.000109515 -0.00415006 0.00498217 -0.000513521 0.000205412 8.65123e-05 -0.00855336 -0.00635982 0.0017996 -0.000528714 0.000716645 0.000408379 0.00463394 0.00249845 -0.00188446 0.000508998 -0.00146897 0.000714456 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2363 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 579.134 0 0 newEnergyL 0 lastEnergy: 588.423 0 0 lastEnergyL: 0mActiveResiduals: 2363 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 579.134 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2363 INF|LocalMapper.cpp[optimize,345]: End Energy: 579.134 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.509609 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.509609 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 69 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 69 with idx: 4 and allID: 300 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->69 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 69->52 INF|LocalMapper.cpp[marginalizeFrame,772]: 54<->69 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 69->54 INF|LocalMapper.cpp[marginalizeFrame,772]: 60<->69 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 69->60 INF|LocalMapper.cpp[marginalizeFrame,801]: 69 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 69 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 11919 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2026d0e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 72 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 44 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 2 with distance 0.192Found rest min at: 43 with distance 0.116 overall min: 0.116 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 2 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 689 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 72 into DB 0.192 2 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 2 and real id(17) current kf: 72(322) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.786938 -0.0719848 -0.612819 -0.790311 -0.095674 0.966925 -0.236437 1.03602 0.60957 0.244692 0.754023 0.133913 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 17 currFrame: 72 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.0162502 eye: 0.00365764 edge: 72 to 17 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 342 < 3427 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 72 and 17 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 72 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 72 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1050 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 323 keyframes 73 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!324 INF|Input.cpp[getImages,132]: mNbReceivedImages!325 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 536 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875583.992719 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 72 to 576991904 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.992719) and 322(1311875583.958305) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1940/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 72 to 576991904 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.992719) and 322(1311875583.958305) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99998 -0.00539695 0.00330974 -0.000117025 0.00541972 0.999961 -0.00690791 0.00372955 -0.00327233 0.00692571 0.999971 0.00231945 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 8): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2530/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 72 to 576991904 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875583.992719) and 322(1311875583.958305) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999971 -0.00560472 0.00506614 0.001502 0.0056127 0.999983 -0.00156289 -0.0045926 -0.00505729 0.00159128 0.999986 -0.000119508 Input.cpp[readImages,206]: Got image from sensor!324 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 4): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1834/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.38868 resInfo good: 3769, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7027/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999969 -0.00564642 0.00550962 0.00371404 0.0056442 0.999984 0.000418318 -0.00594002 -0.00551189 -0.000387208 0.999985 -0.00166819 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!323 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 553 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 325 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!325 INF|Input.cpp[getImages,132]: mNbReceivedImages!326 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.024964 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99993 -0.00847035 0.00826347 0.00558016 0.00846536 0.999964 0.000639136 -0.00890241 -0.00826859 -0.000569138 0.999966 -0.00250908 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 72 to 576991904 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.024964) and 322(1311875583.958305) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99993 -0.00847035 0.00826347 0.00558016 0.00846536 0.999964 0.000639136 -0.00890241 -0.00826859 -0.000569138 0.999966 -0.00250908 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999647 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:960/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 72 to 576991904 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.024964) and 322(1311875583.958305) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999955 -0.00935122 0.00174586 0.0310265 0.0093666 0.999915 -0.00901794 -0.00340581 -0.00166138 0.00903389 0.999958 -0.00917053 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999288 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1067/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 72 to 576991904 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.024964) and 322(1311875583.958305) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999931 -0.00808227 0.00846665 0.0158036 0.00813651 0.999946 -0.00639184 -0.00265675 -0.00841454 0.00646029 0.999944 -0.0154939 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999309 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1303/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.564483 resInfo good: 3769, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4078/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999925 -0.00862222 0.00868016 0.0152564 0.00865731 0.999954 -0.00401247 -0.0050108 -0.00864517 0.00408731 0.999954 -0.0103947 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!324 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 467 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!325 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 326 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.057071 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999896 -0.0101048 0.0102703 0.0210161 0.010169 0.999929 -0.00622424 -0.00451871 -0.0102067 0.00632803 0.999928 -0.01477 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 72 to 576991904 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.057071) and 322(1311875583.958305) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999896 -0.0101048 0.0102703 0.0210161 0.010169 0.999929 -0.00622424 -0.00451871 -0.0102067 0.00632803 0.999928 -0.01477 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999293 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:754/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 72 to 576991904 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.057071) and 322(1311875583.958305) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999939 -0.0101815 0.00429484 0.0547093 0.0101726 0.999946 0.00208256 -0.00791601 -0.00431581 -0.00203874 0.999989 -0.0128204 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!326 INF|Input.cpp[getImages,132]: mNbReceivedImages!327 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1774/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 72 to 576991904 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.057071) and 322(1311875583.958305) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999862 -0.0105502 0.0128221 0.0281708 0.0105022 0.999938 0.00379781 -0.00339871 -0.0128614 -0.00366263 0.999911 -0.0192484 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999365 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:425/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.710854 resInfo good: 3769, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3741/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999834 -0.0109661 0.0145801 0.0242796 0.0109248 0.999936 0.00291253 0.00350834 -0.0146111 -0.00275276 0.999889 -0.0177793 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!325 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!326 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 327 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.091557 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999773 -0.0121532 0.0175237 0.0287673 0.012043 0.999907 0.00637998 0.00775664 -0.0175996 -0.00616749 0.999826 -0.0215135 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 72 to 576991904 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.091557) and 322(1311875583.958305) on lvl: 2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!327 INF|Input.cpp[getImages,132]: mNbReceivedImages!328 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999773 -0.0121532 0.0175237 0.0287673 0.012043 0.999907 0.00637998 0.00775664 -0.0175996 -0.00616749 0.999826 -0.0215135 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1552/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 72 to 576991904 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.091557) and 322(1311875583.958305) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999754 -0.0134788 0.01763 0.0295922 0.0133734 0.999892 0.00608351 0.00280037 -0.0177101 -0.00584623 0.999826 -0.0120279 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999238 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1690/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 72 to 576991904 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.091557) and 322(1311875583.958305) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99969 -0.014902 0.0199535 0.0286238 0.014696 0.999838 0.0104287 -0.00400076 -0.0201057 -0.0101322 0.999747 -0.012819 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1152/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.807723 resInfo good: 3769, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5130/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999641 -0.0152694 0.0220296 0.0235395 0.0150013 0.999812 0.0122866 -0.00493514 -0.0222131 -0.0119518 0.999682 -0.0139945 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!326 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!327 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 328 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.124817 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!328 INF|Input.cpp[getImages,132]: mNbReceivedImages!329 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999641 -0.0152694 0.0220296 0.0235395 0.0150013 0.999812 0.0122866 -0.00493514 -0.0222131 -0.0119518 0.999682 -0.0139945 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 72 to 576991904 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.124817) and 322(1311875583.958305) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999641 -0.0152694 0.0220296 0.0235395 0.0150013 0.999812 0.0122866 -0.00493514 -0.0222131 -0.0119518 0.999682 -0.0139945 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999661 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:847/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 72 to 576991904 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.124817) and 322(1311875583.958305) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999502 -0.0187458 0.0253816 0.027429 0.0187164 0.999824 0.00139574 -0.00627498 -0.0254033 -0.000919993 0.999677 -0.0197953 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999781 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1488/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 72 to 576991904 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.124817) and 322(1311875583.958305) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999536 -0.0170507 0.025246 0.0362919 0.0169363 0.999845 0.00473775 -0.00802118 -0.0253229 -0.00430797 0.99967 -0.0181907 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999567 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:959/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.895657 resInfo good: 3753, 16 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4028/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999469 -0.0182425 0.0269906 0.0320873 0.0180541 0.999811 0.00720795 -0.00986865 -0.027117 -0.00671683 0.99961 -0.0200795 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!327 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!328 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 329 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.157993 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!329 INF|Input.cpp[getImages,132]: mNbReceivedImages!330 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999264 -0.0211893 0.0319659 0.0406189 0.0211315 0.999774 0.0021443 -0.0147456 -0.0320041 -0.00146724 0.999487 -0.0262324 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 72 to 576991904 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.157993) and 322(1311875583.958305) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999264 -0.0211893 0.0319659 0.0406189 0.0211315 0.999774 0.0021443 -0.0147456 -0.0320041 -0.00146724 0.999487 -0.0262324 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999846 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1037/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 72 to 576991904 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.157993) and 322(1311875583.958305) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999402 -0.0147886 0.0312474 0.0423085 0.0147827 0.999891 0.000420458 -0.0187344 -0.0312502 4.17132e-05 0.999512 -0.021196 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.99913 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:662/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 72 to 576991904 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.157993) and 322(1311875583.958305) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999337 -0.0169373 0.0322396 0.0437715 0.0168656 0.999855 0.00249428 -0.0195328 -0.0322771 -0.00194889 0.999477 -0.019017 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999734 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:984/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.0142 resInfo good: 3741, 28 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3448/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999246 -0.0181827 0.0343025 0.042554 0.0180852 0.999831 0.00315171 -0.0135948 -0.0343541 -0.00252897 0.999407 -0.0231871 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875584.157993 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875584.157993 to keyframe with id: 576991904 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875584.157993 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 843 size: 3497 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId576991904 timestamp: 1311875584.157993 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -10.8815 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 234 keyframeId: 54 score: -12.103 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -11.9657 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 289 keyframeId: 67 score: -11.0252 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 306 keyframeId: 70 score: -12.0444 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -10.1188 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 73 = 73 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226432c0 fh1 0x1cbab40fh->id: 52 73 328goodE: 83 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226432c0 fh1 0x605aae0fh->id: 54 73 328goodE: 37 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226432c0 fh1 0xa25ee80fh->id: 60 73 328goodE: 89 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226432c0 fh1 0xe46b060fh->id: 67 73 328goodE: 102 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226432c0 fh1 0x1ec6a640fh->id: 70 73 328goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226432c0 fh1 0x591ac00fh->id: 71 73 328goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226432c0 fh1 0x2026d0e0fh->id: 72 73 328goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew73 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 100 out of 110 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 110 newEdgePixels: 110 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1984 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 348 lastEnergy: 628.44 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 64 INF|LocalMapper.cpp[optimize,276]: Start Energy: 628.44 0 0 lastEnergyL: 0 Input.cpp[readImages,206]: Got image from sensor!329 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.57271e-11 -4.67694e-13 -5.5373e-13 -1.82304e-11 0.00629203 0.00261486 -0.0024498 -0.000528328 -0.00245235 -0.000786452 0.000854614 0.00685226 -0.0011598 0.000210084 -0.0018944 -0.000539084 -0.00671248 -0.00103058 0.00267435 -0.00043018 -0.00103837 -0.000149848 -0.0118597 -0.0142615 -0.00134346 -0.0023158 -4.68516e-05 -0.000225483 -0.0107373 0.00340791 -0.00673639 -0.000388688 -0.000829361 0.00107409 -0.00370345 0.00277238 -0.00561639 -6.38256e-05 -0.00140529 0.00043745 -0.00960717 -0.00298757 -0.00429436 -0.000758422 -0.000113319 0.00103805 -0.0164093 -0.00486831 0.00353751 -0.000975307 0.000366242 0.000429307 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1984 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 581.801 0 0 newEnergyL 0 lastEnergy: 628.44 0 0 lastEnergyL: 0mActiveResiduals: 1984 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.26291e-12 -4.25828e-13 7.1577e-12 -9.91446e-12 0.00157877 0.00222238 -0.000154166 0.000209458 -0.000168896 -0.000209549 -0.00289194 -0.00111157 0.00191502 -8.80366e-05 0.000145823 -0.000109456 -0.00140287 -0.00255093 -7.77588e-05 -0.000274918 0.000200587 0.000153796 -0.00488435 -0.00199435 0.00450136 -6.1964e-05 0.000497893 0.00050111 0.00194713 -0.0129833 -0.00192457 -0.0013422 -1.37247e-05 0.000365061 0.00186035 -0.00418975 0.0021919 -2.8171e-05 -5.20081e-05 8.96068e-05 -0.00656995 -0.00246329 0.00355449 1.55389e-05 0.000939908 0.00049094 -0.0121427 0.00061627 0.00734352 0.000456885 0.00171573 0.00102884 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1984 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 562.314 0 0 newEnergyL 0 lastEnergy: 581.801 0 0 lastEnergyL: 0mActiveResiduals: 1984 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -3.28787e-12 -6.69347e-13 -6.46123e-12 8.13186e-12 8.29774e-05 -0.000858059 0.0025535 -9.72187e-05 0.00123173 0.00136686 0.00146993 -0.00285613 -0.000241068 -0.000408747 0.0012195 0.000913146 -0.00102261 -0.0054757 0.00433778 -0.000379744 0.000930043 0.00128751 0.00274191 0.00167838 -0.000129848 0.000869636 0.000581176 0.00075862 -0.0054138 0.00580791 6.16808e-05 0.00139983 0.00133007 0.000933969 -0.00972198 -0.00527238 -0.00286418 0.000241138 0.00175829 0.000668701 -0.000713543 0.00427491 -0.0020947 0.00136576 0.000922658 0.00097937 0.00934061 0.00153679 -0.00206625 0.00100679 -0.000270894 0.00105028 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1984 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 330 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 549.688 0 0 newEnergyL 0 lastEnergy: 562.314 0 0 lastEnergyL: 0mActiveResiduals: 1984 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 3.98867e-12 -2.81541e-13 8.62929e-12 -1.17716e-11 -0.00104649 -0.00185955 -0.00142204 -0.000466393 -0.000499543 -0.00129839 -0.00160341 -0.000945431 -0.00022632 -0.000122978 -0.000493968 -0.000791139 0.000740587 0.0121521 8.54285e-05 0.00122511 -0.000380529 -0.000738477 -0.00217874 -0.00537181 0.000206543 -0.00119883 0.000259465 -0.000412837 0.00560233 -0.00385539 0.000701819 -0.000885455 -0.000335076 -0.000456481 0.0103963 0.00556127 -0.000365869 0.000515556 -0.00110173 -0.0003431 -0.0010156 -0.00316618 6.65981e-05 -0.000720205 0.000241281 -0.000575929 -0.00992039 -0.00282918 0.00111341 -0.000667311 0.00141344 -0.000200027 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1984 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 539.609 0 0 newEnergyL 0 lastEnergy: 549.688 0 0 lastEnergyL: 0mActiveResiduals: 1984 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 8.50847e-13 2.03762e-13 -1.40445e-11 1.04041e-11 0.00146911 -0.000298996 0.00198349 -8.05338e-05 0.00119601 0.00196784 0.00162228 -0.00538224 0.000772023 -0.00081477 0.00116303 0.00156392 -0.0032068 -0.00765115 0.00360977 -0.000638387 0.00137019 0.00178358 0.00494888 0.00232428 0.00312091 0.00119124 0.000407833 0.00144431 -0.00565038 0.00178757 -0.00368799 0.000981798 0.00137124 0.00167981 -0.010917 0.0021868 -0.00237244 0.00148241 0.00215154 0.00130332 -0.00305111 0.00345206 -0.00249134 0.00152872 0.00120287 0.00111307 0.0113553 0.00213437 -0.00216747 0.00125814 -0.000475362 0.001006 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1984 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 536.448 0 0 newEnergyL 0 lastEnergy: 539.609 0 0 lastEnergyL: 0mActiveResiduals: 1984 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.45031e-12 -2.3227e-12 1.40861e-11 -2.72849e-11 -0.00383745 -0.00451371 0.00118263 -0.000289682 0.000250683 -0.00167783 -0.00153993 0.00492608 -0.00057997 0.000766453 0.000176303 -0.00131057 0.00406916 0.0111379 -0.00135804 0.000962086 -0.000467604 -0.00131257 -0.00699493 0.00195748 -0.00326468 -0.000613094 0.000710199 -0.00135683 0.00497876 -0.00247657 0.00286527 -0.00104939 -0.00051808 -0.00121967 0.008215 0.000284293 -0.00139577 -0.000556356 -0.00131189 -0.00106658 0.00613257 -0.00499464 0.00247681 -0.00144591 -0.000926796 -0.00121535 -0.010551 -0.00604862 0.00141218 -0.00156515 0.00110116 -0.000623545 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1984 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 528.084 0 0 newEnergyL 0 lastEnergy: 536.448 0 0 lastEnergyL: 0mActiveResiduals: 1984 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 528.084 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1984 INF|LocalMapper.cpp[optimize,345]: End Energy: 528.084 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.523901 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.523901 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 54 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 54 with idx: 1 and allID: 234 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->54 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 54->52 INF|LocalMapper.cpp[marginalizeFrame,772]: 54<->54 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 60<->54 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 54->60 INF|LocalMapper.cpp[marginalizeFrame,772]: 67<->54 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 54->67 INF|LocalMapper.cpp[marginalizeFrame,801]: 54 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 54 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 11593 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x226432c0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 73 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 45 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!330 INF|Input.cpp[getImages,132]: mNbReceivedImages!331 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 10 with distance 0.204Found rest min at: 44 with distance 0.09 overall min: 0.09 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 10 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 686 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 73 into DB 0.204 10 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 10 and real id(25) current kf: 73(328) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.467631 0.0187052 -0.883726 -0.78695 -0.124031 0.991273 -0.0446504 1.04958 0.875179 0.130489 0.46587 -0.498218 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 25 currFrame: 73 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00174533 edge: 73 to 25 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 0 < 3497 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 73 and 25 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 73 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 73 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1001 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 329 keyframes 74 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 531 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.192903 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999983 0.000968077 0.00573204 0.0174195 -0.00094198 0.999989 -0.00455384 -0.00224598 -0.00573639 0.00454836 0.999973 -0.00842983 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 73 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.192903) and 328(1311875584.157993) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999983 0.000968077 0.00573204 0.0174195 -0.00094198 0.999989 -0.00455384 -0.00224598 -0.00573639 0.00454836 0.999973 -0.00842983 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 3): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1510/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 73 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.192903) and 328(1311875584.157993) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99996 0.00255554 0.00851832 0.00240064 -0.00242717 0.999884 -0.015046 0.00849891 -0.00855578 0.0150247 0.999851 -0.00390108 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999887 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:671/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 73 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.192903) and 328(1311875584.157993) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999933 0.00180865 0.0114285 0.00601362 -0.00170891 0.99996 -0.0087308 -0.00476104 -0.0114438 0.00871068 0.999897 -0.00854899 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.99978 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1060/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.560422 resInfo good: 3475, 22 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3956/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999953 0.00206524 0.00952327 0.0103098 -0.00199574 0.999971 -0.00730193 -0.0044529 -0.00953808 0.00728258 0.999928 -0.00487019 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!329 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!330 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 331 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.227087 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!331 INF|Input.cpp[getImages,132]: mNbReceivedImages!332 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99981 0.00419967 0.0190303 0.0205635 -0.00392167 0.999885 -0.0146221 -0.00889068 -0.0190896 0.0145447 0.999712 -0.00987079 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 73 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.227087) and 328(1311875584.157993) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99981 0.00419967 0.0190303 0.0205635 -0.00392167 0.999885 -0.0146221 -0.00889068 -0.0190896 0.0145447 0.999712 -0.00987079 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 5): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1610/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 73 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.227087) and 328(1311875584.157993) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999867 0.00458307 0.0156654 0.0277457 -0.00427657 0.9998 -0.0195431 -0.0177686 -0.0157518 0.0194735 0.999686 -0.00635521 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999943 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1759/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 73 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.227087) and 328(1311875584.157993) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999736 0.00342444 0.0227357 0.00813868 -0.00301312 0.999832 -0.0181011 -0.00971977 -0.0227938 0.0180278 0.999578 -0.00672058 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999004 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:857/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.769871 resInfo good: 3465, 32 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4950/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999742 0.00266348 0.0225411 0.0118545 -0.00226349 0.99984 -0.0177518 -0.00462284 -0.0225847 0.0176962 0.999588 -0.00623824 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!330 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 480 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!331 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 332 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!332 INF|Input.cpp[getImages,132]: mNbReceivedImages!333 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.259741 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999362 0.00339723 0.0355481 0.0133811 -0.00239486 0.999599 -0.0282023 -0.00477906 -0.0356297 0.0280992 0.99897 -0.007628 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 73 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.259741) and 328(1311875584.157993) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999362 0.00339723 0.0355481 0.0133811 -0.00239486 0.999599 -0.0282023 -0.00477906 -0.0356297 0.0280992 0.99897 -0.007628 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999434 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1542/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 73 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.259741) and 328(1311875584.157993) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999532 0.00639164 0.0299021 0.0206972 -0.0055822 0.999618 -0.0270755 -0.0153193 -0.0300637 0.0268959 0.999186 -0.0120172 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2131/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 73 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.259741) and 328(1311875584.157993) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999442 0.0045069 0.0330972 0.016682 -0.00365466 0.999661 -0.0257649 -0.00885538 -0.0332021 0.0256296 0.99912 -0.0134531 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1416/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.935664 resInfo good: 3451, 46 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5825/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999428 0.00355308 0.0336249 0.0182035 -0.00269682 0.999672 -0.0254763 -0.00503744 -0.0337043 0.025371 0.99911 -0.0133103 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!331 Input.cpp[readImages,206]: Got image from sensor!332 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 468 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 333 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.293330 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!333 INF|Input.cpp[getImages,132]: mNbReceivedImages!334 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99899 0.00452771 0.0446973 0.0244734 -0.00304415 0.999444 -0.0332036 -0.00540133 -0.0448228 0.033034 0.998449 -0.0204555 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 73 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.293330) and 328(1311875584.157993) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99899 0.00452771 0.0446973 0.0244734 -0.00304415 0.999444 -0.0332036 -0.00540133 -0.0448228 0.033034 0.998449 -0.0204555 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999584 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1338/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 73 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.293330) and 328(1311875584.157993) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999056 0.00635191 0.0429667 0.0174386 -0.00512502 0.999578 -0.0286048 -0.0265483 -0.0431302 0.0283576 0.998667 -0.0119061 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999727 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1700/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 73 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.293330) and 328(1311875584.157993) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999057 0.0039315 0.0432461 0.0217335 -0.00273896 0.999615 -0.0276004 -0.021537 -0.043338 0.0274559 0.998683 -0.0154294 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999951 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1170/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.05202 resInfo good: 3389, 108 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4919/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999023 0.00310401 0.0440922 0.0217441 -0.00181456 0.99957 -0.0292544 -0.0104097 -0.0441641 0.0291458 0.998599 -0.015085 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875584.293330 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875584.293330 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875584.293330 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 855 size: 3731 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875584.293330 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -8.49189 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -10.88 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 289 keyframeId: 67 score: -12.5418 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 306 keyframeId: 70 score: -16.376 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -16.2229 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 322 keyframeId: 72 score: -10.8866 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 74 = 74 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21f04260 fh1 0x1cbab40fh->id: 52 74 332goodE: 68 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21f04260 fh1 0xa25ee80fh->id: 60 74 332goodE: 92 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21f04260 fh1 0xe46b060fh->id: 67 74 332goodE: 102 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21f04260 fh1 0x1ec6a640fh->id: 70 74 332goodE: 31 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21f04260 fh1 0x591ac00fh->id: 71 74 332goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21f04260 fh1 0x2026d0e0fh->id: 72 74 332goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x21f04260 fh1 0x226432c0fh->id: 73 74 332goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew74 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 90 out of 100 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 100 newEdgePixels: 100 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2021 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 313 lastEnergy: 669.861 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 58 INF|LocalMapper.cpp[optimize,276]: Start Energy: 669.861 0 0 lastEnergyL: 0 Input.cpp[readImages,206]: Got image from sensor!333 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 6.51367e-12 -4.64767e-12 -1.8311e-11 3.84556e-12 0.0021839 0.0060993 -0.0041127 0.000766846 -0.00201889 0.000291513 -0.00643904 -0.00221293 -0.00578114 -0.000218526 -0.00106881 -0.00123025 -0.00486282 0.00850017 -0.00671409 0.000617634 -0.00129857 -0.00121403 -0.00573784 0.00334973 -0.0129269 -0.000105815 -0.00189511 -0.00160682 -0.00200878 0.00477983 -0.0141337 0.000592923 -0.00223045 -0.00144989 -0.00837268 0.01033 -0.0148994 0.00119722 -0.00174858 -0.00186339 0.00375201 0.0151769 -0.0138881 0.00170103 -0.00302592 -0.00152675 -0.00566237 0.0174526 -0.00889157 0.00199635 -0.00167703 -0.00169596 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2021 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 628.407 0 0 newEnergyL 0 lastEnergy: 669.861 0 0 lastEnergyL: 0mActiveResiduals: 2021 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.237e-12 2.78764e-12 1.29392e-11 -8.23767e-12 -0.000208644 -0.00216707 -0.00015358 -0.000218419 7.17731e-07 -9.4815e-05 -0.00217656 0.011421 0.00215499 0.00130079 0.000127626 0.000272525 -0.000320405 0.00676396 0.00131942 0.000755329 9.35423e-05 -5.75388e-06 0.00851485 0.00914834 0.00219034 0.00111189 -0.000678807 -6.65356e-05 0.00510055 0.0021712 -0.00147884 0.000509416 -0.000674399 1.88588e-05 -0.00435228 -0.0087601 -0.000944306 -0.00105912 0.000725101 0.000323448 0.00164016 0.00599886 -0.00332609 0.000812867 -0.000216402 4.76719e-05 0.0140455 0.0162869 -0.00301765 0.00199972 -0.00182677 -0.000601463 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2021 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 604.261 0 0 newEnergyL 0 lastEnergy: 628.407 0 0 lastEnergyL: 0mActiveResiduals: 2021 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -2.05737e-12 1.89204e-12 -1.24626e-11 5.38751e-12 -0.00440549 -0.00148032 0.00335249 -0.00035923 0.00135525 0.00140201 0.00211152 -0.00516021 0.00250223 1.55638e-05 0.000781541 0.00113625 -0.00165349 -0.000317395 0.00192443 0.000897364 0.00182074 0.00121731 0.0085203 -0.00245735 -0.00224792 0.000730252 0.000625034 0.000785377 0.0031939 -0.000216051 -0.00386619 0.00122243 0.00146001 0.000587477 0.00203912 0.000523956 -0.00488067 0.00126139 0.00140734 0.00016013 0.00318551 0.0030557 -0.00136662 0.00164225 0.00183126 0.000655147 -0.017079 0.00336221 0.00331378 0.00187218 0.00424967 0.000661583 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2021 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 589.197 0 0 newEnergyL 0 lastEnergy: 604.261 0 0 lastEnergyL: 0mActiveResiduals: 2021 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 334 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 2.14883e-12 1.23246e-12 1.28953e-11 -9.79001e-12 9.76641e-05 -0.000535285 0.000540229 0.000298317 0.000668022 -0.000493111 -0.00100143 0.00736041 0.00120143 0.000982951 0.000806984 -0.000105477 0.00242822 -0.00713024 0.00212284 -0.000726325 0.000650352 -0.000374299 0.00418939 -4.49045e-06 0.00286854 5.93324e-05 0.000551313 -0.000417011 0.000208798 0.000998762 0.00120051 0.000294599 0.000752347 -0.000459185 -0.0035176 -0.00561955 0.00388699 -0.000774283 0.00153574 -0.000213387 0.00225649 -0.00104721 -0.00258587 -0.000221053 0.000259471 -0.000741771 -0.00631766 0.00501947 -0.00806855 0.000330435 0.000977117 -0.000773306 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2021 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 577.952 0 0 newEnergyL 0 lastEnergy: 589.197 0 0 lastEnergyL: 0mActiveResiduals: 2021 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.79974e-12 1.4145e-12 -2.07826e-12 1.60981e-12 -0.003226 -0.00263116 0.0013039 -0.000558556 0.000805358 0.000398616 -0.000127887 -0.00259789 0.00184478 -0.000211596 0.00037422 0.00065518 -0.00123229 0.00453784 -0.000406627 0.0007901 0.000725291 0.000735421 0.00439197 0.00260155 -0.00294844 0.000668128 1.98506e-05 0.000581451 0.00391537 -0.0062195 -0.00107162 -0.000362071 0.000375908 0.000323527 0.00866628 0.00253991 -0.00684308 0.000718064 -0.000482554 0.000109498 -0.00516211 0.00063414 0.00208269 0.000567916 0.00181472 0.000589784 -0.00905455 -0.000269939 0.0052561 0.000689421 0.00231634 0.000667096 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2021 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 572.157 0 0 newEnergyL 0 lastEnergy: 577.952 0 0 lastEnergyL: 0mActiveResiduals: 2021 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 8.21238e-13 1.72972e-12 7.72843e-12 1.02756e-12 0.00350058 -0.000856132 -0.00209425 2.68071e-05 -0.000492764 -0.000792976 -0.00185093 0.00834898 0.000397687 0.00062999 -0.000106492 -0.00042354 -0.0038693 -0.00263008 0.00158911 -0.000780988 0.000145429 -0.000338156 0.00140303 -0.00851262 0.0038393 -0.00155629 -0.000434986 -0.000574587 0.00337894 0.00653783 0.00374775 0.000448317 -0.000974804 -0.000601889 -0.00621205 -0.00319812 0.00624846 -0.00097582 0.000461512 -0.000164244 -0.000388412 0.000512414 -0.00673402 -0.000670223 -0.00117476 -0.000695593 0.00502713 0.000121025 -0.00575431 -0.000784146 -0.00155079 -0.000672235 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2021 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 565.497 0 0 newEnergyL 0 lastEnergy: 572.157 0 0 lastEnergyL: 0mActiveResiduals: 2021 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 565.497 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2021 INF|LocalMapper.cpp[optimize,345]: End Energy: 565.497 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.536592 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.536592 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 70 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 70 with idx: 3 and allID: 306 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->70 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 70->52 INF|LocalMapper.cpp[marginalizeFrame,772]: 60<->70 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 70->60 INF|LocalMapper.cpp[marginalizeFrame,772]: 67<->70 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 70->67 INF|LocalMapper.cpp[marginalizeFrame,801]: 70 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 70 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 11033 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x21f04260 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 74 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 46 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 2 with distance 0.196Found rest min at: 44 with distance 0.148 overall min: 0.148 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 2 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 680 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 74 into DB 0.196 2 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 2 and real id(17) current kf: 74(332) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.7417 -0.0464823 -0.669119 -0.881011 -0.126897 0.969855 -0.208036 1.07799 0.658618 0.239209 0.713443 0.112165 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 17 currFrame: 74 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.0770304 eye: 0.00410573 edge: 74 to 17 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 92 < 3639 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 74 and 17 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 74 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 74 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 987 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 333 keyframes 75 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!334 INF|Input.cpp[getImages,132]: mNbReceivedImages!335 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 541 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.325319 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999993 -0.000646045 0.0037512 0.00768087 0.000648782 1 -0.000728597 -0.00696355 -0.00375073 0.000731025 0.999993 -0.00276132 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 74 to 577396672 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.325319) and 332(1311875584.293330) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999993 -0.000646045 0.0037512 0.00768087 0.000648782 1 -0.000728597 -0.00696355 -0.00375073 0.000731025 0.999993 -0.00276132 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999817 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:863/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 74 to 577396672 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.325319) and 332(1311875584.293330) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999995 -0.00318779 -0.000502905 0.0307993 0.00318551 0.999985 -0.00447324 -0.0261522 0.000517157 0.00447162 0.99999 -0.00806879 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999118 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1067/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 74 to 577396672 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.325319) and 332(1311875584.293330) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999973 -0.00355673 0.00645398 0.0120643 0.00359217 0.999978 -0.00548768 -0.0138358 -0.00643432 0.00551072 0.999964 -0.000283652 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999926 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1070/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.534757 resInfo good: 3706, 25 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3742/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999957 -0.00403807 0.00832721 0.00786129 0.00408513 0.999976 -0.00564239 -0.00895456 -0.00830423 0.00567616 0.999949 -0.00108012 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!333 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!334 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 335 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.357251 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999829 -0.0080286 0.0166764 0.0157494 0.00821685 0.999903 -0.0112503 -0.0178707 -0.0165845 0.0113854 0.999798 -0.0022763 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 74 to 577396672 Input.cpp[readImages,192]: readImages loop! INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.357251) and 332(1311875584.293330) on lvl: 2 INF|Input.cpp[getImages,128]: getimages!335 INF|Input.cpp[getImages,132]: mNbReceivedImages!336 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999829 -0.0080286 0.0166764 0.0157494 0.00821685 0.999903 -0.0112503 -0.0178707 -0.0165845 0.0113854 0.999798 -0.0022763 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 8): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2377/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 74 to 577396672 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.357251) and 332(1311875584.293330) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99995 -0.00650278 0.00760254 0.0345485 0.00665402 0.999777 -0.0200401 -0.00641966 -0.00747053 0.0200897 0.99977 -0.0107413 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999903 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1513/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 74 to 577396672 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.357251) and 332(1311875584.293330) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999893 -0.00665669 0.0130184 0.0195056 0.0068682 0.999844 -0.0162702 -0.0108403 -0.0129081 0.0163579 0.999783 -0.00896285 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.99968 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1211/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.735217 resInfo good: 3716, 15 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5913/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999871 -0.00720663 0.0143533 0.0178194 0.00743443 0.999846 -0.0158813 -0.00759076 -0.0142366 0.0159859 0.999771 -0.00822393 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!334 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!335 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 336 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!336 INF|Input.cpp[getImages,132]: mNbReceivedImages!337 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.393578 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999738 -0.0103128 0.0204109 0.0277299 0.0108442 0.999601 -0.0260981 -0.00612119 -0.0201336 0.0263126 0.999451 -0.0154127 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 74 to 577396672 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.393578) and 332(1311875584.293330) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999738 -0.0103128 0.0204109 0.0277299 0.0108442 0.999601 -0.0260981 -0.00612119 -0.0201336 0.0263126 0.999451 -0.0154127 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999374 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1360/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 74 to 577396672 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.393578) and 332(1311875584.293330) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999786 -0.00810449 0.0190462 0.0268618 0.00859869 0.999625 -0.0260103 -0.00569782 -0.0188283 0.0261685 0.99948 -0.0128023 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.99932 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1817/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 74 to 577396672 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.393578) and 332(1311875584.293330) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999787 -0.00891145 0.0185951 0.0348784 0.00931756 0.999717 -0.0218689 -0.0119343 -0.018395 0.0220375 0.999588 -0.0128042 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999836 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:976/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.888615 resInfo good: 3731, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4913/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999744 -0.00879147 0.0208362 0.0293053 0.00924544 0.99972 -0.0217922 -0.00786268 -0.0206388 0.0219792 0.999545 -0.0125494 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!335 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!336 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 337 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.425198 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!337 INF|Input.cpp[getImages,132]: mNbReceivedImages!338 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999573 -0.0103374 0.0273276 0.0407635 0.0110942 0.999555 -0.0276904 -0.00808907 -0.0270292 0.0279818 0.999243 -0.0169505 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 74 to 577396672 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.425198) and 332(1311875584.293330) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999573 -0.0103374 0.0273276 0.0407635 0.0110942 0.999555 -0.0276904 -0.00808907 -0.0270292 0.0279818 0.999243 -0.0169505 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 5): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1662/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 74 to 577396672 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.425198) and 332(1311875584.293330) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999627 -0.0106483 0.0251664 0.0353854 0.0114208 0.999462 -0.0307539 -0.01938 -0.0248253 0.0310299 0.99921 -0.0174282 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999841 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1593/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 74 to 577396672 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.425198) and 332(1311875584.293330) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999535 -0.0113986 0.0282963 0.0311868 0.0122275 0.999496 -0.0292933 -0.0134308 -0.0279481 0.0296257 0.99917 -0.0155519 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999501 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:429/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.998811 resInfo good: 3673, 58 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4564/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99953 -0.0119453 0.0282484 0.0328861 0.0127659 0.999496 -0.029049 -0.00980471 -0.0278872 0.0293959 0.999179 -0.0134935 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!336 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!337 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 338 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.457097 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!338 INF|Input.cpp[getImages,132]: mNbReceivedImages!339 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99925 -0.0150439 0.0356817 0.0364662 0.0163387 0.999208 -0.0362779 -0.0117277 -0.0351076 0.0368337 0.998705 -0.014478 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 74 to 577396672 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.457097) and 332(1311875584.293330) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99925 -0.0150439 0.0356817 0.0364662 0.0163387 0.999208 -0.0362779 -0.0117277 -0.0351076 0.0368337 0.998705 -0.014478 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1861/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 74 to 577396672 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.457097) and 332(1311875584.293330) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999628 -0.00909663 0.0256948 0.0629308 0.0102909 0.998854 -0.0467342 -0.0148099 -0.0252402 0.0469812 0.998577 -0.0239911 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999894 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1594/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 74 to 577396672 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.457097) and 332(1311875584.293330) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999505 -0.00960776 0.0299557 0.0504583 0.0109245 0.998967 -0.0441057 -0.012407 -0.029501 0.0444111 0.998578 -0.0178118 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999331 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:758/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.12331 resInfo good: 3636, 95 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5008/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.99938 -0.010773 0.0335316 0.0390616 0.0121968 0.99902 -0.0425509 -0.0104575 -0.0330403 0.0429335 0.998531 -0.0173457 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875584.457097 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875584.457097 to keyframe with id: 577396672 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875584.457097 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 755 size: 3171 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId577396672 timestamp: 1311875584.457097 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -8.33843 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -10.5762 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 289 keyframeId: 67 score: -11.4405 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -14.0258 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 322 keyframeId: 72 score: -14.836 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 328 keyframeId: 73 score: -11.3727 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 75 = 75 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x85152e0 fh1 0x1cbab40fh->id: 52 75 337goodE: 48 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x85152e0 fh1 0xa25ee80fh->id: 60 75 337goodE: 104 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x85152e0 fh1 0xe46b060fh->id: 67 75 337goodE: 102 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x85152e0 fh1 0x591ac00fh->id: 71 75 337goodE: 10 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x85152e0 fh1 0x2026d0e0fh->id: 72 75 337goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x85152e0 fh1 0x226432c0fh->id: 73 75 337goodE: 10 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x85152e0 fh1 0x21f04260fh->id: 74 75 337goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew75 Input.cpp[readImages,206]: Got image from sensor!338 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 109 out of 122 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 122 newEdgePixels: 122 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1929 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 345 lastEnergy: 613.538 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 76 INF|LocalMapper.cpp[optimize,276]: Start Energy: 613.538 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.31623e-11 -1.62749e-12 3.14254e-12 -1.48961e-11 0.00347492 0.00630952 -0.0022927 0.000655304 -0.00236322 -0.000572433 -0.00931917 -0.00278272 -0.00154084 -0.000757773 -0.000770412 -0.00120524 -0.0107446 0.00588215 -0.00648061 -0.000191274 -0.00118646 -0.00161024 0.00833147 -0.0138177 -0.00664217 -0.00253121 -0.00348881 -0.000156265 0.00604714 -0.00496976 -0.0138496 -0.00149499 -0.00392373 -0.00129924 -0.011025 0.0100288 -0.00370099 0.00036836 -0.0012846 -0.00121826 -0.000487918 -0.01007 -0.0054158 -0.00228659 -0.00267002 -0.0011872 0.00653015 -0.00548295 -0.00720482 -0.00129705 -0.0036067 -0.00128987 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1929 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 567.486 0 0 newEnergyL 0 lastEnergy: 613.538 0 0 lastEnergyL: 0mActiveResiduals: 1929 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 339 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -8.26964e-12 5.48542e-12 1.33041e-12 -4.53771e-12 -0.00070471 -0.00184555 -0.00068406 -0.000195311 9.0816e-05 -0.000144013 0.00204617 0.00361816 0.00129509 0.00041232 -0.000278464 8.91018e-05 0.00121387 0.00815871 -7.26955e-05 0.000996225 -4.6426e-05 -4.5328e-06 -0.00938363 0.00936094 -0.00274561 0.00130635 0.000881005 1.82975e-05 -0.00485039 0.00276068 0.00191139 0.000249733 0.000663415 -0.000101433 0.00583815 -0.00388961 -0.00647052 -0.000549133 -0.00119496 -0.000201772 -0.00592945 0.00263475 -0.00503438 0.000180168 0.000189326 -0.000104841 0.0120893 -0.0142144 -0.00332192 -0.0019147 -0.0018734 -6.49041e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1929 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 551.134 0 0 newEnergyL 0 lastEnergy: 567.486 0 0 lastEnergyL: 0mActiveResiduals: 1929 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.26063e-12 -1.04255e-12 6.14534e-12 2.46724e-12 -0.000441307 0.00409604 -0.000272709 0.000223305 -0.000502707 -0.00114332 0.000703784 0.0039054 0.00124496 -3.51356e-05 -0.000338663 -0.00101422 0.00206451 0.00308641 -3.23989e-05 -0.000455476 -0.000624105 -0.000872504 -0.00215819 -0.00932587 -0.00565967 -0.0022577 -0.000137882 -0.000776501 0.00335137 -0.00587522 -0.00436092 -0.00144511 -0.00111014 -0.00085839 -0.00747456 -0.00616852 0.00501293 -0.00175504 0.000795224 -0.000686349 0.000856911 -0.00546805 0.00196316 -0.00155104 -0.000181316 -0.000832318 0.00380158 0.0154841 0.00543598 0.00133734 -0.000485954 -0.00140616 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1929 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 536.155 0 0 newEnergyL 0 lastEnergy: 551.134 0 0 lastEnergyL: 0mActiveResiduals: 1929 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -6.10722e-12 3.48647e-12 -1.13325e-11 1.55885e-11 0.000968219 0.00171258 0.00157492 0.00075154 0.00129209 8.93433e-05 0.00426767 0.000920435 0.00146268 0.00043909 0.000882766 -0.000397868 -0.00510114 -0.001864 0.00446068 6.86665e-05 0.00199732 -0.000203335 0.00483074 0.00533186 0.00707905 0.000912636 0.000655729 -0.000482249 -0.000329567 -0.00484187 0.00681985 -0.00077857 0.00142069 -0.000802593 -0.00503939 0.00273021 -0.00867445 0.000264625 0.00115178 -0.001099 0.00077628 0.00314991 -0.00246492 0.000122643 0.000497174 -0.000981707 -0.00288411 -0.00811006 -0.00761411 -0.00152819 0.000892257 -0.00108564 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1929 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 528.953 0 0 newEnergyL 0 lastEnergy: 536.155 0 0 lastEnergyL: 0mActiveResiduals: 1929 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 7.84608e-12 -4.4454e-12 1.50633e-11 -1.54742e-11 -4.96713e-05 -0.000391556 -0.00115577 -0.000321611 -0.000636371 -0.00115794 -0.00483773 0.000582679 0.000870687 -0.00025322 8.17728e-05 -0.000664364 0.00811695 0.00470623 -0.00172037 -0.000173091 -0.00145527 -0.000864757 0.00342346 -0.00524946 -0.00691321 -0.00151356 -0.000957461 -0.000861385 -0.00290251 0.0140888 -0.00938614 0.00131842 -0.000449722 -0.000716443 0.0018243 -0.00394832 0.00763362 -0.00124306 -0.000210473 -0.000505834 -0.00291467 0.00088344 0.00257075 -0.00050911 0.000519982 -0.000456015 -0.000602092 -0.0111964 0.00751209 -0.0018142 0.000222607 -0.000425823 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1929 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 520.891 0 0 newEnergyL 0 lastEnergy: 528.953 0 0 lastEnergyL: 0mActiveResiduals: 1929 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.06382e-11 5.13032e-12 -1.58226e-11 1.81454e-11 -0.000559445 9.77857e-05 0.00146211 0.000378991 0.00132616 2.33931e-05 0.00636129 0.00381202 0.00184564 0.000510768 0.000521787 -6.19525e-05 -0.00191144 -0.0021721 0.00268069 -4.26969e-05 0.0015829 -7.59207e-05 -0.0114391 0.0113478 0.004906 0.00161644 0.00246652 -0.000650028 -0.00144804 -0.00874467 0.00846849 -0.00152233 0.00151988 -0.000567077 0.00822191 -0.00342551 -0.0050943 -0.000545028 -0.000307309 -0.000890299 -0.00278559 0.00091483 -0.00399644 -0.000173837 0.000699075 -0.000903547 0.00120505 -0.00177896 -0.0079733 -0.000634094 0.00040365 -0.000963349 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1929 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 513.187 0 0 newEnergyL 0 lastEnergy: 520.891 0 0 lastEnergyL: 0mActiveResiduals: 1929 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!339 INF|Input.cpp[getImages,132]: mNbReceivedImages!340 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 513.187 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1929 INF|LocalMapper.cpp[optimize,345]: End Energy: 513.187 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.527829 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.527829 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 72 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 72 with idx: 4 and allID: 322 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->72 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 72->52 INF|LocalMapper.cpp[marginalizeFrame,772]: 60<->72 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 72->60 INF|LocalMapper.cpp[marginalizeFrame,772]: 67<->72 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 72->67 INF|LocalMapper.cpp[marginalizeFrame,801]: 72 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 72 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 11408 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x85152e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 75 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 47 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 2 with distance 0.182Found rest min at: 46 with distance 0.14 overall min: 0.14 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 2 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 693 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 75 into DB 0.182 2 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 2 and real id(17) current kf: 75(337) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.716234 -0.00108695 -0.697859 -0.909375 -0.15006 0.976367 -0.155531 1.07824 0.681536 0.216117 0.699144 0.0995517 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 17 currFrame: 75 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.637281 eye: 0.00369981 edge: 75 to 17 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 12 < 3159 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 75 and 17 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 75 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 75 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 992 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 338 keyframes 76 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 527 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.493555 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99996 0.000185559 0.00897218 -0.00922931 -5.12167e-05 0.999888 -0.0149711 0.00828789 -0.00897395 0.0149701 0.999848 -0.00317323 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 75 to 231806032 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.493555) and 337(1311875584.457097) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99996 0.000185559 0.00897218 -0.00922931 -5.12167e-05 0.999888 -0.0149711 0.00828789 -0.00897395 0.0149701 0.999848 -0.00317323 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999032 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:816/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 75 to 231806032 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.493555) and 337(1311875584.457097) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999944 0.00594807 0.00871975 -0.00810597 -0.00580197 0.999844 -0.0166852 0.00232483 -0.00881763 0.0166337 0.999823 -0.010668 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1524/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 75 to 231806032 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.493555) and 337(1311875584.457097) on lvl: 0 Input.cpp[readImages,206]: Got image from sensor!339 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99994 0.00430068 0.0100584 -0.00308078 -0.00416842 0.999905 -0.0131336 -0.000868753 -0.0101139 0.0130909 0.999863 -0.00684394 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1510/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.515431 resInfo good: 3171, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4443/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999953 0.00330001 0.00914167 0.00362304 -0.00320012 0.999935 -0.0109201 -0.00264935 -0.00917711 0.0108904 0.999899 -0.00554113 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!338 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 340 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!340 INF|Input.cpp[getImages,132]: mNbReceivedImages!341 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.525654 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999811 0.0066992 0.0182459 0.00718652 -0.00629966 0.999741 -0.0218677 -0.00524962 -0.0183877 0.0217486 0.999594 -0.0111438 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 75 to 231806032 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.525654) and 337(1311875584.457097) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999811 0.0066992 0.0182459 0.00718652 -0.00629966 0.999741 -0.0218677 -0.00524962 -0.0183877 0.0217486 0.999594 -0.0111438 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.99982 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1280/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 75 to 231806032 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.525654) and 337(1311875584.457097) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999871 0.00754276 0.0141575 0.00659581 -0.0071907 0.999668 -0.0247559 -0.0142369 -0.0143395 0.0246509 0.999593 -0.0102087 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999362 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1288/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 75 to 231806032 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.525654) and 337(1311875584.457097) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999833 0.00605981 0.017237 0.00591537 -0.00564223 0.999692 -0.0241719 -0.00472864 -0.0173782 0.0240706 0.999559 -0.011193 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1092/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.742611 resInfo good: 3152, 19 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4309/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99986 0.00461696 0.0160616 0.0111207 -0.00425981 0.999744 -0.0221996 -0.00547881 -0.01616 0.0221281 0.999625 -0.00800467 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!339 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!340 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 341 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.557124 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999718 0.00601157 0.0229654 0.0185975 -0.00524063 0.999426 -0.0334833 -0.00828904 -0.0231535 0.0333535 0.999175 -0.0105519 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 75 to 231806032 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.557124) and 337(1311875584.457097) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999718 0.00601157 0.0229654 0.0185975 -0.00524063 0.999426 -0.0334833 -0.00828904 -0.0231535 0.0333535 0.999175 -0.0105519 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!341 INF|Input.cpp[getImages,132]: mNbReceivedImages!342 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999573 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1462/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 75 to 231806032 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.557124) and 337(1311875584.457097) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999725 0.00664457 0.0224993 0.00879891 -0.00575419 0.999207 -0.0394097 -0.0104917 -0.0227433 0.0392694 0.99897 -0.0196117 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999898 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1405/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 75 to 231806032 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.557124) and 337(1311875584.457097) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999684 0.00640267 0.0243119 0.00761609 -0.00554047 0.999359 -0.0353676 -0.0155884 -0.0245228 0.0352217 0.999079 -0.0164169 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1232/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.881752 resInfo good: 3154, 17 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4750/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999683 0.0058126 0.0245056 0.00959712 -0.00491277 0.999317 -0.0366208 -0.00547257 -0.0247018 0.0364888 0.999029 -0.0136684 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!340 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!341 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 342 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.593364 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!342 INF|Input.cpp[getImages,132]: mNbReceivedImages!343 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999567 0.00645588 0.0287203 0.00881737 -0.005193 0.999025 -0.0438307 -0.00543832 -0.0289753 0.0436626 0.998626 -0.0164951 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 75 to 231806032 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.593364) and 337(1311875584.457097) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999567 0.00645588 0.0287203 0.00881737 -0.005193 0.999025 -0.0438307 -0.00543832 -0.0289753 0.0436626 0.998626 -0.0164951 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 6): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1782/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 75 to 231806032 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.593364) and 337(1311875584.457097) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999718 0.0025807 0.0235923 0.0273494 -0.0016278 0.999185 -0.0403206 -0.0322715 -0.0236771 0.0402709 0.998908 -0.0188401 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2004/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 75 to 231806032 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.593364) and 337(1311875584.457097) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999682 0.00313637 0.0250346 0.0291002 -0.00203522 0.999034 -0.0438901 -0.012284 -0.025148 0.0438252 0.998723 -0.0187176 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999993 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1020/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.04467 resInfo good: 3171, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5453/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999641 0.00355526 0.0265524 0.0275899 -0.0024047 0.999062 -0.0432386 -0.0118971 -0.0266812 0.0431593 0.998712 -0.019835 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875584.593364 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875584.593364 to keyframe with id: 231806032 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875584.593364 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1049 size: 6558 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId231806032 timestamp: 1311875584.593364 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -8.29596 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -10.5233 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 289 keyframeId: 67 score: -11.2734 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -11.7134 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 328 keyframeId: 73 score: -13.4969 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 332 keyframeId: 74 score: -11.7028 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 76 = 76 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226a5fe0 fh1 0x1cbab40fh->id: 52 76 341goodE: 22 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226a5fe0 fh1 0xa25ee80fh->id: 60 76 341goodE: 111 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226a5fe0 fh1 0xe46b060fh->id: 67 76 341goodE: 109 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226a5fe0 fh1 0x591ac00fh->id: 71 76 341goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226a5fe0 fh1 0x226432c0fh->id: 73 76 341goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226a5fe0 fh1 0x21f04260fh->id: 74 76 341goodE: 27 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226a5fe0 fh1 0x85152e0fh->id: 75 76 341goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew76 Input.cpp[readImages,206]: Got image from sensor!342 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 126 out of 152 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 152 newEdgePixels: 152 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1848 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 343 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 950 lastEnergy: 589.743 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 205 INF|LocalMapper.cpp[optimize,276]: Start Energy: 589.743 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.99593e-12 -5.32364e-12 2.35382e-11 -2.11232e-11 0.000757882 -0.00356365 -0.00310301 -0.00083056 -0.00159933 0.00218873 -0.0102075 -0.00137092 -0.00229377 0.000216046 -0.000752229 0.00254182 -0.00371153 -0.00735735 0.003896 0.000267954 -0.0015906 0.00203492 -0.00167775 -0.0175263 0.000101055 -0.000914371 -0.00116557 0.00257294 -0.0134526 -0.00742461 0.0056943 0.000962355 0.00068379 0.00245285 0.00766133 -0.0187473 -0.00239919 -0.000569079 -0.00213267 0.0017476 0.022471 -0.00661098 0.00234783 0.00132711 -0.00387309 0.00121943 0.0175395 -0.0271341 -0.00372121 -0.00178124 -0.00343574 0.00177288 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1848 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 545.947 0 0 newEnergyL 0 lastEnergy: 589.743 0 0 lastEnergyL: 0mActiveResiduals: 1848 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -9.9097e-12 7.22383e-12 -1.28414e-12 1.13364e-11 0.000339584 0.000360877 -0.00151351 3.45874e-05 -4.45809e-05 0.000141931 5.31413e-05 -0.00520226 0.00267348 -0.000670689 -3.58004e-05 -0.000116763 -0.00372124 -0.00243376 0.00238057 -0.000233734 0.000439868 -2.31224e-05 -0.00788652 0.00580053 -0.00141393 0.000845627 0.000772652 -0.000367891 -0.00316194 0.00166147 -0.00692845 6.32151e-05 -0.000260117 -0.00107202 -0.00780843 -0.00275888 -0.00440628 -0.000493298 0.000593974 -0.000335181 -0.0119867 -0.00274997 -0.00111236 -0.000597081 0.00104169 -0.000359795 0.0161385 -0.0091515 -0.000671886 -0.00136889 -0.00211761 -0.000198971 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1848 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 517.405 0 0 newEnergyL 0 lastEnergy: 545.947 0 0 lastEnergyL: 0mActiveResiduals: 1848 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 9.38691e-12 -4.82582e-12 6.4139e-12 1.67283e-12 -0.00291654 -0.00157404 -5.57318e-05 -0.000273391 0.000263523 -0.000735737 0.00180134 0.00602203 -3.99648e-05 0.000548688 -7.74362e-05 -0.000221878 0.00171537 0.00299964 0.000673023 4.86026e-05 -8.6126e-05 -0.000335229 0.000774512 -0.0055065 0.000297446 -0.00116071 0.00014728 -0.00034804 0.00113529 -0.00560034 0.00390918 -0.000997974 0.000511649 -0.00031654 0.000309665 0.00400907 -0.000762116 0.000237395 0.000419244 -0.000436662 0.00210954 0.0018005 -0.000575451 7.07365e-05 0.000317555 -0.000406697 -0.00551353 -0.0020429 -0.00221028 -0.00066787 0.00122372 -0.000219608 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1848 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 510.099 0 0 newEnergyL 0 lastEnergy: 517.405 0 0 lastEnergyL: 0mActiveResiduals: 1848 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.26902e-11 6.15633e-12 -6.99308e-12 5.04171e-12 0.00386803 0.00567464 0.00200039 0.00123308 0.000813146 -0.000399285 0.00428696 -0.00356176 0.0056277 -0.00013624 0.00087297 -0.00100629 -0.00588717 -0.00013256 0.00359149 -1.59498e-05 0.00220632 -0.000877744 -0.00371237 0.00443876 0.00222974 0.000426756 0.00166298 -0.00129299 0.00130917 -0.000128914 -0.00319119 -0.000523742 0.000576542 -0.00157441 0.000250418 -0.00345375 -0.00208707 -0.00110442 0.000763794 -0.0014919 -0.00634071 -0.0022019 -0.00252194 -0.00125491 0.00157714 -0.00140953 0.00335983 -0.00214466 -0.00122285 -0.00114571 0.000451073 -0.00155235 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1848 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 492.319 0 0 newEnergyL 0 lastEnergy: 510.099 0 0 lastEnergyL: 0mActiveResiduals: 1848 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!343 INF|Input.cpp[getImages,132]: mNbReceivedImages!344 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.3197e-11 -3.6983e-12 1.34834e-11 -5.99405e-12 -0.00266229 -0.00666128 -0.00188475 -0.00122836 -0.000489755 -7.17146e-05 -0.00257653 0.00887058 -0.00130735 0.000730467 -0.000600789 0.000798328 0.00119677 -0.0022905 -0.00092734 -0.000397729 -0.0012167 0.000624116 0.00336505 -0.00455457 -0.00243212 -0.000716758 -0.00123296 0.000745311 0.00144209 -0.00171616 0.00112459 -3.41433e-05 -0.000496215 0.000959272 -0.00447672 0.0023256 0.000675396 0.000644889 0.00028244 0.00095364 0.00596589 -0.000674122 0.0016674 0.000492161 -0.000926913 0.000829192 -0.00104415 0.00512245 0.00078268 0.00106492 -0.000220298 0.0012488 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1848 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 490.613 0 0 newEnergyL 0 lastEnergy: 492.319 0 0 lastEnergyL: 0mActiveResiduals: 1848 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.50523e-11 2.1392e-12 -1.10265e-11 1.04053e-11 0.00239446 0.00852516 0.00463733 0.00223438 0.00212079 -0.00120009 0.00725139 -0.00539172 0.00567983 3.90939e-05 0.00184919 -0.00217494 0.000247806 0.0041208 0.00480216 0.000413045 0.0028604 -0.0019504 -0.00895817 0.00808119 0.00198177 0.000672891 0.00340424 -0.0026291 -0.00463319 0.00528925 -0.00194285 -0.00019506 0.00241838 -0.00282333 0.00578078 -0.00280808 -0.0028639 -0.00152541 0.00105033 -0.00274833 -0.00138079 -0.00346843 -0.00379429 -0.00192011 0.00190449 -0.00236733 -0.00498455 -0.0163573 -0.00311722 -0.00369013 0.00248354 -0.0023753 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1848 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 486.703 0 0 newEnergyL 0 lastEnergy: 490.613 0 0 lastEnergyL: 0mActiveResiduals: 1848 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 486.703 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1848 INF|LocalMapper.cpp[optimize,345]: End Energy: 486.703 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.520425 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.520425 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 73 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 73 with idx: 4 and allID: 328 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->73 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 73->52 INF|LocalMapper.cpp[marginalizeFrame,772]: 60<->73 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 73->60 INF|LocalMapper.cpp[marginalizeFrame,772]: 67<->73 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 73->67 INF|LocalMapper.cpp[marginalizeFrame,801]: 73 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 73 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 12293 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x226a5fe0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 76 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 48 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 2 with distance 0.164Found rest min at: 47 with distance 0.146 overall min: 0.146 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 2 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 686 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 76 into DB 0.164 2 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 2 and real id(17) current kf: 76(341) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.696245 0.0337272 -0.717011 -0.930762 -0.152136 0.983135 -0.101485 1.06512 0.701496 0.179742 0.689635 0.0968164 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 17 currFrame: 76 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.0710227 eye: 0.00163906 edge: 76 to 17 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 87 < 6471 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 76 and 17 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 76 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 76 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1170 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 342 keyframes 77 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 452 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.628320 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999998 -0.000606194 0.0018628 0.00530156 0.000617665 0.999981 -0.00616312 0.00626913 -0.00185903 0.00616425 0.999979 -0.00176492 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 76 to 139518176 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.628320) and 341(1311875584.593364) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999998 -0.000606194 0.0018628 0.00530156 0.000617665 0.999981 -0.00616312 0.00626913 -0.00185903 0.00616425 0.999979 -0.00176492 Input.cpp[readImages,206]: Got image from sensor!343 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 344 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4886/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 76 to 139518176 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.628320) and 341(1311875584.593364) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999979 -0.00389287 -0.00515411 0.0204674 0.00387385 0.999986 -0.00369568 -0.0179359 0.00516843 0.00367564 0.99998 -0.00694265 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999322 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2786/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 76 to 139518176 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.628320) and 341(1311875584.593364) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99999 -0.00445446 0.000550768 0.00416394 0.00445675 0.999981 -0.00423975 -0.00601158 -0.000531872 0.00424216 0.999991 -0.00576261 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!344 INF|Input.cpp[getImages,132]: mNbReceivedImages!345 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999322 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2314/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.37021 resInfo good: 6558, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11159/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999989 -0.00478464 5.07044e-05 0.00888301 0.00478482 0.999977 -0.00476919 0.000363721 -2.78844e-05 0.00476938 0.999989 -0.00390747 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!342 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.657398 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999954 -0.00956887 0.000124226 0.017764 0.00956962 0.999909 -0.00953797 0.000788573 -3.29475e-05 0.00953872 0.999955 -0.0078134 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 76 to 139518176 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.657398) and 341(1311875584.593364) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999954 -0.00956887 0.000124226 0.017764 0.00956962 0.999909 -0.00953797 0.000788573 -3.29475e-05 0.00953872 0.999955 -0.0078134 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999772 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:755/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 76 to 139518176 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.657398) and 341(1311875584.593364) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999921 -0.0125286 -0.0013035 0.0220758 0.0125055 0.999787 -0.0164478 0.00948107 0.00150929 0.0164302 0.999864 -0.0153373 Input.cpp[readImages,206]: Got image from sensor!344 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 5): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4393/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 76 to 139518176 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.657398) and 341(1311875584.593364) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99994 -0.0108583 -0.00135127 0.0203016 0.0108373 0.999834 -0.0146611 0.00560328 0.00151024 0.0146456 0.999892 -0.00890714 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 345 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3450/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.570623 resInfo good: 6557, 1 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9876/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999941 -0.0108559 0.000197319 0.0186148 0.0108574 0.999878 -0.011228 -0.00339968 -7.5405e-05 0.0112295 0.999937 -0.00830877 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!343 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.693951 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!345 INF|Input.cpp[getImages,132]: mNbReceivedImages!346 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999857 -0.0169256 0.000383142 0.0283688 0.0169298 0.9997 -0.0176853 -0.0070754 -8.36923e-05 0.0176893 0.999844 -0.0127351 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 76 to 139518176 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.693951) and 341(1311875584.593364) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999857 -0.0169256 0.000383142 0.0283688 0.0169298 0.9997 -0.0176853 -0.0070754 -8.36923e-05 0.0176893 0.999844 -0.0127351 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999522 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1796/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 76 to 139518176 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.693951) and 341(1311875584.593364) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999917 -0.0128879 -0.000503708 0.0246139 0.012877 0.999761 -0.0176539 -0.00847953 0.000731108 0.0176459 0.999844 -0.0154075 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999997 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3303/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 76 to 139518176 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.693951) and 341(1311875584.593364) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999904 -0.0132792 0.00385552 0.0143803 0.0133377 0.99979 -0.0155672 -0.00651639 -0.00364799 0.0156171 0.999871 -0.0143273 Input.cpp[readImages,206]: Got image from sensor!345 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999958 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3604/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.644228 resInfo good: 6558, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9811/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.9999 -0.0136667 0.00366079 0.0188067 0.013723 0.999781 -0.0158145 -0.00139956 -0.00344386 0.0158631 0.999868 -0.0136286 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!344 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 346 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.727386 INF|Input.cpp[getImages,128]: getimages!346 INF|Input.cpp[getImages,132]: mNbReceivedImages!347 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999839 -0.0164613 0.00713707 0.0189747 0.0166038 0.999654 -0.0203906 0.000625482 -0.00679895 0.0205059 0.999767 -0.0189398 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 76 to 139518176 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.727386) and 341(1311875584.593364) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999839 -0.0164613 0.00713707 0.0189747 0.0166038 0.999654 -0.0203906 0.000625482 -0.00679895 0.0205059 0.999767 -0.0189398 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999945 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3039/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 76 to 139518176 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.727386) and 341(1311875584.593364) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999878 -0.0155092 0.00167542 0.0385565 0.0155365 0.999722 -0.0177478 -0.0302057 -0.0013997 0.0177717 0.999841 -0.0210935 Input.cpp[readImages,206]: Got image from sensor!346 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999397 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3217/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 76 to 139518176 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.727386) and 341(1311875584.593364) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999857 -0.0162403 0.00479716 0.0326139 0.0163437 0.999616 -0.02238 -0.00264767 -0.00443186 0.0224552 0.999738 -0.0169752 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999787 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1376/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.779132 resInfo good: 6553, 5 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8945/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999843 -0.0167414 0.00588138 0.0308668 0.0168595 0.999645 -0.0206253 -0.00389468 -0.005534 0.0207212 0.99977 -0.0145561 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!345 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 466 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 347 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!347 INF|Input.cpp[getImages,132]: mNbReceivedImages!348 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.757456 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999771 -0.0198052 0.00811671 0.0429326 0.0200058 0.999476 -0.0254286 -0.00634765 -0.00760884 0.0255852 0.999644 -0.0155217 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 76 to 139518176 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.757456) and 341(1311875584.593364) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999771 -0.0198052 0.00811671 0.0429326 0.0200058 0.999476 -0.0254286 -0.00634765 -0.00760884 0.0255852 0.999644 -0.0155217 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999507 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1996/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 76 to 139518176 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.757456) and 341(1311875584.593364) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999855 -0.0155981 0.00686447 0.0370352 0.0158062 0.999382 -0.0313875 -0.0236002 -0.00637064 0.0314915 0.999484 -0.024429 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999646 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3284/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 76 to 139518176 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.757456) and 341(1311875584.593364) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999839 -0.0163563 0.0073891 0.0419764 0.016587 0.99934 -0.0323321 -0.00870152 -0.00685538 0.0324495 0.99945 -0.0211727 Input.cpp[readImages,206]: Got image from sensor!347 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999441 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1272/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.924709 resInfo good: 6552, 6 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7804/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999819 -0.0167089 0.00906759 0.0383492 0.0169878 0.999356 -0.0316079 -0.00648872 -0.00853361 0.0317562 0.999459 -0.0183588 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!346 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 348 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.795099 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!348 INF|Input.cpp[getImages,132]: mNbReceivedImages!349 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999786 -0.0166412 0.0122532 0.0458195 0.0171491 0.998946 -0.0425862 -0.00904032 -0.0115315 0.0427873 0.999018 -0.0222136 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 76 to 139518176 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.795099) and 341(1311875584.593364) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999786 -0.0166412 0.0122532 0.0458195 0.0171491 0.998946 -0.0425862 -0.00904032 -0.0115315 0.0427873 0.999018 -0.0222136 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999417 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2304/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 76 to 139518176 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.795099) and 341(1311875584.593364) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99983 -0.0145659 0.0113141 0.0418994 0.015055 0.998899 -0.0444209 -0.02019 -0.0106546 0.0445836 0.998949 -0.0309648 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999465 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1462/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 76 to 139518176 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.795099) and 341(1311875584.593364) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999794 -0.0159944 0.0124641 0.0430036 0.0165432 0.998839 -0.0452486 -0.0046509 -0.0117259 0.0454454 0.998898 -0.0228783 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999995 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1626/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.047 resInfo good: 6496, 62 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6636/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999768 -0.0169026 0.0133435 0.0438779 0.0174627 0.998921 -0.0430392 -0.00726309 -0.0126016 0.0432622 0.998984 -0.0216398 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875584.795099 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875584.795099 to keyframe with id: 139518176 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875584.795099 Input.cpp[readImages,206]: Got image from sensor!348 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1108 size: 5960 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId139518176 timestamp: 1311875584.795099 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -8.27055 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -10.4235 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 289 keyframeId: 67 score: -11.1683 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -11.061 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 332 keyframeId: 74 score: -15.051 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 337 keyframeId: 75 score: -13.441 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 77 = 77 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x850e100 fh1 0x1cbab40fh->id: 52 77 347goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x850e100 fh1 0xa25ee80fh->id: 60 77 347goodE: 123 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x850e100 fh1 0xe46b060fh->id: 67 77 347goodE: 133 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x850e100 fh1 0x591ac00fh->id: 71 77 347goodE: 23 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x850e100 fh1 0x21f04260fh->id: 74 77 347goodE: 30 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x850e100 fh1 0x85152e0fh->id: 75 77 347goodE: 24 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x850e100 fh1 0x226a5fe0fh->id: 76 77 347goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew77 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 349 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 162 out of 176 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 176 newEdgePixels: 176 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1928 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 296 lastEnergy: 580.293 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 53 INF|LocalMapper.cpp[optimize,276]: Start Energy: 580.293 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 4.44611e-12 -6.65252e-12 2.61139e-11 1.05051e-11 -0.00213303 -0.00670915 -0.00523498 -0.00200783 -0.00252703 0.00226149 -0.00940713 0.00202504 -0.00855992 -0.000345785 -0.00223677 0.00300036 -0.012849 -0.000938463 -0.00606284 0.000486254 -0.0020891 0.00271086 0.00291243 -0.0109667 -0.00256564 -0.000443596 -0.0034143 0.00340897 -0.0032255 -0.0149524 -0.00379508 -4.37397e-05 -0.0022448 0.00320825 -0.0155474 -0.0146864 -0.0112466 0.000169871 -0.000848757 0.00345209 -0.0209612 0.000592872 -0.0108143 0.002232 -0.000578751 0.0034759 -0.0112329 -0.0160365 -0.00827541 0.000393236 -0.00221306 0.00229355 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1928 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 543.92 0 0 newEnergyL 0 lastEnergy: 580.293 0 0 lastEnergyL: 0mActiveResiduals: 1928 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -9.32712e-12 3.01467e-12 -1.43812e-11 6.17757e-12 -0.000404106 -0.000786362 0.00059052 -6.14011e-05 7.84778e-05 -4.99546e-05 0.00478508 0.000453055 -0.00176776 -1.69467e-07 -0.000570474 3.24921e-05 -0.000805857 0.00594616 -0.000127635 0.000751072 0.000149577 0.000134897 -0.00913701 -0.00273855 -0.00493014 -0.000322594 0.000924459 7.44296e-05 -0.00415935 -0.00452018 -0.00589096 -0.000700856 0.000135241 -0.000224706 -0.0130834 -0.00394465 -0.00516022 -0.00077603 0.000862943 -0.000555712 -0.0165355 -0.00565938 -0.00449882 -0.00101464 0.00127989 -0.000482836 0.000753455 -0.000277773 -0.00637073 3.27925e-05 -0.000648413 -0.000395643 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1928 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 530.869 0 0 newEnergyL 0 lastEnergy: 543.92 0 0 lastEnergyL: 0mActiveResiduals: 1928 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.48862e-11 -5.41315e-13 8.93898e-12 -6.36249e-12 0.00110709 0.0023943 -0.000789535 0.000295933 -6.19523e-05 -0.000106776 -0.00236362 -0.0015591 0.00297701 1.46822e-05 0.000468411 -0.000382547 0.00822911 -0.00414745 0.00117551 -0.000516279 -0.000623967 -0.000541967 -0.00536232 -6.02073e-05 -0.00166105 -9.17492e-05 0.000965632 -0.000398282 0.00383962 -0.00124298 0.00198313 -5.06719e-05 0.00041144 -0.000283363 -0.00656565 0.00491021 -0.00407811 0.000649415 0.00183865 5.41421e-05 0.00256624 0.00437384 -0.000678753 0.000511666 0.000730911 0.000289755 -0.00234694 -0.0055928 0.00134624 -0.000578855 0.00130772 -0.000422169 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1928 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 526.228 0 0 newEnergyL 0 lastEnergy: 530.869 0 0 lastEnergyL: 0mActiveResiduals: 1928 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!349 INF|Input.cpp[getImages,132]: mNbReceivedImages!350 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.74432e-11 3.84864e-12 -8.23978e-12 9.47783e-12 -0.00221894 0.00168622 0.00275496 0.000397231 0.00126905 -0.000425672 0.00665854 0.00300099 0.00200901 0.000435698 0.000446024 -0.000498108 -0.00172314 0.0040419 0.00339555 0.000472748 0.00197958 -0.000455242 -0.00307063 -0.00325371 0.00151917 -0.000570994 0.00195761 -0.000739617 0.000164566 -0.00540749 -0.00344621 -0.00117502 0.00133291 -0.00141499 0.00163686 -0.00117162 0.00243856 -0.000875538 0.000855975 -0.00117181 -0.000690573 -0.0024162 -0.000201497 -0.000968796 0.00134211 -0.00131274 -0.00385338 0.00271415 -0.00442131 -0.000321805 0.00192918 -0.00124333 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1928 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 509.777 0 0 newEnergyL 0 lastEnergy: 526.228 0 0 lastEnergyL: 0mActiveResiduals: 1928 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.91863e-11 4.05623e-13 1.36998e-11 -1.17115e-11 0.00246067 -0.000237037 -0.00182754 0.000122955 -0.000208717 -0.000776225 -0.00482572 0.00256456 0.00281 0.000337755 0.000586604 -0.000481584 0.00671848 -0.00389792 0.00373125 -0.000728761 -0.000855437 -0.00103744 0.00109696 0.00372407 -0.00265607 1.95705e-05 -0.000152795 -0.000663714 0.000804712 0.00148112 0.00107041 -0.000100513 0.000438134 -0.000381142 -0.00725421 -0.000629381 -0.00391274 -0.000477872 0.00171895 -0.000120665 0.000788492 -0.000558004 -0.00128045 -0.000417283 0.000671815 -4.94552e-05 0.000357666 -0.00374579 0.00214482 -0.000875428 0.000579558 -0.000321551 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1928 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 506.849 0 0 newEnergyL 0 lastEnergy: 509.777 0 0 lastEnergyL: 0mActiveResiduals: 1928 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.58055e-11 1.41146e-12 -5.15806e-12 7.72881e-13 -0.000157467 -0.00104727 0.00184536 -5.37576e-05 0.000171762 -0.000711308 0.00256659 0.00667769 -0.0015289 0.000378754 -0.000242338 -0.000621682 -0.00777931 0.00629028 -0.000355094 0.00018187 0.0011842 -0.000154855 0.00268805 -0.00448683 0.00325269 -0.00118204 -0.000332546 -0.000573768 -0.00308706 -0.00373751 -0.0020211 -0.00142234 -0.000115872 -0.00108292 0.00877247 -0.000132646 0.00415641 -0.000924011 -0.00191913 -0.00140793 -0.00381441 -0.00209494 0.000670864 -0.00133851 -0.000187098 -0.00131758 0.000756045 -0.000570648 -0.00372241 -0.00103604 -0.00046966 -0.0014593 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1928 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 501.395 0 0 newEnergyL 0 lastEnergy: 506.849 0 0 lastEnergyL: 0mActiveResiduals: 1928 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 501.395 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1928 INF|LocalMapper.cpp[optimize,345]: End Energy: 501.395 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.517393 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.517393 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 74 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 74 with idx: 4 and allID: 332 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->74 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 74->52 INF|LocalMapper.cpp[marginalizeFrame,772]: 60<->74 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 74->60 INF|LocalMapper.cpp[marginalizeFrame,772]: 67<->74 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 74->67 INF|LocalMapper.cpp[marginalizeFrame,801]: 74 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 74 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 10831 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x850e100 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 77 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 49 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 8 with distance 0.172Found rest min at: 48 with distance 0.144 overall min: 0.144 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 8 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 683 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 77 into DB 0.172 8 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 8 and real id(23) current kf: 77(347) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.46458 0.155647 -0.871745 -0.944421 -0.158887 0.983108 0.0908543 1.02659 0.871161 0.0962996 0.481462 -0.408621 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 23 currFrame: 77 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00110569 edge: 77 to 23 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 0 < 5960 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 77 and 23 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 77 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 77 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1121 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 348 keyframes 78 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 531 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.827828 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,206]: Got image from sensor!349 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999972 -0.00260441 0.00702058 -0.00595115 0.00269393 0.999915 -0.0127709 0.00788047 -0.00698672 0.0127894 0.999894 -0.00152035 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 77 to 3123681660889299891 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.827828) and 347(1311875584.795099) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999972 -0.00260441 0.00702058 -0.00595115 0.00269393 0.999915 -0.0127709 0.00788047 -0.00698672 0.0127894 0.999894 -0.00152035 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3293/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 77 to 3123681660889299891 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.827828) and 347(1311875584.795099) on lvl: 1 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 350 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999983 -0.0013222 0.00567739 -0.008884 0.00138665 0.999934 -0.0113623 0.00238836 -0.005662 0.01137 0.999919 -0.00823041 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999886 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3568/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 77 to 3123681660889299891 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.827828) and 347(1311875584.795099) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999994 -0.0018011 0.00310478 0.00884913 0.00182053 0.999979 -0.00626745 -0.00961302 -0.00309343 0.00627307 0.999976 -0.00624972 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!350 INF|Input.cpp[getImages,132]: mNbReceivedImages!351 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3006/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.427055 resInfo good: 5960, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11151/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999986 -0.00172741 0.00508315 0.0034752 0.0017698 0.999964 -0.00834585 0.00267935 -0.00506855 0.00835472 0.999952 -0.00509688 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!348 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.859504 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999942 -0.00341227 0.0101804 0.00691981 0.00358181 0.999854 -0.016682 0.00540729 -0.010122 0.0167175 0.999809 -0.0101887 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 77 to 3123681660889299891 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.859504) and 347(1311875584.795099) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999942 -0.00341227 0.0101804 0.00691981 0.00358181 0.999854 -0.016682 0.00540729 -0.010122 0.0167175 0.999809 -0.0101887 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.99982 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3178/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 77 to 3123681660889299891 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.859504) and 347(1311875584.795099) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999959 -0.00376789 0.00827916 -0.00339477 0.00395445 0.999736 -0.0226345 0.00160205 -0.00819169 0.0226663 0.99971 -0.0102379 Input.cpp[readImages,206]: Got image from sensor!350 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999972 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2904/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 77 to 3123681660889299891 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.859504) and 347(1311875584.795099) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999971 -0.00445873 0.00616531 0.0130445 0.00455786 0.999859 -0.016159 -0.014694 -0.00609239 0.0161866 0.99985 -0.00836805 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 351 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2518/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.655686 resInfo good: 5960, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9781/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999967 -0.00472649 0.0066791 0.0137573 0.00484468 0.99983 -0.0177914 -0.00388433 -0.00659387 0.0178231 0.999819 -0.00726944 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!349 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.894243 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999936 -0.00771028 0.00830328 0.0240557 0.00793379 0.999598 -0.0272303 -0.010396 -0.00808999 0.0272945 0.999595 -0.00951989 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 77 to 3123681660889299891 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.894243) and 347(1311875584.795099) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999936 -0.00771028 0.00830328 0.0240557 0.00793379 0.999598 -0.0272303 -0.010396 -0.00808999 0.0272945 0.999595 -0.00951989 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!351 INF|Input.cpp[getImages,132]: mNbReceivedImages!352 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999098 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2712/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 77 to 3123681660889299891 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.894243) and 347(1311875584.795099) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999954 -0.00656792 0.00699978 0.0199424 0.0067612 0.999586 -0.0279552 -0.0138953 -0.00681328 0.0280012 0.999585 -0.0151938 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999725 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2693/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 77 to 3123681660889299891 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.894243) and 347(1311875584.795099) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999951 -0.00712816 0.00693793 0.0272631 0.00730528 0.999639 -0.025848 -0.0130296 -0.00675118 0.0258974 0.999642 -0.0136854 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999963 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2444/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.825592 resInfo good: 5960, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8890/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999944 -0.00712264 0.00776518 0.0266064 0.00732284 0.999633 -0.0260664 -0.00878912 -0.00757667 0.0261219 0.99963 -0.0125997 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!350 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!351 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 352 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.925489 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999915 -0.00950964 0.00887104 0.0394617 0.009809 0.999362 -0.034337 -0.0136184 -0.00853885 0.0344211 0.999371 -0.0179835 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 77 to 3123681660889299891 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.925489) and 347(1311875584.795099) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999915 -0.00950964 0.00887104 0.0394617 0.009809 0.999362 -0.034337 -0.0136184 -0.00853885 0.0344211 0.999371 -0.0179835 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.9995 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:697/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 77 to 3123681660889299891 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.925489) and 347(1311875584.795099) on lvl: 1 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!352 INF|Input.cpp[getImages,132]: mNbReceivedImages!353 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999949 -0.00702457 0.00728839 0.0329801 0.00728512 0.999312 -0.0363612 -0.0205858 -0.00702795 0.0364125 0.999312 -0.0138365 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999896 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2621/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 77 to 3123681660889299891 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.925489) and 347(1311875584.795099) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999904 -0.00968219 0.00995296 0.0345426 0.0099935 0.999447 -0.0317194 -0.0215592 -0.00964034 0.0318158 0.999447 -0.0155596 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 15,0.999163 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:4739/4 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.937993 resInfo good: 5960, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9233/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999891 -0.00987262 0.0109531 0.0336793 0.0102317 0.999395 -0.0332286 -0.0115558 -0.0106184 0.0333371 0.999388 -0.0147337 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!351 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!352 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 353 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.958241 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99982 -0.0125994 0.0141605 0.0407534 0.0131622 0.999098 -0.0403798 -0.0142869 -0.013639 0.0405589 0.999084 -0.0169095 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 77 to 3123681660889299891 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.958241) and 347(1311875584.795099) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99982 -0.0125994 0.0141605 0.0407534 0.0131622 0.999098 -0.0403798 -0.0142869 -0.013639 0.0405589 0.999084 -0.0169095 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!353 INF|Input.cpp[getImages,132]: mNbReceivedImages!354 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999977 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2041/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 77 to 3123681660889299891 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.958241) and 347(1311875584.795099) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999854 -0.0121886 0.0120099 0.0432261 0.0127355 0.998834 -0.0465709 -0.00936034 -0.0114283 0.046717 0.998843 -0.0222899 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999305 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2189/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 77 to 3123681660889299891 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.958241) and 347(1311875584.795099) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99985 -0.0120046 0.0124547 0.0454672 0.0125568 0.998896 -0.0452562 -0.00878606 -0.0118976 0.0454058 0.998898 -0.0188529 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999652 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1507/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.07036 resInfo good: 5934, 26 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6910/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999835 -0.012493 0.0131656 0.0464643 0.0130484 0.998991 -0.0429801 -0.0137879 -0.0126154 0.0431448 0.998989 -0.0189586 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875584.958241 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875584.958241 to keyframe with id: 3123681660889299891 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875584.958241 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1025 size: 8215 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId3123681660889299891 timestamp: 1311875584.958241 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 227 keyframeId: 52 score: -8.29051 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -10.4841 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 289 keyframeId: 67 score: -11.3126 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -10.8335 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 337 keyframeId: 75 score: -15.3285 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 341 keyframeId: 76 score: -13.5804 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 78 = 78 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b9161e0 fh1 0x1cbab40fh->id: 52 78 352goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b9161e0 fh1 0xa25ee80fh->id: 60 78 352goodE: 131 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b9161e0 fh1 0xe46b060fh->id: 67 78 352goodE: 139 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b9161e0 fh1 0x591ac00fh->id: 71 78 352goodE: 22 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b9161e0 fh1 0x85152e0fh->id: 75 78 352goodE: 28 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b9161e0 fh1 0x226a5fe0fh->id: 76 78 352goodE: 82 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b9161e0 fh1 0x850e100fh->id: 77 78 352goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew78 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 153 out of 179 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 179 newEdgePixels: 179 Input.cpp[readImages,206]: Got image from sensor!353 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2153 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 345 lastEnergy: 629.41 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 61 INF|LocalMapper.cpp[optimize,276]: Start Energy: 629.41 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.45414e-11 -5.73054e-12 1.02242e-11 1.76555e-11 0.00012064 0.000205959 -0.00203637 -0.000424724 -0.00131965 0.00217946 -0.00180424 -0.0113794 -0.00655107 -0.00132164 -0.00138465 0.00200513 -0.0105699 -0.0167416 0.000374408 -0.001091 -0.000725892 0.00179217 -0.00782509 -0.0199973 0.00213362 -0.00148582 -0.000683732 0.00216537 -0.0154731 -0.0299258 -0.00953663 -0.0020758 0.00105763 0.0016949 -0.0104351 -0.0150503 -0.00365795 -0.000135571 7.96197e-05 0.00201635 -0.0207798 -0.0196076 -0.0011746 -0.00075754 0.00121272 0.00218756 -0.00799684 -0.0216952 -0.00439592 -0.000871086 -0.000637369 0.0026435 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2153 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 587.503 0 0 newEnergyL 0 lastEnergy: 629.41 0 0 lastEnergyL: 0mActiveResiduals: 2153 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -5.45095e-12 7.22906e-13 -1.48686e-11 -2.39424e-12 -0.00176296 -0.00195234 8.13122e-05 -0.000217803 0.00023976 -0.000112094 0.00350063 0.00433536 -0.00143807 0.000498133 -0.000401705 9.9524e-06 -0.00500525 -0.00173197 -0.000782396 -0.000148259 0.000643276 0.000495113 -0.00087376 -0.00796681 0.00121492 -0.000774846 7.47581e-05 0.000223716 0.00580377 -0.00780912 -0.00197129 -0.001031 -0.00120107 0.000577468 -0.00315046 -0.00670175 -0.00339208 -0.000780506 -0.000175407 0.00020869 -0.00520562 -0.0119273 -0.00301096 -0.00159533 -3.57151e-05 0.000599071 0.000323795 -0.0122779 -0.00338391 -0.00149639 -0.00066072 0.000673484 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2153 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 561.84 0 0 newEnergyL 0 lastEnergy: 587.503 0 0 lastEnergyL: 0mActiveResiduals: 2153 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.19252e-11 -4.48632e-13 7.33537e-12 -2.88415e-12 -0.00217582 0.00389291 0.00236316 0.000519021 0.000867319 0.000328869 0.002636 -0.00434236 0.00346298 -9.33594e-05 0.000555425 -1.27287e-05 0.00187719 -5.43031e-05 0.000749262 0.000377106 0.00101311 -0.000526794 0.00379369 -0.000462424 -0.000715056 0.000154857 0.00090769 -0.000625631 0.000418217 -0.00226675 -0.000931554 1.83905e-05 0.00203494 -0.000541334 -0.00488386 -0.00138471 -0.00258642 1.22762e-06 0.00267518 -0.000382135 0.000337429 -7.87687e-06 -0.00109637 0.000108891 0.00217944 -4.91861e-05 -0.00569728 0.00279893 0.0011974 0.000430453 0.00281021 -0.000140078 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2153 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 554.759 0 0 newEnergyL 0 lastEnergy: 561.84 0 0 lastEnergyL: 0mActiveResiduals: 2153 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 354 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.65015e-11 1.3847e-12 -9.74804e-12 -1.74558e-12 0.00356649 -0.00287523 0.000105583 3.92581e-05 0.000299638 -0.000413052 -0.00219988 0.00279574 0.000161109 0.000258759 0.000684826 -0.000370681 -0.00217697 0.00387796 0.00202435 0.000250271 0.000506617 0.000188913 -0.00588424 -0.00252007 0.00241524 -0.000544485 0.000781503 -1.1996e-05 0.00406502 -0.00152814 0.0007697 -0.000701875 -0.00105176 -8.70022e-05 0.00264496 0.00269341 0.000775324 -0.000157799 -0.000953013 -0.000230833 -0.00279106 0.00543456 -0.000957971 0.000213995 -0.000381191 -0.000131609 0.00253082 -0.00664902 -0.00474201 -0.00136801 -0.000878575 -0.000330026 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2153 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 533.676 0 0 newEnergyL 0 lastEnergy: 554.759 0 0 lastEnergyL: 0mActiveResiduals: 2153 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.06472e-11 -2.70126e-13 1.17356e-11 -8.1176e-12 -0.00349245 0.00359207 0.00106441 0.000467291 0.000965727 -0.000132313 -0.000339836 -0.000994545 0.00283469 0.000411461 0.00107028 -0.000403988 0.00824296 -0.00397284 0.00163173 -0.000223628 0.000423841 -0.000712148 0.00964928 0.00272434 0.000777619 0.000550286 0.000398383 -0.000648933 -0.00261105 -0.00282904 -0.00180191 -9.63558e-05 0.00273003 -0.000519334 -0.0022324 -0.00463953 -0.00231402 -0.000369437 0.00271575 -0.000175856 -0.00634086 -0.00562044 -0.00252496 -0.000692893 0.00336626 -8.69406e-05 -0.00619091 0.00940055 0.00245427 0.00129105 0.00318371 2.94667e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2153 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 534.951 0 0 newEnergyL 0 lastEnergy: 533.676 0 0 lastEnergyL: 0mActiveResiduals: 2153 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -7.09097e-12 -2.65311e-13 -1.98931e-11 9.15544e-12 0.00361544 -0.00245172 -0.000542558 -8.09552e-05 -0.000232435 -3.08831e-05 -0.00316402 -0.000357338 -0.00162681 -0.000138562 0.000313299 9.9571e-05 -0.00175413 0.00447244 0.00124558 0.000609924 6.25454e-05 0.000476692 -0.00253906 -0.00579364 0.00377004 -0.000737076 0.000156702 0.000366503 0.00450378 0.001487 0.00105601 -8.03562e-05 -0.00146167 0.000532267 -0.00391342 0.00660099 0.000528709 0.000664441 -0.000535062 0.000132114 -0.00161993 0.00958174 -8.75578e-05 0.00120313 -0.000896081 3.216e-05 0.0054908 -0.0119734 -0.00443199 -0.00168153 -0.00164177 0.00014492 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2153 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 516.23 0 0 newEnergyL 0 lastEnergy: 534.951 0 0 lastEnergyL: 0mActiveResiduals: 2153 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 516.23 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2153 INF|LocalMapper.cpp[optimize,345]: End Energy: 516.23 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.493928 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.493928 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 75 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 75 with idx: 4 and allID: 337 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->75 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 75->52 INF|LocalMapper.cpp[marginalizeFrame,772]: 60<->75 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 75->60 INF|LocalMapper.cpp[marginalizeFrame,772]: 67<->75 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 75->67 INF|LocalMapper.cpp[marginalizeFrame,801]: 75 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 75 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 11569 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1b9161e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 78 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 50 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 0 with distance 0.136Found rest min at: 49 with distance 0.15 overall min: 0.136 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 0 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 692 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 78 into DB 0.136 0 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 0 and real id(0) current kf: 78(352) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.985726 0.167172 0.0199532 -0.691844 -0.152441 0.936542 -0.315674 1.84487 -0.071459 0.308127 0.948658 1.77848 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 0 currFrame: 78 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!354 INF|Input.cpp[getImages,132]: mNbReceivedImages!355 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.000598029 eye: 0.000385732 edge: 78 to 0 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 78 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 352(1311875584.958241) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999969 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2761/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 78 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 352(1311875584.958241) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999437 0.000322286 0.0335455 -0.111877 0.000762867 0.999477 -0.0323308 -0.0627316 -0.0335384 0.0323382 0.998914 0.244231 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999831 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1907/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 78 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 352(1311875584.958241) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999435 4.84427e-05 0.033603 -0.111241 0.00109369 0.999422 -0.0339698 -0.0692069 -0.0335852 0.0339874 0.998858 0.250909 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.99909 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2427/2 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.999813 0.00812326 0.0175762 -0.0453774 -0.00679719 0.997218 -0.0742337 0.0134737 -0.0181304 0.0741003 0.997086 0.272514 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 0 end 3 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!354 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 14313 o[1]: 4099 o[2]: 688 o[3]: 31 histWeights: 1 1 1.25 1.5overlap: 5005.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 8215 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 0 and 78 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 78 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 78 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 11383 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 353 keyframes 79 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 522 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875584.994544 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 355 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999996 -0.00123199 0.00262338 0.000248314 0.00124764 0.999981 -0.00596979 0.00327034 -0.00261598 0.00597304 0.999979 -0.000939978 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 78 to 631155808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.994544) and 352(1311875584.958241) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999996 -0.00123199 0.00262338 0.000248314 0.00124764 0.999981 -0.00596979 0.00327034 -0.00261598 0.00597304 0.999979 -0.000939978 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!355 INF|Input.cpp[getImages,132]: mNbReceivedImages!356 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999892 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3602/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 78 to 631155808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.994544) and 352(1311875584.958241) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 1 -0.000427486 0.000525097 0.00440721 0.000433739 0.999928 -0.0119665 0.00258159 -0.000519944 0.0119667 0.999928 -0.00760465 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999625 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3175/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 78 to 631155808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875584.994544) and 352(1311875584.958241) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999999 -0.00074603 0.00148007 0.00734014 0.000755009 0.999981 -0.00607537 -0.0111302 -0.00147551 0.00607648 0.99998 -0.00557154 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999652 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3767/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.436181 resInfo good: 8215, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 12112/12 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999996 -0.000828291 0.00259937 0.00608129 0.000846096 0.999976 -0.00685614 -0.00431029 -0.00259363 0.00685832 0.999973 -0.00487249 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!353 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!355 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.025538 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999985 -0.00163873 0.00520435 0.0121535 0.00170995 0.999905 -0.0137097 -0.00858192 -0.00518138 0.0137184 0.999892 -0.00979019 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 78 to 631155808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.025538) and 352(1311875584.958241) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999985 -0.00163873 0.00520435 0.0121535 0.00170995 0.999905 -0.0137097 -0.00858192 -0.00518138 0.0137184 0.999892 -0.00979019 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 356 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999092 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1546/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 78 to 631155808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.025538) and 352(1311875584.958241) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999989 -0.00025079 0.00458124 0.00969574 0.000314773 0.999902 -0.0139708 -0.00972629 -0.00457729 0.0139721 0.999892 -0.00998257 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999713 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3146/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 78 to 631155808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.025538) and 352(1311875584.958241) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999991 -0.00134093 0.00405773 0.018628 0.00138561 0.999938 -0.0110266 -0.0124213 -0.00404269 0.0110321 0.999931 -0.00801498 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!356 INF|Input.cpp[getImages,132]: mNbReceivedImages!357 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3672/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.617802 resInfo good: 8215, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9686/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999986 -0.00164991 0.00510913 0.0180382 0.0017075 0.999935 -0.0112875 -0.00766015 -0.00509018 0.0112961 0.999923 -0.00786867 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!354 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.061480 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999968 -0.00246038 0.00762248 0.0299905 0.00257995 0.999873 -0.0157165 -0.0109865 -0.00758284 0.0157356 0.999847 -0.0109096 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 78 to 631155808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.061480) and 352(1311875584.958241) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999968 -0.00246038 0.00762248 0.0299905 0.00257995 0.999873 -0.0157165 -0.0109865 -0.00758284 0.0157356 0.999847 -0.0109096 Input.cpp[readImages,206]: Got image from sensor!356 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999998 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3635/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 78 to 631155808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.061480) and 352(1311875584.958241) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999973 -0.00143728 0.00717226 0.0194071 0.00157885 0.999803 -0.0197724 -0.0235044 -0.00714244 0.0197832 0.999779 -0.0101721 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 357 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999397 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3158/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 78 to 631155808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.061480) and 352(1311875584.958241) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999967 -0.00290266 0.00760395 0.0243388 0.00304782 0.999812 -0.0191486 -0.0156253 -0.00754693 0.0191711 0.999788 -0.0077506 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999995 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3211/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.771976 resInfo good: 8207, 8 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11201/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999967 -0.00312715 0.007453 0.0273358 0.00328169 0.999778 -0.0208142 -0.00567912 -0.00738626 0.020838 0.999756 -0.00668267 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!355 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!357 INF|Input.cpp[getImages,132]: mNbReceivedImages!358 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.097714 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999941 -0.00458193 0.0098108 0.0366331 0.00487767 0.999528 -0.0303353 -0.0036953 -0.00966717 0.0303813 0.999492 -0.00549934 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 78 to 631155808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.097714) and 352(1311875584.958241) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999941 -0.00458193 0.0098108 0.0366331 0.00487767 0.999528 -0.0303353 -0.0036953 -0.00966717 0.0303813 0.999492 -0.00549934 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999843 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2334/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 78 to 631155808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.097714) and 352(1311875584.958241) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999956 -0.000585933 0.00936805 0.0344603 0.000884961 0.999489 -0.0319477 -0.0106694 -0.00934455 0.0319546 0.999446 -0.0176983 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999719 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3063/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 78 to 631155808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.097714) and 352(1311875584.958241) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999929 -0.00234977 0.0116966 0.0323133 0.00265496 0.999655 -0.0261459 -0.0226439 -0.0116311 0.0261751 0.99959 -0.0143805 Input.cpp[readImages,206]: Got image from sensor!357 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 4): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3394/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.895703 resInfo good: 8190, 25 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10092/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999923 -0.00273207 0.0120714 0.0328187 0.00308532 0.999565 -0.0293425 -0.00653111 -0.011986 0.0293775 0.999497 -0.0114301 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!356 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 715 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 358 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!358 INF|Input.cpp[getImages,132]: mNbReceivedImages!359 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.130654 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999858 -0.00229756 0.016686 0.0382794 0.00292821 0.999278 -0.0378695 -0.007344 -0.0165869 0.0379129 0.999143 -0.01621 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 78 to 631155808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.130654) and 352(1311875584.958241) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999858 -0.00229756 0.016686 0.0382794 0.00292821 0.999278 -0.0378695 -0.007344 -0.0165869 0.0379129 0.999143 -0.01621 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999228 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2143/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 78 to 631155808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.130654) and 352(1311875584.958241) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99986 -0.00148952 0.0166535 0.0362231 0.00211783 0.999284 -0.0377746 -0.0114278 -0.0165854 0.0378046 0.999148 -0.0210754 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999625 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:911/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 78 to 631155808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.130654) and 352(1311875584.958241) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999818 -0.00270466 0.0188932 0.0273148 0.00330335 0.999491 -0.0317292 -0.0246217 -0.0187978 0.0317858 0.999318 -0.0147928 Input.cpp[readImages,206]: Got image from sensor!358 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3680/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.991652 resInfo good: 8177, 38 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8183/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999839 -0.00322488 0.0176242 0.0386183 0.00382028 0.999419 -0.0338547 -0.0103596 -0.0175047 0.0339166 0.999271 -0.0138054 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!357 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1306 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 359 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.160923 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!359 INF|Input.cpp[getImages,132]: mNbReceivedImages!360 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999725 -0.00369245 0.0231785 0.0444072 0.00458013 0.999253 -0.038362 -0.0141733 -0.0230196 0.0384576 0.998995 -0.0162301 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 78 to 631155808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.160923) and 352(1311875584.958241) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999725 -0.00369245 0.0231785 0.0444072 0.00458013 0.999253 -0.038362 -0.0141733 -0.0230196 0.0384576 0.998995 -0.0162301 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2727/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 78 to 631155808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.160923) and 352(1311875584.958241) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999558 0.000632883 0.0297186 0.0139958 0.000676486 0.99903 -0.0440282 -0.0249826 -0.0297176 0.0440289 0.998588 -0.0319059 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999679 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3916/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 78 to 631155808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.160923) and 352(1311875584.958241) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99965 -0.00330363 0.0262607 0.032906 0.00437751 0.999152 -0.0409415 -0.023883 -0.0261032 0.0410421 0.998816 -0.0173179 Input.cpp[readImages,206]: Got image from sensor!359 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 4): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3064/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.10234 resInfo good: 8092, 123 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11154/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999686 -0.00472727 0.0246048 0.0430297 0.00575908 0.9991 -0.0420346 -0.0137282 -0.0243839 0.0421631 0.998813 -0.014803 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875585.160923 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875585.160923 to keyframe with id: 631155808 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875585.160923 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 945 size: 7173 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId631155808 timestamp: 1311875585.160923 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 79 = 79 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x259eac80 fh1 0x1cbab40fh->id: 52 79 358goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x259eac80 fh1 0xa25ee80fh->id: 60 79 358goodE: 137 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 360 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x259eac80 fh1 0xe46b060fh->id: 67 79 358goodE: 146 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x259eac80 fh1 0x591ac00fh->id: 71 79 358goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x259eac80 fh1 0x226a5fe0fh->id: 76 79 358goodE: 100 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x259eac80 fh1 0x850e100fh->id: 77 79 358goodE: 43 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x259eac80 fh1 0x1b9161e0fh->id: 78 79 358goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew79 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 149 out of 167 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 167 newEdgePixels: 167 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2377 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 343 lastEnergy: 662.219 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 54 INF|LocalMapper.cpp[optimize,276]: Start Energy: 662.219 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.02633e-11 -1.48971e-12 1.69375e-11 1.09657e-11 -0.00187849 -0.00358566 -0.00131369 -0.00107017 -0.00179129 0.000101769 0.0011488 0.00652341 -0.00592579 -3.43988e-05 -0.00256623 0.000833527 -0.000857749 0.0022841 -0.00554535 -0.000190744 -0.00244352 0.0004415 -0.00174287 0.00455638 -0.0086623 0.000375969 -0.00239462 0.00128988 -0.0110024 -0.00273739 -0.00970602 -0.000179351 -0.00116892 0.00148461 -0.016457 -0.010018 -0.00832768 -0.00118705 -0.000564269 0.00128118 -0.016968 0.00873236 -0.00662863 0.00139579 -0.000519099 0.001119 -0.0428108 0.0105356 0.0024138 0.00140321 0.0019907 0.000914848 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2377 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 630.128 0 0 newEnergyL 0 lastEnergy: 662.219 0 0 lastEnergyL: 0mActiveResiduals: 2377 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!360 INF|Input.cpp[getImages,132]: mNbReceivedImages!361 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -8.91098e-12 3.10159e-12 -8.83877e-12 1.04285e-12 0.00122948 0.00100256 -0.000389063 8.47762e-05 -0.00017632 6.18252e-05 -0.00106575 -0.00494078 -0.000107607 -0.000525058 0.000158981 -0.000208454 -0.000334293 0.00548306 0.0010479 0.000647585 9.26557e-05 0.000258571 0.000711678 0.00215671 0.00209743 0.00019338 -3.30559e-05 -7.79268e-05 -0.00122186 0.000560188 -0.0037214 -0.000107524 -0.000226917 -0.000364864 -0.00651108 0.0047083 -0.00433451 0.000479819 0.000256462 -0.000393533 -0.00663892 -0.00362524 -0.004917 -0.000745659 0.000424319 -0.000415291 -0.0187069 0.00347565 -0.00549724 0.000154667 0.00160017 -0.000202606 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2377 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 613.356 0 0 newEnergyL 0 lastEnergy: 630.128 0 0 lastEnergyL: 0mActiveResiduals: 2377 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.20129e-11 -1.88989e-12 1.23112e-11 -1.01801e-12 -0.0049074 0.00235056 0.00153276 0.000744971 0.0013159 -0.00120007 0.00440232 0.00799547 0.00381335 0.00122636 0.00069754 -0.00133423 0.000273706 -0.00197337 0.00189251 -0.000453508 0.00151189 -0.00181717 0.006698 -0.00114241 0.00118536 -0.000485468 0.000745288 -0.00186018 0.00442174 -0.00549261 -0.000598738 -0.00141646 0.00159148 -0.00088233 0.00104545 -0.00992271 -0.00429713 -0.00221563 0.00227379 -0.000601531 -0.00600454 0.00401961 -0.00178212 -0.000417175 0.00297126 -0.000537703 -0.00933936 0.00255327 0.00125548 -0.000653361 0.00343073 -0.000586813 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2377 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 601.528 0 0 newEnergyL 0 lastEnergy: 613.356 0 0 lastEnergyL: 0mActiveResiduals: 2377 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.06843e-11 9.20858e-13 -9.41896e-12 2.70969e-12 0.00490315 0.00198259 0.000876669 0.000557884 0.000743757 0.000144343 -0.00421604 -0.00770343 0.000330851 -0.000623881 0.00165645 -1.28883e-05 0.00389684 0.00465857 0.0062306 0.000814707 0.000854031 -5.39944e-05 -0.00143569 0.00318136 0.00390123 0.000440444 0.00145918 -0.000269184 0.00477167 -0.00158469 -0.00140827 -0.000417272 0.00049448 -0.000565181 -0.00914781 0.0088475 -0.000599053 0.000951425 0.00191198 -0.000766361 -0.00256831 -0.00706857 -0.00268789 -0.00128823 0.00128355 -0.000587264 0.00164779 -0.00184768 -0.00534287 -0.000664314 0.000827888 -0.000432682 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2377 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 582.823 0 0 newEnergyL 0 lastEnergy: 601.528 0 0 lastEnergyL: 0mActiveResiduals: 2377 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 6.18702e-12 4.51654e-12 2.02473e-11 -8.74816e-12 -0.00281506 -0.00226283 0.000142652 0.000244122 0.000870913 -0.00161917 -0.00107095 0.0140458 0.00204968 0.00156246 0.000722413 -0.0011345 0.00270211 -0.00320093 0.000112185 -0.000944488 0.000296384 -0.00156985 0.00422542 -0.000980735 0.00164447 -0.000753613 -9.29259e-05 -0.0015897 0.00402514 -0.00566118 0.000518885 -0.00157766 0.000353851 -0.000823957 0.00110501 -0.00467566 -0.00201386 -0.00172692 0.000838896 -0.000517408 -0.00356882 0.00128034 -0.00198644 -0.000812218 0.00141544 -0.000467115 -0.00582339 0.000957426 0.000455254 -0.000924052 0.00170684 -0.000487766 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2377 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 578.346 0 0 newEnergyL 0 lastEnergy: 582.823 0 0 lastEnergyL: 0mActiveResiduals: 2377 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -6.07274e-12 -2.30366e-12 -1.95347e-11 4.63364e-13 -0.00056277 -0.00120366 0.00165802 -0.000375499 0.0018393 0.00165516 0.000256322 -0.0117989 0.000734828 -0.000924312 0.00168894 0.00146381 0.00558174 0.0076036 0.00624638 0.00188417 0.00144917 0.00127725 -0.000989746 0.00285734 0.00296958 0.00129022 0.00240569 0.00110759 -0.000217985 -0.00248707 -0.00371014 0.000575537 0.00226482 0.00085736 -0.00201969 0.00472667 -0.000594877 0.00159622 0.00217385 0.000765902 -0.00731964 0.00180077 -0.0019219 0.00101686 0.00278412 0.000816514 0.000855944 -0.00180531 -0.00488357 0.000587371 0.00189746 0.000944633 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2377 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 564.923 0 0 newEnergyL 0 lastEnergy: 578.346 0 0 lastEnergyL: 0mActiveResiduals: 2377 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 564.923 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2377 INF|LocalMapper.cpp[optimize,345]: End Energy: 564.923 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.496139 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.496139 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 52 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 52 with idx: 0 and allID: 227 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 52<->52 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 60<->52 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 52->60 INF|LocalMapper.cpp[marginalizeFrame,772]: 67<->52 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 52->67 INF|LocalMapper.cpp[marginalizeFrame,772]: 71<->52 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 52->71 INF|LocalMapper.cpp[marginalizeFrame,801]: 52 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 52 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 11905 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x259eac80 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 79 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 51 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 0 with distance 0.114Found rest min at: 50 with distance 0.12 overall min: 0.114 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 0 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 698 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 79 into DB 0.114 0 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 0 and real id(0) current kf: 79(358) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.985044 0.171712 0.0142417 -0.767225 -0.161319 0.948141 -0.27387 1.87514 -0.0605298 0.267477 0.961661 1.79685 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 0 currFrame: 79 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.000682599 eye: 0.00032584 edge: 79 to 0 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 79 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 358(1311875585.160923) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,206]: Got image from sensor!360 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999943 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2207/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 79 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 358(1311875585.160923) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99999 0.00220695 0.00391927 -0.000522236 -0.002191 0.999989 -0.00406969 -0.0669532 -0.00392821 0.00406106 0.999984 0.0389608 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999979 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2397/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 79 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 358(1311875585.160923) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999747 0.00617765 0.0216481 -0.069828 -0.00573416 0.999774 -0.0204889 -0.0317199 -0.0217698 0.0203596 0.999556 0.0622586 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 361 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999908 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2299/2 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.999114 0.013356 0.0399042 -0.142126 -0.01177 0.999142 -0.0397185 0.0206408 -0.0404004 0.0392136 0.998414 0.0889466 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 0 end 3 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 11211 o[1]: 3307 o[2]: 487 o[3]: 35 histWeights: 1 1 1.25 1.5overlap: 3968.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7173 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 0 and 79 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 79 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 79 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 10907 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 359 keyframes 80 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 523 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!361 INF|Input.cpp[getImages,132]: mNbReceivedImages!362 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.196980 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999991 -0.00190985 0.00382503 0.0199471 0.0019382 0.999971 -0.00742174 -0.00763002 -0.00381074 0.00742909 0.999965 -0.00374593 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 79 to 34398208 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.196980) and 358(1311875585.160923) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999991 -0.00190985 0.00382503 0.0199471 0.0019382 0.999971 -0.00742174 -0.00763002 -0.00381074 0.00742909 0.999965 -0.00374593 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.99968 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3413/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 79 to 34398208 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.196980) and 358(1311875585.160923) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999978 -0.00267261 0.00607315 -0.00278645 0.00275253 0.999909 -0.013189 0.0029688 -0.00603735 0.0132055 0.999895 -0.000549642 Input.cpp[readImages,206]: Got image from sensor!361 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999979 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3063/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 79 to 34398208 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.196980) and 358(1311875585.160923) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999984 -0.00330924 0.00447861 0.0112496 0.0033483 0.999956 -0.00874153 -0.00505167 -0.00444948 0.00875639 0.999952 -0.00254777 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 362 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2776/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.527666 resInfo good: 7173, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10411/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999978 -0.00368246 0.00554674 0.0115972 0.00372918 0.999957 -0.00843681 -0.00213307 -0.00551544 0.0084573 0.999949 -0.0032215 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!359 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.228828 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999911 -0.00731777 0.0111241 0.0231842 0.00750466 0.99983 -0.0168521 -0.00419563 -0.0109989 0.0169341 0.999796 -0.00652484 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 79 to 34398208 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.228828) and 358(1311875585.160923) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999911 -0.00731777 0.0111241 0.0231842 0.00750466 0.99983 -0.0168521 -0.00419563 -0.0109989 0.0169341 0.999796 -0.00652484 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!362 INF|Input.cpp[getImages,132]: mNbReceivedImages!363 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 6): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3903/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 79 to 34398208 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.228828) and 358(1311875585.160923) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999932 -0.00628492 0.00986321 0.0164203 0.00644484 0.999847 -0.016267 -0.00658935 -0.00975946 0.0163295 0.999819 -0.00229339 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999864 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3651/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 79 to 34398208 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.228828) and 358(1311875585.160923) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999919 -0.00681776 0.0107221 0.0209198 0.00696691 0.999879 -0.0139348 -0.00701458 -0.0106258 0.0140084 0.999845 -0.0046451 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.99904 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1876/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.696554 resInfo good: 7171, 2 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10524/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999897 -0.00674764 0.0127027 0.0169659 0.00692595 0.999877 -0.0140459 -0.00313346 -0.0126063 0.0141325 0.999821 -0.00504944 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!360 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 496 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!362 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.259402 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 363 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999755 -0.009772 0.019875 0.0223244 0.0101623 0.999756 -0.0196316 -0.00410655 -0.0196783 0.0198287 0.99961 -0.00692114 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 79 to 34398208 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.259402) and 358(1311875585.160923) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999755 -0.009772 0.019875 0.0223244 0.0101623 0.999756 -0.0196316 -0.00410655 -0.0196783 0.0198287 0.99961 -0.00692114 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999983 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2238/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 79 to 34398208 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.259402) and 358(1311875585.160923) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.9998 -0.00993112 0.017384 0.022186 0.0103313 0.99968 -0.0230845 -0.0107822 -0.0171492 0.0232594 0.999582 -0.00640156 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!363 INF|Input.cpp[getImages,132]: mNbReceivedImages!364 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3712/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 79 to 34398208 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.259402) and 358(1311875585.160923) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999761 -0.0106787 0.0190753 0.0229515 0.0111175 0.999673 -0.0230459 -0.00296985 -0.018823 0.0232525 0.999552 -0.00244593 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999488 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1352/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.870027 resInfo good: 7152, 21 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8553/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999766 -0.0107335 0.0187624 0.0280028 0.0111286 0.999716 -0.0210815 -0.00665155 -0.0185308 0.0212854 0.999602 -0.0038464 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!361 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1383 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.295999 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999583 -0.0146757 0.0248493 0.0390609 0.0153726 0.999487 -0.0280904 -0.0101326 -0.0244243 0.0284607 0.999296 -0.00273438 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 79 to 34398208 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.295999) and 358(1311875585.160923) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999583 -0.0146757 0.0248493 0.0390609 0.0153726 0.999487 -0.0280904 -0.0101326 -0.0244243 0.0284607 0.999296 -0.00273438 Input.cpp[readImages,206]: Got image from sensor!363 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999425 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2979/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 79 to 34398208 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.295999) and 358(1311875585.160923) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999522 -0.0134256 0.0278311 0.0224939 0.014373 0.999314 -0.0341255 -0.00815015 -0.0273539 0.0345092 0.99903 -0.00770859 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 364 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3176/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 79 to 34398208 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.295999) and 358(1311875585.160923) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999517 -0.0148216 0.0273161 0.0313285 0.0156817 0.999379 -0.0315451 -0.00920177 -0.0268316 0.0319582 0.999129 -0.0064112 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999736 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1224/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.02598 resInfo good: 7138, 35 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8547/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.99952 -0.0151431 0.0270383 0.0360549 0.0159693 0.999404 -0.0306069 -0.00913187 -0.0265587 0.031024 0.999166 -0.0068944 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875585.295999 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875585.295999 to keyframe with id: 34398208 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875585.295999 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 907 size: 6919 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId34398208 timestamp: 1311875585.295999 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -9.96362 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 289 keyframeId: 67 score: -12.245 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -12.5992 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 341 keyframeId: 76 score: -16.567 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 347 keyframeId: 77 score: -18.2226 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 352 keyframeId: 78 score: -13.6842 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 80 = 80 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20ce020 fh1 0xa25ee80fh->id: 60 80 362goodE: 122 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20ce020 fh1 0xe46b060fh->id: 67 80 362goodE: 146 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20ce020 fh1 0x591ac00fh->id: 71 80 362goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20ce020 fh1 0x226a5fe0fh->id: 76 80 362goodE: 161 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20ce020 fh1 0x850e100fh->id: 77 80 362goodE: 44 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20ce020 fh1 0x1b9161e0fh->id: 78 80 362goodE: 48 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x20ce020 fh1 0x259eac80fh->id: 79 80 362goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew80 Input.cpp[readImages,192]: readImages loop! INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 63 out of 70 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 70 newEdgePixels: 70 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2864 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 463 lastEnergy: 735.176 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 78 INF|LocalMapper.cpp[optimize,276]: Start Energy: 735.176 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.08234e-11 4.23693e-12 1.94556e-11 -4.25125e-12 -0.00406189 0.012855 -0.00487983 0.000432696 -0.00444497 0.00141441 -0.0121758 -0.00519073 -0.0111573 -0.00106919 -0.00395518 0.00172384 -0.00745633 -0.00934986 -0.0039664 -0.0012029 -0.00434476 0.00230473 -0.0163215 -0.0137659 -0.00855591 -0.00111863 -0.00391477 0.00282729 -0.0192709 -0.0178538 -0.0172335 -0.00152915 -0.00326415 0.00241326 -0.00653746 -0.0179721 -0.013905 -0.00137356 -0.00502936 0.00235382 -0.0201368 -0.0085922 -0.0113848 -0.00022926 -0.00386137 0.00221232 -0.0174993 -0.0208602 -0.00956991 -0.0016957 -0.00425505 0.00163944 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2864 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 694.336 0 0 newEnergyL 0 lastEnergy: 735.176 0 0 lastEnergyL: 0mActiveResiduals: 2864 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -5.71612e-12 2.94188e-12 -1.24333e-11 3.08071e-12 0.00322251 -0.00665923 -0.00326453 -0.000792526 -0.000281243 -0.000173337 0.00935551 -0.000724954 0.00104295 5.67705e-06 -0.00105489 -0.000180514 -0.00122443 0.00495817 -0.00117705 0.000726791 1.8853e-05 0.000130659 0.000488212 -0.00150813 -0.0111483 -0.000208559 -0.000345182 -0.00011758 0.003896 0.00632699 -0.00223399 0.000697541 -0.00133106 -9.27644e-06 -0.0106438 -0.00051541 -0.0088081 -0.000328884 0.000520991 -0.00015617 0.000322596 -0.00115088 -0.0121427 -0.000472529 -0.000598958 6.44226e-05 -0.00305382 -0.00560029 -0.0101448 -0.000952827 -0.000259921 0.000362185 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2864 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 677.75 0 0 newEnergyL 0 lastEnergy: 694.336 0 0 lastEnergyL: 0mActiveResiduals: 2864 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 5.09994e-12 -1.81325e-12 1.33263e-11 4.09116e-12 -0.000982106 0.000756889 0.00213078 0.000104771 0.000505507 -0.000648281 0.00193518 0.00417014 0.000189028 0.000186357 0.000229465 -0.000987251 0.00345059 0.00333055 0.00121928 -1.94701e-05 -7.65594e-05 -0.00112444 -0.000251972 0.000376505 0.0040664 -0.000757626 0.000329208 -0.000452626 -0.00526895 -0.00648767 -0.00789518 -0.00148789 0.00159318 -0.000823554 0.00360767 -4.49835e-05 -0.00229544 -0.000773666 0.000396748 -0.000513198 -0.00656284 0.00026059 0.00102437 -0.000696064 0.00152521 -0.000760389 0.00364468 -0.00280198 0.00164385 -0.00113762 0.000218505 -0.000926106 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2864 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 660.756 0 0 newEnergyL 0 lastEnergy: 677.75 0 0 lastEnergyL: 0mActiveResiduals: 2864 Input.cpp[readImages,206]: Got image from sensor!364 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 3.16044e-13 5.91717e-13 -1.44725e-11 -9.03039e-12 0.000590172 -0.00136599 0.000545707 0.00026544 0.00130902 -5.77631e-05 0.00311794 -0.00107079 0.00447146 0.000378696 0.00105717 -0.000244694 -0.00287993 0.0038453 0.00306105 0.000884562 0.00169945 -0.000317315 -0.00159441 -0.00299913 -0.00494505 -0.000108462 0.00174756 -0.000172095 0.00957676 0.00405631 0.0057654 0.000581816 -0.000222981 0.000235304 -0.00853378 0.00133749 -4.95852e-05 0.000260602 0.00193631 -0.000152798 0.0054073 0.000687978 -0.00449851 0.0001767 0.00032856 7.30019e-05 -0.00766324 -0.00381843 -0.00421415 -0.000422179 0.00190295 0.000523299 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2864 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 649.654 0 0 newEnergyL 0 lastEnergy: 660.756 0 0 lastEnergyL: 0mActiveResiduals: 2864 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 3.68212e-12 -3.4672e-12 1.65428e-11 8.74908e-12 -0.00143388 0.00673871 0.00384671 0.000784884 0.000404255 -0.0017664 5.49639e-06 0.00477771 0.000251294 -0.000278355 0.000444572 -0.00176255 0.00838768 -8.01472e-05 0.00162831 -0.000961973 -0.000757794 -0.00185037 0.00082119 -0.000919951 0.00140235 -0.0015942 4.48365e-05 -0.00131236 -0.0120041 -0.00467289 -0.00914323 -0.00195899 0.00223289 -0.00172004 0.00661318 -0.00467792 -0.00273454 -0.00213833 6.89228e-05 -0.000972083 -0.00718554 -0.00463971 0.00304974 -0.00211623 0.00181904 -0.00124417 0.00412429 0.00216077 0.00322987 -0.00128408 0.000476838 -0.00159784 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2864 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 641.883 0 0 newEnergyL 0 lastEnergy: 649.654 0 0 lastEnergyL: 0mActiveResiduals: 2864 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -3.46578e-12 -3.36305e-12 -1.48912e-11 -4.57464e-12 0.000678844 -0.00315755 -9.24458e-05 9.77048e-05 0.00153204 0.000244225 0.00521457 -0.000152541 0.00457935 0.000602103 0.000963752 -0.000425375 -0.00599343 0.00695483 0.000709013 0.00120624 0.002158 -0.000542947 -0.0014919 -0.00061296 -0.00118467 0.000171149 0.00201739 -0.000427963 0.00734689 0.00429611 0.00861074 0.000663343 0.00025737 -0.000224657 -0.00273106 0.00171477 0.0013148 0.000392232 0.0014588 -0.000466942 0.0055292 -0.00115808 -0.00844499 -4.72438e-05 0.00025702 -0.000349194 -0.00979927 -0.00661632 -0.00672935 -0.000918029 0.00205639 0.000211193 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2864 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 640.008 0 0 newEnergyL 0 lastEnergy: 641.883 0 0 lastEnergyL: 0mActiveResiduals: 2864 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 640.008 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2864 INF|LocalMapper.cpp[optimize,345]: End Energy: 640.008 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.481372 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.481372 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 77 data: 0 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 365 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 77 with idx: 4 and allID: 347 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 60<->77 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 77->60 INF|LocalMapper.cpp[marginalizeFrame,772]: 67<->77 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 77->67 INF|LocalMapper.cpp[marginalizeFrame,772]: 71<->77 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 77->71 INF|LocalMapper.cpp[marginalizeFrame,801]: 77 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 77 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 15490 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x20ce020 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 80 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 52 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 0 with distance 0.13Found rest min at: 51 with distance 0.108 overall min: 0.108 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 0 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 689 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 80 into DB 0.13 0 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 0 and real id(0) current kf: 80(362) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.982396 0.186733 -0.00526964 -0.819269 -0.182769 0.954939 -0.233851 1.87671 -0.0386356 0.230697 0.972258 1.79077 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 0 currFrame: 80 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.000773483 eye: 0.000309947 edge: 80 to 0 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 80 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 362(1311875585.295999) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999063 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1049/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 80 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 362(1311875585.295999) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 1 1.76228e-06 1.0672e-05 4.38299e-05 -1.76164e-06 1 -5.95608e-05 -0.00021177 -1.06721e-05 5.95608e-05 1 -3.3848e-05 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999497 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1956/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 80 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875572.417883) and 362(1311875585.295999) on lvl: 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!365 INF|Input.cpp[getImages,132]: mNbReceivedImages!366 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 1 -5.51548e-06 1.97922e-05 8.16377e-05 5.51734e-06 1 -9.3774e-05 -0.00033292 -1.97917e-05 9.37741e-05 1 -3.93836e-05 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999477 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1855/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.99997 0.00554845 -0.00541893 0.0343102 -0.00561672 0.999904 -0.012665 0.0262831 0.00534814 0.012695 0.999905 0.0157825 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 0 end 3 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 10724 o[1]: 2671 o[2]: 493 o[3]: 25 histWeights: 1 1 1.25 1.5overlap: 3324.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 6919 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 0 and 80 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 80 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 80 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 8779 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 363 keyframes 81 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.329166 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,206]: Got image from sensor!365 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999962 -0.00444875 0.00745811 0.0115464 0.00454289 0.99991 -0.012654 0.00920667 -0.00740114 0.0126875 0.999892 -0.00600537 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 80 to 639331808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.329166) and 362(1311875585.295999) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999962 -0.00444875 0.00745811 0.0115464 0.00454289 0.99991 -0.012654 0.00920667 -0.00740114 0.0126875 0.999892 -0.00600537 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.99986 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3088/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 80 to 639331808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.329166) and 362(1311875585.295999) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999969 -0.00438712 0.00652873 0.00598181 0.00445909 0.999929 -0.0110506 0.00378238 -0.00647979 0.0110794 0.999918 0.00275081 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 366 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 5): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3279/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 80 to 639331808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.329166) and 362(1311875585.295999) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999979 -0.00448541 0.00470259 0.0211557 0.00451483 0.99997 -0.00626406 -0.00564691 -0.00467435 0.00628516 0.999969 -0.00153112 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!366 INF|Input.cpp[getImages,132]: mNbReceivedImages!367 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2805/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.489073 resInfo good: 6911, 8 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10528/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999945 -0.0038543 0.00972044 0.00400196 0.00392727 0.999964 -0.00749928 0.00287964 -0.00969118 0.00753705 0.999925 -0.0014738 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!363 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1287 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.360649 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999781 -0.00763498 0.0194685 0.00797829 0.00792686 0.999857 -0.0149596 0.00578595 -0.0193515 0.0151106 0.999699 -0.00296456 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 80 to 639331808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.360649) and 362(1311875585.295999) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999781 -0.00763498 0.0194685 0.00797829 0.00792686 0.999857 -0.0149596 0.00578595 -0.0193515 0.0151106 0.999699 -0.00296456 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999469 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2512/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 80 to 639331808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.360649) and 362(1311875585.295999) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999885 -0.00806328 0.0128669 0.0166435 0.00823127 0.999881 -0.0130574 -0.0228968 -0.0127601 0.0131618 0.999832 -0.000845469 Input.cpp[readImages,206]: Got image from sensor!366 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999509 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2689/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 80 to 639331808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.360649) and 362(1311875585.295999) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999873 -0.00849923 0.0135133 0.0217107 0.00865796 0.999894 -0.0117318 -0.0182674 -0.0134122 0.0118473 0.99984 -0.00201473 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999516 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1726/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.727452 resInfo good: 6872, 47 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8328/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999846 -0.00824205 0.0154899 0.0171928 0.00847785 0.999848 -0.0152192 -0.000995856 -0.0153621 0.0153482 0.999764 -0.000645154 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!364 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 367 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.397966 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999694 -0.0125844 0.0212925 0.0304052 0.0130718 0.999652 -0.0229117 -0.00481859 -0.0209968 0.0231831 0.999511 7.80439e-05 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 80 to 639331808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.397966) and 362(1311875585.295999) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999694 -0.0125844 0.0212925 0.0304052 0.0130718 0.999652 -0.0229117 -0.00481859 -0.0209968 0.0231831 0.999511 7.80439e-05 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!367 INF|Input.cpp[getImages,132]: mNbReceivedImages!368 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999972 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3209/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 80 to 639331808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.397966) and 362(1311875585.295999) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999726 -0.0111247 0.0205931 0.0197489 0.0116517 0.999603 -0.0256507 -0.0101902 -0.0202996 0.0258836 0.999459 -0.00210162 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 7): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3926/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 80 to 639331808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.397966) and 362(1311875585.295999) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999684 -0.0120751 0.0220606 0.0218056 0.0126325 0.9996 -0.0253063 -0.00362177 -0.0217462 0.025577 0.999436 -0.00382193 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999023 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:985/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.881392 resInfo good: 6909, 10 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9345/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999667 -0.012089 0.0228088 0.0225581 0.0126681 0.999597 -0.0254192 0.000290806 -0.0224923 0.0256997 0.999417 -0.00423804 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!365 Input.cpp[readImages,206]: Got image from sensor!367 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 368 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 7629 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.426206 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!368 INF|Input.cpp[getImages,132]: mNbReceivedImages!369 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999419 -0.0158596 0.0301654 0.027892 0.0169306 0.999223 -0.0355855 0.00163591 -0.0295776 0.0360756 0.998911 -0.00785613 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 80 to 639331808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.426206) and 362(1311875585.295999) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999419 -0.0158596 0.0301654 0.027892 0.0169306 0.999223 -0.0355855 0.00163591 -0.0295776 0.0360756 0.998911 -0.00785613 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999963 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3011/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 80 to 639331808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.426206) and 362(1311875585.295999) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999499 -0.0155329 0.0275711 0.0284749 0.0163816 0.999391 -0.0308262 -0.00963403 -0.0270755 0.0312624 0.999144 -0.0103503 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 9): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4442/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 80 to 639331808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.426206) and 362(1311875585.295999) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999378 -0.0158629 0.0314937 0.0196451 0.0168308 0.999387 -0.0307077 -0.00307025 -0.0309873 0.0312186 0.999032 -0.00927642 Input.cpp[readImages,206]: Got image from sensor!368 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.99944 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1282/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.996697 resInfo good: 6864, 55 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9941/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999427 -0.0158093 0.0299399 0.0293759 0.0167126 0.999405 -0.0301654 -0.00190517 -0.0294452 0.0306485 0.999096 -0.00983332 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!366 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.464110 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 369 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999122 -0.0194939 0.037087 0.0361627 0.0207897 0.999175 -0.0348818 -0.00404717 -0.0363764 0.0356222 0.998703 -0.0154869 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 80 to 639331808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.464110) and 362(1311875585.295999) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999122 -0.0194939 0.037087 0.0361627 0.0207897 0.999175 -0.0348818 -0.00404717 -0.0363764 0.0356222 0.998703 -0.0154869 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999767 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2654/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 80 to 639331808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.464110) and 362(1311875585.295999) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999331 -0.0178253 0.0319197 0.0450426 0.0189363 0.999213 -0.034846 -0.0210288 -0.0312735 0.0354272 0.998883 -0.0104749 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!369 INF|Input.cpp[getImages,132]: mNbReceivedImages!370 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999501 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3419/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 80 to 639331808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.464110) and 362(1311875585.295999) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999259 -0.0193412 0.0332716 0.0482203 0.020475 0.999209 -0.0340804 -0.014829 -0.0325861 0.0347364 0.998865 -0.0109925 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999764 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1595/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.12239 resInfo good: 6754, 165 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8977/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999205 -0.0189778 0.0350568 0.0425179 0.0202455 0.999141 -0.0361672 -0.00515486 -0.0343403 0.0368482 0.998731 -0.00819005 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875585.464110 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875585.464110 to keyframe with id: 639331808 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875585.464110 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1011 size: 8171 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId639331808 timestamp: 1311875585.464110 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -10.0385 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 289 keyframeId: 67 score: -12.2338 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -12.3932 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 341 keyframeId: 76 score: -13.1327 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 352 keyframeId: 78 score: -13.2149 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 358 keyframeId: 79 score: -10.3525 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 81 = 81 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x261b6e00 fh1 0xa25ee80fh->id: 60 81 367goodE: 103 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x261b6e00 fh1 0xe46b060fh->id: 67 81 367goodE: 140 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x261b6e00 fh1 0x591ac00fh->id: 71 81 367goodE: 24 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x261b6e00 fh1 0x226a5fe0fh->id: 76 81 367goodE: 154 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x261b6e00 fh1 0x1b9161e0fh->id: 78 81 367goodE: 57 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x261b6e00 fh1 0x259eac80fh->id: 79 81 367goodE: 16 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x261b6e00 fh1 0x20ce020fh->id: 80 81 367goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew81 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 110 out of 118 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 118 newEdgePixels: 118 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2810 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 431 lastEnergy: 710.372 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 94 INF|LocalMapper.cpp[optimize,276]: Start Energy: 710.372 0 0 lastEnergyL: 0 Input.cpp[readImages,206]: Got image from sensor!369 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 6.43878e-12 -6.54392e-13 8.27836e-12 -3.2393e-12 -0.00596346 -0.00810069 -0.00444923 -0.00179518 -0.0029511 0.002298 -0.00412344 0.00128884 -0.0120755 0.000110124 -0.00343088 0.00284209 0.00465127 -0.00184761 -0.00917949 0.000345012 -0.00409974 0.00376823 -0.0214405 -0.00758932 -0.0113576 0.000329497 -0.00202814 0.00350835 -0.0240689 -0.00858547 -0.0137422 0.000307173 -0.00146604 0.00346434 -0.0327149 -0.0121133 -0.00637933 -8.39765e-05 -0.000321536 0.00298563 -0.0183864 -0.00484644 -0.00781684 0.00125813 -0.00226581 0.00276983 -0.00295371 -0.0194146 -0.00705735 -0.000422867 -0.00450681 0.0027054 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2810 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 663.406 0 0 newEnergyL 0 lastEnergy: 710.372 0 0 lastEnergyL: 0mActiveResiduals: 2810 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.06036e-12 -4.48055e-12 1.60764e-12 3.79898e-12 0.00166769 -0.00312223 -0.000975472 -0.000341845 -0.000205953 1.38746e-05 0.00323097 0.00025685 -0.000606085 -1.14725e-05 -0.000395085 -2.60083e-06 -0.00683031 0.00448066 -0.0014738 0.000461461 0.000745965 -0.000232023 -0.001938 -0.00222085 -0.0026544 -0.000339691 0.000291201 0.000203287 0.00258849 -0.00664052 -0.00264604 -0.000863778 -0.000703664 -0.000143761 0.00244476 -0.000412869 -0.00849371 -7.37218e-05 -0.00093642 0.000145182 2.02893e-05 -0.00320681 -0.00830951 -0.000613676 -0.000689464 0.000244095 0.00561757 0.00289848 -0.00521649 7.92646e-05 -0.00101021 -0.00016779 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2810 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 642.773 0 0 newEnergyL 0 lastEnergy: 663.406 0 0 lastEnergyL: 0mActiveResiduals: 2810 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -5.65507e-13 5.62566e-12 -8.87693e-13 -8.79978e-13 -0.00495582 0.00299656 0.00242435 0.000512466 0.00030434 -0.00132179 -0.000662613 0.00423389 0.000506154 0.00012092 5.70267e-05 -0.00152375 0.0134622 -0.000757196 -0.00103342 -0.000557265 -0.00168978 -0.00121566 -0.000798505 0.00427848 -0.0031637 -0.000348599 -5.94721e-05 -0.00115013 0.000193081 -0.0057025 -0.00355053 -0.00173089 0.000419068 -0.00102134 -0.0026375 -0.00367569 0.00230229 -0.001488 0.00112776 -0.00120502 -0.00271922 -0.0024692 0.00208536 -0.00127736 0.00134305 -0.0014786 -0.00217434 -0.000939643 3.50472e-05 -0.0012166 0.000894934 -0.000601869 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2810 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 370 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 633.053 0 0 newEnergyL 0 lastEnergy: 642.773 0 0 lastEnergyL: 0mActiveResiduals: 2810 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.65487e-12 -8.00073e-12 1.02605e-12 -2.35264e-12 0.0012299 0.00420399 -0.000696152 0.000493823 0.000838232 -6.0481e-05 0.00335266 -0.00461485 0.00234615 -0.000547894 0.000417864 -0.000485008 -0.0082159 0.00662943 0.000973344 0.000551057 0.00167559 -0.000708776 0.00279611 -0.00532777 0.00163377 -0.000885761 0.000675695 -0.00022916 0.0018535 -0.00246189 0.00253474 -0.000521327 0.000236176 -0.000284569 0.00585483 -0.00277591 -0.00320581 -0.000605368 -0.000643772 -0.000160153 -0.00699488 0.0023037 -0.00170028 -2.46067e-05 0.000714312 -1.58344e-05 -0.00019253 0.00339723 -0.00189454 -5.6726e-05 0.000241002 -0.000646616 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2810 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 613.676 0 0 newEnergyL 0 lastEnergy: 633.053 0 0 lastEnergyL: 0mActiveResiduals: 2810 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 4.09478e-12 2.5531e-12 -1.01391e-12 7.56083e-12 -0.00236246 -0.00220483 0.00284652 -0.000104399 -0.000194881 -0.000841595 -0.000439411 0.00567382 0.00216761 0.00053267 0.000112298 -0.000901232 0.0121635 0.00124057 -0.00163571 -4.89859e-05 -0.00136841 -0.000588472 -0.0035485 0.00267837 -0.00265566 -0.000110972 0.000538097 -0.000921732 -0.00655112 0.00121276 -0.00552737 -0.000495866 0.00154685 -0.000675102 -0.000759349 -0.00396251 0.000444692 -0.00106744 0.00145021 -0.000740994 0.00424978 0.000513518 -0.000352184 -0.000545357 0.00106804 -0.00102732 -0.0032513 -0.00753704 0.00429331 -0.00138203 0.00175024 -0.000486343 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2810 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 628.941 0 0 newEnergyL 0 lastEnergy: 613.676 0 0 lastEnergyL: 0mActiveResiduals: 2810 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -4.39893e-12 -4.65052e-12 6.47471e-12 -9.48208e-12 0.00299179 0.00288444 -0.00178294 0.000394323 0.000473281 0.000280314 -0.00321143 -0.00560245 0.000388549 -0.000537685 0.000807989 0.00016608 -0.00656701 0.00511712 0.00268388 0.000711045 0.00118883 -0.000265997 0.0058837 -0.00363333 0.00239276 -0.000357641 -0.000178741 0.000172666 0.00525295 0.00105884 0.00422183 0.000360137 -0.000592599 9.10169e-05 0.00221842 -0.00079105 -0.00147125 9.33763e-05 -0.000839819 6.73951e-05 -0.00871551 -0.00164903 -0.00111644 -4.12098e-05 0.000327934 0.000177743 0.00194711 0.00505703 -0.00572865 0.000645447 -0.000823966 -0.000135017 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2810 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 611.25 0 0 newEnergyL 0 lastEnergy: 628.941 0 0 lastEnergyL: 0mActiveResiduals: 2810 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 611.25 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2810 INF|LocalMapper.cpp[optimize,345]: End Energy: 611.25 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.47379 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.47379 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 78 data: 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!370 INF|Input.cpp[getImages,132]: mNbReceivedImages!371 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 78 with idx: 4 and allID: 352 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 60<->78 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 78->60 INF|LocalMapper.cpp[marginalizeFrame,772]: 67<->78 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 78->67 INF|LocalMapper.cpp[marginalizeFrame,772]: 71<->78 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 78->71 INF|LocalMapper.cpp[marginalizeFrame,801]: 78 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 78 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 13606 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x261b6e00 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 81 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 53 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 37 with distance 0.148Found rest min at: 52 with distance 0.106 overall min: 0.106 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 37 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 694 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 81 into DB 0.148 37 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 37 and real id(65) current kf: 81(367) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.912363 0.19584 -0.359501 -0.698194 -0.173828 0.980383 0.0929157 0.0724694 0.370646 -0.0222812 0.928507 0.202984 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 65 currFrame: 81 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.912363 0.19584 -0.359501 -0.698194 -0.173828 0.980383 0.0929157 0.0724694 0.370646 -0.0222812 0.928507 0.202984 avg 0.000445764 eye: 0.000315894 edge: 81 to 65 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 3040 < 5131 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 81 and 65 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 81 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 81 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1421 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 368 keyframes 82 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 477 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.493809 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999955 -0.00336363 0.00892453 -0.00279192 0.00342824 0.999968 -0.00723392 0.000157291 -0.00889991 0.00726419 0.999934 0.00139706 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 81 to 639791968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.493809) and 367(1311875585.464110) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999955 -0.00336363 0.00892453 -0.00279192 0.00342824 0.999968 -0.00723392 0.000157291 -0.00889991 0.00726419 0.999934 0.00139706 Input.cpp[readImages,206]: Got image from sensor!370 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999093 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2485/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 81 to 639791968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.493809) and 367(1311875585.464110) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999977 0.000978148 0.00670201 -0.000141146 -0.000887015 0.999907 -0.0135874 -0.00571181 -0.00671468 0.0135811 0.999885 -0.0103787 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 371 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 7): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5130/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 81 to 639791968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.493809) and 367(1311875585.464110) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99996 -0.000264031 0.00891614 -0.00290103 0.000366593 0.999934 -0.0115034 -0.00223076 -0.00891251 0.0115062 0.999894 -0.00561086 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2989/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.48891 resInfo good: 8152, 19 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 12028/12 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999961 -0.000823962 0.00874541 0.00232898 0.000922899 0.999936 -0.0113151 0.00130073 -0.00873553 0.0113227 0.999898 -0.00378366 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!368 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!371 INF|Input.cpp[getImages,132]: mNbReceivedImages!372 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.528038 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999846 -0.00154882 0.0174989 0.00462371 0.00194455 0.999742 -0.0226201 0.00264633 -0.0174594 0.0226507 0.999591 -0.00757254 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 81 to 639791968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.528038) and 367(1311875585.464110) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999846 -0.00154882 0.0174989 0.00462371 0.00194455 0.999742 -0.0226201 0.00264633 -0.0174594 0.0226507 0.999591 -0.00757254 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999894 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2014/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 81 to 639791968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.528038) and 367(1311875585.464110) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999861 -0.00348847 0.0163183 0.00478769 0.00383152 0.999771 -0.0210389 0.00322417 -0.0162411 0.0210985 0.999645 -0.0161615 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2619/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 81 to 639791968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.528038) and 367(1311875585.464110) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999854 -0.00282844 0.0168404 0.00764707 0.00310859 0.999857 -0.0166327 -0.00282551 -0.016791 0.0166826 0.99972 -0.0124832 Input.cpp[readImages,206]: Got image from sensor!371 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999937 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3954/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.710246 resInfo good: 8171, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9886/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999866 -0.00370983 0.0159692 0.012906 0.00397988 0.999849 -0.0169129 0.00171034 -0.015904 0.0169742 0.999729 -0.00938725 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!369 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.564228 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 372 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999795 -0.0051374 0.0195868 0.0181789 0.00552338 0.999791 -0.0197033 0.00193888 -0.0194815 0.0198074 0.999614 -0.0122166 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 81 to 639791968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.564228) and 367(1311875585.464110) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999795 -0.0051374 0.0195868 0.0181789 0.00552338 0.999791 -0.0197033 0.00193888 -0.0194815 0.0198074 0.999614 -0.0122166 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999354 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:913/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 81 to 639791968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.564228) and 367(1311875585.464110) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999782 -0.00581851 0.0200331 0.0175472 0.00629424 0.999698 -0.0237665 0.00121607 -0.0198888 0.0238875 0.999517 -0.0204103 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!372 INF|Input.cpp[getImages,132]: mNbReceivedImages!373 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999379 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3793/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 81 to 639791968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.564228) and 367(1311875585.464110) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999699 -0.00680038 0.0235765 0.0126582 0.00730978 0.99974 -0.0215879 -0.00510318 -0.0234236 0.0217538 0.999489 -0.0116505 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3172/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.84909 resInfo good: 8142, 29 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9245/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99971 -0.0072015 0.0229963 0.0189443 0.00770817 0.999728 -0.0220204 -0.00108225 -0.0228315 0.0221912 0.999493 -0.0101697 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!370 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.593663 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,206]: Got image from sensor!372 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999492 -0.0106563 0.0300401 0.024987 0.0114716 0.999567 -0.0271009 -0.00384872 -0.0297383 0.0274317 0.999181 -0.0110085 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 81 to 639791968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.593663) and 367(1311875585.464110) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999492 -0.0106563 0.0300401 0.024987 0.0114716 0.999567 -0.0271009 -0.00384872 -0.0297383 0.0274317 0.999181 -0.0110085 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 373 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999712 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4499/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 81 to 639791968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.593663) and 367(1311875585.464110) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999575 -0.0101585 0.0273133 0.0205677 0.0110306 0.999428 -0.0319712 -0.00230454 -0.0269729 0.0322589 0.999116 -0.0149929 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!373 INF|Input.cpp[getImages,132]: mNbReceivedImages!374 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 9): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5603/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 81 to 639791968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.593663) and 367(1311875585.464110) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999508 -0.0108599 0.029411 0.018886 0.0117312 0.999492 -0.0296169 -0.00346296 -0.0290745 0.0299474 0.999129 -0.0137569 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999265 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1399/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.970468 resInfo good: 8083, 88 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 13007/13 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999521 -0.0111829 0.0288652 0.0252761 0.0120288 0.999498 -0.0293013 -0.00141796 -0.0285231 0.0296345 0.999154 -0.0128266 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!371 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 537 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.625641 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999407 -0.0131571 0.0318102 0.0284368 0.0142046 0.999357 -0.0329316 -0.00156861 -0.0313564 0.033364 0.998951 -0.0141696 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 81 to 639791968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.625641) and 367(1311875585.464110) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999407 -0.0131571 0.0318102 0.0284368 0.0142046 0.999357 -0.0329316 -0.00156861 -0.0313564 0.033364 0.998951 -0.0141696 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999516 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:709/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 81 to 639791968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.625641) and 367(1311875585.464110) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999375 -0.0137166 0.0325785 0.024688 0.014747 0.999392 -0.0316014 -0.0158609 -0.0321253 0.0320621 0.998969 -0.0278743 Input.cpp[readImages,206]: Got image from sensor!373 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 374 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 11,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:6710/6 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 81 to 639791968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.625641) and 367(1311875585.464110) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999327 -0.0133918 0.0341611 0.0266132 0.0146355 0.999229 -0.0364202 -0.00204116 -0.0336471 0.0368956 0.998753 -0.0203386 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999143 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2429/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.05838 resInfo good: 7994, 177 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11171/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999316 -0.0135916 0.0343897 0.0290964 0.0148348 0.999236 -0.0361563 0.000185164 -0.033872 0.0366417 0.998754 -0.0192069 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875585.625641 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875585.625641 to keyframe with id: 639791968 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875585.625641 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1063 size: 9627 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId639791968 timestamp: 1311875585.625641 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -10.1295 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 289 keyframeId: 67 score: -12.3337 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -12.189 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 341 keyframeId: 76 score: -11.2208 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 358 keyframeId: 79 score: -12.8225 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -11.3656 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 82 = 82 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2624ec40 fh1 0xa25ee80fh->id: 60 82 372goodE: 79 Input.cpp[readImages,192]: readImages loop! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2624ec40 fh1 0xe46b060fh->id: 67 82 372goodE: 136 INF|Input.cpp[getImages,128]: getimages!374 INF|Input.cpp[getImages,132]: mNbReceivedImages!375 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2624ec40 fh1 0x591ac00fh->id: 71 82 372goodE: 23 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2624ec40 fh1 0x226a5fe0fh->id: 76 82 372goodE: 154 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2624ec40 fh1 0x259eac80fh->id: 79 82 372goodE: 23 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2624ec40 fh1 0x20ce020fh->id: 80 82 372goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2624ec40 fh1 0x261b6e00fh->id: 81 82 372goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew82 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 202 out of 216 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 216 newEdgePixels: 216 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2710 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 401 lastEnergy: 659.283 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 71 INF|LocalMapper.cpp[optimize,276]: Start Energy: 659.283 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -2.64011e-12 8.48372e-13 -9.53789e-12 -1.6919e-11 -0.00177829 -0.0138884 -0.00117887 -0.00192792 -0.000881934 0.00183029 -0.00392024 0.00559363 -0.00693971 0.0010117 -0.000851232 0.00265361 0.00896086 -0.00226806 -0.00105931 0.000505329 -0.0020537 0.00284426 -0.0178949 -0.0016655 -0.00146093 0.00113445 0.00069059 0.00207887 -0.00812415 -0.00217737 0.00268096 0.00134307 8.33012e-05 0.00190768 0.00260066 -0.00847444 -0.00290373 0.000461253 -0.00125089 0.00207216 -0.0165707 -0.0126255 0.00138939 0.000270724 0.000841034 0.00211857 -0.0130966 -0.00235629 0.00336984 0.00158131 -8.74347e-05 0.00139823 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2710 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 623.613 0 0 newEnergyL 0 lastEnergy: 659.283 0 0 lastEnergyL: 0mActiveResiduals: 2710 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -7.69815e-12 4.13611e-12 8.47065e-12 6.47392e-12 0.00213821 0.00689142 0.000230853 0.00078206 -0.000284272 0.000310923 0.000522729 -0.00759099 -0.000288451 -0.000926039 -5.29661e-05 -0.000121839 -0.00402602 0.00124302 -0.000399293 3.5859e-05 0.00044881 -6.68983e-05 0.00427937 -0.00638439 0.002098 -0.000834864 -0.000387055 0.000324786 0.00130999 -0.0070809 -0.00271118 -0.000961306 -0.00062405 0.000877694 -0.00568346 0.000618033 -0.0025418 0.000159891 7.09889e-05 0.000601464 -0.00623592 0.00186832 -0.00128152 0.00036693 0.000261069 0.000301555 -0.0177761 -0.00773689 -0.00188598 -0.00100937 0.00177433 0.00107396 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2710 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 600.195 0 0 newEnergyL 0 lastEnergy: 623.613 0 0 lastEnergyL: 0mActiveResiduals: 2710 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 2.58076e-12 2.36627e-12 -8.46747e-12 -1.79059e-12 -0.0036588 -0.0102295 0.00236932 -0.00157542 8.06034e-05 0.00125143 -0.000825599 0.00698227 -0.00150676 0.000916134 -7.26803e-05 0.00188623 0.00876669 -0.00356759 -0.00184084 -8.15047e-05 -0.000845209 0.00192473 -0.00127697 0.000650471 -0.0029154 0.000794844 0.000118132 0.00146278 -0.00460218 -0.000930748 -0.00057493 0.00073601 0.000785082 0.00102569 0.00533008 -0.00571212 0.00143918 4.37414e-05 -0.000263131 0.00128404 -0.00450422 0.00546627 0.00149019 0.00155526 0.000916443 0.00132202 -0.000890875 0.00510618 0.00275584 0.00163541 0.000370861 0.000574704 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2710 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 594.62 0 0 newEnergyL 0 lastEnergy: 600.195 0 0 lastEnergyL: 0mActiveResiduals: 2710 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -7.60922e-12 -3.40968e-12 9.36669e-12 -3.59838e-13 3.45145e-05 0.00980203 0.000698168 0.00156678 0.000764395 -0.0010573 -0.00130686 -0.00555008 0.00448636 -0.000799907 0.00116269 -0.00177973 -0.00169067 0.00432444 0.00211851 0.000128082 0.00103113 -0.0021091 0.00710665 -0.0006555 0.00223838 -0.000926589 0.000500657 -0.00178171 0.00898395 -0.00395409 -0.000403498 -0.00156952 7.56144e-05 -0.00128231 -2.77583e-06 0.00437804 -0.00344521 -0.00040932 0.00101645 -0.00133375 -0.00740049 -0.00387796 -0.00205289 -0.00157829 0.00168497 -0.00126647 -0.00709945 -0.0030384 -0.00374385 -0.00180655 0.00202898 -0.000343201 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2710 Input.cpp[readImages,206]: Got image from sensor!374 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 577.731 0 0 newEnergyL 0 lastEnergy: 594.62 0 0 lastEnergyL: 0mActiveResiduals: 2710 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 8.83905e-12 3.71677e-12 -1.37218e-12 2.08859e-12 -0.00212938 -0.00712864 -0.00157037 -0.00136463 -0.00104094 0.000835094 -0.000511467 0.0037495 -0.00430225 0.000501882 -0.00149449 0.00168025 0.00236294 -0.00436612 -0.00253228 -0.000294676 -0.00158523 0.0018687 0.0010702 0.000107364 -0.00172581 0.000766115 -0.00183693 0.00160577 -0.00529045 0.000848959 -0.0015529 0.00106048 -0.000798175 0.00109111 0.00223445 -0.00258146 0.00285433 0.000482419 -0.00154446 0.00118052 -0.00225041 0.00619836 0.00284838 0.00176263 -0.000799988 0.00122611 0.00633195 0.00134972 0.00573059 0.00144685 -0.00227912 0.000392867 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2710 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 582.335 0 0 newEnergyL 0 lastEnergy: 577.731 0 0 lastEnergyL: 0mActiveResiduals: 2710 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -2.66134e-12 -6.49301e-12 2.68747e-12 2.10461e-12 0.000284625 0.00858468 0.00237764 0.00158062 0.000881329 -0.00121495 -0.000716092 -0.00321178 0.00416378 -0.000519942 0.00129665 -0.00211609 -0.00222937 0.00382515 0.00117357 8.01731e-05 0.00129311 -0.00219791 0.0065964 0.0011896 0.00189223 -0.000763781 0.000867521 -0.00205242 0.00829076 -0.00210029 0.00104486 -0.00151198 0.000484721 -0.0013225 -0.00327522 0.00171912 -0.00383072 -0.000814954 0.00175607 -0.00151685 -0.00273984 -0.0109832 -0.00280509 -0.00266193 0.00149862 -0.00146654 -0.00806858 0.00220434 -0.004244 -0.00127675 0.00254423 -0.000340636 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2710 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 568.514 0 0 newEnergyL 0 lastEnergy: 582.335 0 0 lastEnergyL: 0mActiveResiduals: 2710 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 568.514 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2710 INF|LocalMapper.cpp[optimize,345]: End Energy: 568.514 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.464054 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.464054 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 79 data: 0 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 375 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 79 with idx: 4 and allID: 358 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 60<->79 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 79->60 INF|LocalMapper.cpp[marginalizeFrame,772]: 67<->79 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 79->67 INF|LocalMapper.cpp[marginalizeFrame,772]: 71<->79 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 79->71 INF|LocalMapper.cpp[marginalizeFrame,801]: 79 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 79 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 13797 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2624ec40 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 82 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 54 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 34 with distance 0.14Found rest min at: 53 with distance 0.1 overall min: 0.1 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 34 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 690 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 82 into DB 0.14 34 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 34 and real id(62) current kf: 82(372) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.836387 0.208806 -0.506811 -0.889174 -0.165653 0.977655 0.129417 0.0619579 0.52251 -0.0242883 0.852287 0.0889582 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 62 currFrame: 82 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.836387 0.208806 -0.506811 -0.889174 -0.165653 0.977655 0.129417 0.0619579 0.52251 -0.0242883 0.852287 0.0889582 avg 0.00115838 eye: 0.000286826 edge: 82 to 62 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 2094 < 7533 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 82 and 62 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 82 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 82 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1486 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 373 keyframes 83 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.661717 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!375 INF|Input.cpp[getImages,132]: mNbReceivedImages!376 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999983 -0.00221779 0.00541484 0.00451454 0.00225082 0.999979 -0.00610133 -0.00364358 -0.0054012 0.00611342 0.999967 -0.0068835 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 82 to 4504656954878312866 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.661717) and 372(1311875585.625641) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999983 -0.00221779 0.00541484 0.00451454 0.00225082 0.999979 -0.00610133 -0.00364358 -0.0054012 0.00611342 0.999967 -0.0068835 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999963 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4136/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 82 to 4504656954878312866 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.661717) and 372(1311875585.625641) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99999 -0.00161522 0.00410751 -0.0023353 0.00165297 0.999956 -0.00920337 -0.00675062 -0.00409247 0.00921007 0.999949 -0.010972 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999192 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2101/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 82 to 4504656954878312866 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.661717) and 372(1311875585.625641) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999983 -0.00112828 0.00568239 -0.00157992 0.00117415 0.999967 -0.00807481 -0.00202593 -0.00567309 0.00808134 0.999951 -0.00736243 Input.cpp[readImages,206]: Got image from sensor!375 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999719 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2411/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.443943 resInfo good: 9589, 38 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10249/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999989 -0.00120604 0.00447065 0.00562491 0.00123679 0.999976 -0.006882 -0.00271249 -0.00446224 0.00688745 0.999966 -0.00187426 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!373 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.697233 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 376 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999957 -0.00238124 0.0089494 0.0112447 0.00250424 0.999902 -0.0137581 -0.00540505 -0.00891577 0.0137799 0.999865 -0.00379224 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 82 to 4504656954878312866 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.697233) and 372(1311875585.625641) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999957 -0.00238124 0.0089494 0.0112447 0.00250424 0.999902 -0.0137581 -0.00540505 -0.00891577 0.0137799 0.999865 -0.00379224 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999802 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3573/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 82 to 4504656954878312866 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.697233) and 372(1311875585.625641) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999973 -0.00281818 0.00684652 0.00653629 0.00294403 0.999826 -0.0184415 -0.0133315 -0.00679335 0.0184612 0.999806 -0.0148739 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!376 INF|Input.cpp[getImages,132]: mNbReceivedImages!377 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999764 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3478/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 82 to 4504656954878312866 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.697233) and 372(1311875585.625641) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999952 -0.00267538 0.00942205 0.00462538 0.00284457 0.999834 -0.0179892 -0.00610885 -0.00937236 0.0180152 0.999794 -0.0112969 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999911 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1684/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.657818 resInfo good: 9595, 32 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10413/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999956 -0.00335203 0.00877296 0.0115331 0.00350907 0.999833 -0.0179475 -0.00125529 -0.00871133 0.0179775 0.9998 -0.00881479 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!374 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.725551 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999899 -0.00545013 0.0130986 0.0174083 0.0058282 0.999562 -0.0290008 0.000291818 -0.0129348 0.0290742 0.999494 -0.0157639 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 82 to 4504656954878312866 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.725551) and 372(1311875585.625641) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999899 -0.00545013 0.0130986 0.0174083 0.0058282 0.999562 -0.0290008 0.000291818 -0.0129348 0.0290742 0.999494 -0.0157639 Input.cpp[readImages,206]: Got image from sensor!376 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 377 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4903/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 82 to 4504656954878312866 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.725551) and 372(1311875585.625641) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999917 -0.00563631 0.0115618 0.0137724 0.00595183 0.999606 -0.0274391 0.000138966 -0.0114026 0.0275056 0.999557 -0.0129075 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!377 INF|Input.cpp[getImages,132]: mNbReceivedImages!378 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5513/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 82 to 4504656954878312866 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.725551) and 372(1311875585.625641) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999894 -0.00611023 0.01321 0.0151481 0.00643191 0.99968 -0.024447 -0.00290825 -0.0130564 0.0245294 0.999614 -0.0137372 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 8,0.99992 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:4500/4 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.790488 resInfo good: 9623, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 16544/16 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999895 -0.00626598 0.0130712 0.0189031 0.00657438 0.999698 -0.0236857 -0.00173571 -0.0129188 0.0237691 0.999634 -0.0126649 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!375 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.761742 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,206]: Got image from sensor!377 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999854 -0.00771359 0.0152265 0.0225826 0.00811605 0.999615 -0.0265496 -0.00195926 -0.0150158 0.0266693 0.999532 -0.0146027 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 82 to 4504656954878312866 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.761742) and 372(1311875585.625641) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999854 -0.00771359 0.0152265 0.0225826 0.00811605 0.999615 -0.0265496 -0.00195926 -0.0150158 0.0266693 0.999532 -0.0146027 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 378 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:5322/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 82 to 4504656954878312866 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.761742) and 372(1311875585.625641) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999885 -0.0094236 0.0118858 0.0325529 0.00974453 0.999581 -0.0272388 -0.0161522 -0.0116241 0.0273514 0.999558 -0.0207394 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!378 INF|Input.cpp[getImages,132]: mNbReceivedImages!379 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999469 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3733/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 82 to 4504656954878312866 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.761742) and 372(1311875585.625641) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999834 -0.00888695 0.0159209 0.023953 0.00933104 0.999563 -0.02804 -0.00553103 -0.0156647 0.0281839 0.99948 -0.0185366 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999689 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:4454/4 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.892936 resInfo good: 9623, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 15129/15 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999832 -0.00930817 0.0158066 0.0276983 0.00974491 0.999567 -0.0277818 -0.00263421 -0.0155411 0.0279311 0.999489 -0.0170952 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!376 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.796526 Input.cpp[readImages,206]: Got image from sensor!378 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999752 -0.0123388 0.0185543 0.0364844 0.0129261 0.999408 -0.0318687 -0.00348694 -0.0181501 0.0321006 0.99932 -0.0215525 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 82 to 4504656954878312866 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.796526) and 372(1311875585.625641) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999752 -0.0123388 0.0185543 0.0364844 0.0129261 0.999408 -0.0318687 -0.00348694 -0.0181501 0.0321006 0.99932 -0.0215525 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 379 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999226 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3414/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 82 to 4504656954878312866 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.796526) and 372(1311875585.625641) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999783 -0.0115142 0.0173555 0.0367558 0.0120524 0.999439 -0.0312334 -0.0137546 -0.0169861 0.0314358 0.999361 -0.0204226 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!379 INF|Input.cpp[getImages,132]: mNbReceivedImages!380 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999914 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3699/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 82 to 4504656954878312866 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.796526) and 372(1311875585.625641) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99979 -0.0099658 0.0179098 0.0379809 0.0105226 0.999456 -0.0312666 -0.011449 -0.0175884 0.0314484 0.999351 -0.0199228 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.99986 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2926/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.990478 resInfo good: 9584, 43 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11780/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999771 -0.0101411 0.0188615 0.0372367 0.0107508 0.999413 -0.0325129 -0.00411863 -0.0185207 0.0327082 0.999293 -0.0193783 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!377 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 661 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.827761 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.9997 -0.0109593 0.0219202 0.0467694 0.0117708 0.999237 -0.0372401 -0.00558331 -0.0214953 0.0374869 0.999066 -0.0216972 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 82 to 4504656954878312866 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.827761) and 372(1311875585.625641) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.9997 -0.0109593 0.0219202 0.0467694 0.0117708 0.999237 -0.0372401 -0.00558331 -0.0214953 0.0374869 0.999066 -0.0216972 Input.cpp[readImages,206]: Got image from sensor!379 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3479/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 82 to 4504656954878312866 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.827761) and 372(1311875585.625641) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999725 -0.0103785 0.0210437 0.0433368 0.0111874 0.999189 -0.03869 -0.00985802 -0.0206251 0.0389148 0.99903 -0.0279658 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 380 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999042 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1439/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 82 to 4504656954878312866 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.827761) and 372(1311875585.625641) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999638 -0.0107806 0.0246542 0.0404225 0.0117423 0.999162 -0.0392 0.00199405 -0.0242109 0.0394753 0.998927 -0.0279602 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999296 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2477/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.06833 resInfo good: 9468, 159 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9222/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999653 -0.0107801 0.0240461 0.0418221 0.0116906 0.999207 -0.0380524 -0.00148572 -0.0236169 0.0383203 0.998986 -0.0263503 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875585.827761 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875585.827761 to keyframe with id: 4504656954878312866 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875585.827761 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1040 size: 9374 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId4504656954878312866 timestamp: 1311875585.827761 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -10.2882 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 289 keyframeId: 67 score: -12.6485 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -12.43 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 341 keyframeId: 76 score: -10.8388 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -12.209 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 367 keyframeId: 81 score: -10.7713 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 83 = 83 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2529eb00 fh1 0xa25ee80fh->id: 60 83 378goodE: 52 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2529eb00 fh1 0xe46b060fh->id: 67 83 378goodE: 132 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2529eb00 fh1 0x591ac00fh->id: 71 83 378goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2529eb00 fh1 0x226a5fe0fh->id: 76 83 378goodE: 154 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2529eb00 fh1 0x20ce020fh->id: 80 83 378goodE: 32 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2529eb00 fh1 0x261b6e00fh->id: 81 83 378goodE: 64 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2529eb00 fh1 0x2624ec40fh->id: 82 83 378goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew83 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!380 INF|Input.cpp[getImages,132]: mNbReceivedImages!381 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 243 out of 261 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 261 newEdgePixels: 261 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2711 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 401 lastEnergy: 682.559 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 76 INF|LocalMapper.cpp[optimize,276]: Start Energy: 682.559 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.08522e-11 1.88995e-11 -3.82224e-12 -3.71701e-11 0.00186294 -0.00665801 -0.00323027 -0.000823214 -0.000253241 -8.6002e-06 -0.00191805 0.00169148 -0.00454349 0.000348556 -0.000350059 0.000633551 0.00546246 -0.00123878 0.00316585 6.12123e-05 -0.00131506 0.000548189 -0.00959783 6.88687e-05 0.00226938 0.000469126 0.000186746 -5.39325e-05 -0.00928244 0.0102667 0.0113393 0.00134662 0.000766013 0.000239762 -0.00136266 0.00950164 0.00919051 0.0018109 -0.000279126 0.000431173 -0.0118237 0.00750931 0.0120841 0.00184201 0.000878226 -0.000481423 -0.00199271 -0.000237551 0.0103698 0.00101797 -0.000773376 -0.000325414 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2711 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 623.929 0 0 newEnergyL 0 lastEnergy: 682.559 0 0 lastEnergyL: 0mActiveResiduals: 2711 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.256e-12 -6.37339e-12 4.52825e-12 1.22557e-11 -0.000127281 0.00441332 0.0010605 0.000503386 -2.38528e-05 0.000169953 0.000763677 -0.00465556 -5.48588e-05 -0.000568327 -8.43935e-05 -0.000216787 -0.000405113 0.00273551 -0.00140731 0.000306778 1.83684e-05 4.23785e-05 -0.00251096 -0.000561533 -7.67074e-05 -7.32674e-05 0.000294044 0.000149304 -0.00984636 -0.00107108 -0.00463513 5.82248e-06 0.000779178 0.000548614 -0.0076293 -0.00652148 -0.00549224 -0.000838489 0.000402365 0.000781087 -0.0111802 -0.00181613 -0.00463899 -0.000265703 0.00072353 0.00110055 0.00662015 0.00427864 -0.00273622 0.000557404 -0.00113121 0.000493503 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2711 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 605.071 0 0 newEnergyL 0 lastEnergy: 623.929 0 0 lastEnergyL: 0mActiveResiduals: 2711 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.97053e-13 7.01744e-12 -8.30368e-12 -5.73329e-12 -0.00151018 -0.00402358 -0.00157557 -0.00100945 -0.00102933 0.000830184 0.00136663 0.00345796 -0.00100873 0.000281898 -0.00124409 0.00147209 -0.00299326 -0.00690362 -0.00174708 -0.000820935 -0.000403891 0.00150203 0.00375589 -0.00302736 -0.00248756 5.68534e-05 -0.0014766 0.00134642 0.000233448 0.00421971 0.00176965 0.00110797 -0.000852736 0.000776933 -0.000812961 0.00596162 0.00397498 0.00144024 -0.000757109 0.0010476 0.00220292 0.00338278 0.00281745 0.001191 -0.000971692 0.000700864 -0.00149859 -0.00438337 -0.000593178 0.000307363 -0.000894597 0.000788666 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2711 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 599.592 0 0 newEnergyL 0 lastEnergy: 605.071 0 0 lastEnergyL: 0mActiveResiduals: 2711 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -7.34378e-13 -4.64063e-13 8.07562e-12 -3.59977e-12 0.00126552 0.00561573 0.000896756 0.00128747 0.000841255 -0.0012604 0.000502763 -0.00288683 0.00240911 -0.000225309 0.000949303 -0.0020937 0.00377174 0.00525402 0.00147568 0.000541546 0.000210804 -0.00193263 -0.00609251 0.00190734 0.000981908 -0.000401923 0.00179363 -0.00182455 -0.00053951 -0.000571816 -0.000160071 -0.000916888 0.000842489 -0.000724086 -0.00109144 -0.00739011 -0.00269757 -0.00182371 0.000921629 -0.00106248 -0.00518674 -0.0053258 -0.00317353 -0.00165977 0.00125239 -0.000816776 0.00700895 0.0043822 -0.000500787 -0.000487091 0.000135781 -0.000720077 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2711 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 585.21 0 0 newEnergyL 0 lastEnergy: 599.592 0 0 lastEnergyL: 0mActiveResiduals: 2711 Input.cpp[readImages,206]: Got image from sensor!380 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 7.03587e-12 -1.53371e-12 -7.99003e-12 7.50675e-13 0.00030529 -0.00770263 -0.00193605 -0.00171479 -0.00126 0.00177379 -0.00269825 0.00326859 -0.00252212 0.000371063 -0.00101487 0.00282616 -0.00634675 -0.00743663 -0.00115697 -0.000690665 -0.000193464 0.00265891 0.00999627 -0.00165059 -0.00109464 0.000805035 -0.00265134 0.00233347 0.000177265 0.00236836 0.00154854 0.0015907 -0.00127235 0.00133349 -0.00235602 0.00776792 0.0026102 0.00239843 -0.00099436 0.00160079 0.00459037 0.00636602 0.00271168 0.00230606 -0.00166955 0.00150634 -0.0032261 -0.0036902 0.00107381 0.00114976 -0.00114776 0.00129612 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2711 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 589.987 0 0 newEnergyL 0 lastEnergy: 585.21 0 0 lastEnergyL: 0mActiveResiduals: 2711 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -6.98541e-12 1.77232e-12 8.07562e-12 2.93433e-12 -0.00084242 0.00774855 0.00156095 0.0018247 0.000831842 -0.00211208 0.00335391 -0.00245941 0.00257095 -0.000325879 0.000557901 -0.00315431 0.00631974 0.00838064 2.85673e-05 0.000763583 -0.000213794 -0.0029863 -0.00856184 0.00298341 -0.000690328 -0.000746648 0.00213567 -0.00281756 -0.00152103 -0.00315178 -0.000787859 -0.00188464 0.00121353 -0.00157813 0.000803595 -0.0101626 -0.00267839 -0.00289558 0.000999513 -0.00190174 -0.00432429 -0.00753715 -0.00160116 -0.00258118 0.00143976 -0.00185382 0.00527954 0.00424576 -0.000690444 -0.00125249 0.00072134 -0.00154021 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2711 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 574.717 0 0 newEnergyL 0 lastEnergy: 589.987 0 0 lastEnergyL: 0mActiveResiduals: 2711 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 574.717 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2711 INF|LocalMapper.cpp[optimize,345]: End Energy: 574.717 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.469252 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.469252 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 67 data: 0 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 381 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 67 with idx: 1 and allID: 289 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 60<->67 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 67->60 INF|LocalMapper.cpp[marginalizeFrame,772]: 67<->67 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 71<->67 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 67->71 INF|LocalMapper.cpp[marginalizeFrame,772]: 76<->67 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 67->76 INF|LocalMapper.cpp[marginalizeFrame,801]: 67 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 67 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 13809 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2529eb00 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 83 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 55 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 34 with distance 0.156Found rest min at: 54 with distance 0.124 overall min: 0.124 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 34 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 691 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 83 into DB 0.156 34 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 34 and real id(62) current kf: 83(378) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.820052 0.237038 -0.520892 -0.933084 -0.172504 0.970238 0.169942 0.0768978 0.545672 -0.0495055 0.836535 0.0943575 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 62 currFrame: 83 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00138866 eye: 0.000289986 edge: 83 to 62 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 83 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 378(1311875585.827761) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 10,0.99995 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3085/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 83 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 378(1311875585.827761) on lvl: 1 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!381 INF|Input.cpp[getImages,132]: mNbReceivedImages!382 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99653 -0.0107724 -0.0825365 0.333037 0.00333631 0.995962 -0.0897083 0.197526 0.0831696 0.0891217 0.992542 0.128645 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999423 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:807/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 83 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 378(1311875585.827761) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.996543 -0.0102768 -0.0824349 0.334202 0.00283977 0.995953 -0.0898311 0.197231 0.0830245 0.0892865 0.99254 0.128009 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 0,0.999997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1633/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.996544 -0.0102765 -0.0824335 0.334208 0.00283956 0.995953 -0.0898317 0.197228 0.083023 0.0892871 0.99254 0.128011 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 61 end 64 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 11944 o[1]: 2044 o[2]: 773 o[3]: 187 histWeights: 1 1 1.25 1.5overlap: 3290.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 9374 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 62 and 83 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 83 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 83 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 9373 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 379 keyframes 84 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.865086 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999988 -0.000500059 0.00495355 -0.00707362 0.000512661 0.999997 -0.00254314 0.000571486 -0.00495226 0.00254565 0.999984 -0.00284995 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 83 to 4504176163354184795 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.865086) and 378(1311875585.827761) on lvl: 2 Input.cpp[readImages,206]: Got image from sensor!381 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999988 -0.000500059 0.00495355 -0.00707362 0.000512661 0.999997 -0.00254314 0.000571486 -0.00495226 0.00254565 0.999984 -0.00284995 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999514 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1820/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 83 to 4504176163354184795 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.865086) and 378(1311875585.827761) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 1 0.000474312 -0.00038935 0.0142016 -0.000475847 0.999992 -0.00395183 -0.0121917 0.000387473 0.00395201 0.999992 -0.00905482 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999619 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2434/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 83 to 4504176163354184795 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.865086) and 378(1311875585.827761) on lvl: 0 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 382 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999989 -0.000133256 0.00474896 0.00157124 0.000140871 0.999999 -0.00160325 -0.00682663 -0.00474874 0.0016039 0.999987 -0.0086834 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 9,0.999121 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3908/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.378565 resInfo good: 9374, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10052/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99999 0.000780634 0.00445577 0.00588527 -0.000766721 0.999995 -0.00312344 0.00133041 -0.00445819 0.00311999 0.999985 -0.00283169 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!379 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!382 INF|Input.cpp[getImages,132]: mNbReceivedImages!383 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.895905 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999959 0.00157516 0.00890899 0.0117589 -0.0015195 0.999979 -0.00625024 0.00266514 -0.00891865 0.00623644 0.999941 -0.00568543 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 83 to 4504176163354184795 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.895905) and 378(1311875585.827761) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999959 0.00157516 0.00890899 0.0117589 -0.0015195 0.999979 -0.00625024 0.00266514 -0.00891865 0.00623644 0.999941 -0.00568543 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999845 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3759/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 83 to 4504176163354184795 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.895905) and 378(1311875585.827761) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999989 0.00142234 0.00455881 0.020774 -0.00138205 0.99996 -0.00882976 -0.00654209 -0.00457119 0.00882336 0.999951 -0.00649013 Input.cpp[readImages,206]: Got image from sensor!382 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999746 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3451/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 83 to 4504176163354184795 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.895905) and 378(1311875585.827761) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999971 0.00134665 0.00754952 0.0162317 -0.00128723 0.999968 -0.00787054 -0.0021343 -0.00755988 0.00786059 0.999941 -0.0061762 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 383 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999803 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3230/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.584327 resInfo good: 9374, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11950/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999966 0.000947231 0.00817996 0.0171385 -0.000884559 0.99997 -0.00766181 0.00142941 -0.00818697 0.00765431 0.999937 -0.00621803 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!380 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.928719 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999929 0.00113071 0.0119032 0.028379 -0.000985472 0.999925 -0.0122004 0.00154222 -0.0119161 0.0121878 0.999855 -0.00964579 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 83 to 4504176163354184795 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.928719) and 378(1311875585.827761) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999929 0.00113071 0.0119032 0.028379 -0.000985472 0.999925 -0.0122004 0.00154222 -0.0119161 0.0121878 0.999855 -0.00964579 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!383 INF|Input.cpp[getImages,132]: mNbReceivedImages!384 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.99986 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3029/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 83 to 4504176163354184795 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.928719) and 378(1311875585.827761) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999939 0.00167073 0.0109106 0.0254314 -0.00150857 0.999889 -0.0148541 -0.00267847 -0.0109342 0.0148367 0.99983 -0.0110321 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999415 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2048/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 83 to 4504176163354184795 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.928719) and 378(1311875585.827761) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999904 0.00179484 0.013747 0.0227083 -0.0015975 0.999896 -0.0143526 0.00329276 -0.0137713 0.0143293 0.999802 -0.0107904 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999337 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2773/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.734018 resInfo good: 9363, 11 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9302/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999896 0.000650805 0.0144332 0.0231327 -0.000457642 0.99991 -0.0133825 0.00363569 -0.0144406 0.0133745 0.999806 -0.01211 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!381 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 469 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.962436 Input.cpp[readImages,206]: Got image from sensor!383 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999786 0.000390164 0.0206875 0.0290891 5.03987e-06 0.999818 -0.0191 0.00587794 -0.0206912 0.019096 0.999604 -0.0180266 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 83 to 4504176163354184795 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.962436) and 378(1311875585.827761) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999786 0.000390164 0.0206875 0.0290891 5.03987e-06 0.999818 -0.0191 0.00587794 -0.0206912 0.019096 0.999604 -0.0180266 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 384 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 4): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4151/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 83 to 4504176163354184795 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.962436) and 378(1311875585.827761) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999813 -0.000953671 0.0193201 0.0264527 0.00132786 0.999812 -0.0193642 0.00323136 -0.019298 0.0193863 0.999626 -0.0160563 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999382 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2066/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 83 to 4504176163354184795 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.962436) and 378(1311875585.827761) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999785 -0.000814684 0.020698 0.0290456 0.00117614 0.999847 -0.0174572 0.00406822 -0.0206807 0.0174778 0.999633 -0.0173313 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999374 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:988/0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!384 INF|Input.cpp[getImages,132]: mNbReceivedImages!385 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.860436 resInfo good: 9372, 2 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8929/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999783 -0.00159203 0.020756 0.0309203 0.00193756 0.99986 -0.0166376 0.00514793 -0.0207266 0.0166742 0.999646 -0.0185939 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!382 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875585.994555 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999626 -0.00381393 0.0270852 0.0386634 0.00435315 0.999793 -0.0198773 0.00669977 -0.0270037 0.0199878 0.999435 -0.0251215 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 83 to 4504176163354184795 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.994555) and 378(1311875585.827761) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999626 -0.00381393 0.0270852 0.0386634 0.00435315 0.999793 -0.0198773 0.00669977 -0.0270037 0.0199878 0.999435 -0.0251215 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999933 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3715/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 83 to 4504176163354184795 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.994555) and 378(1311875585.827761) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999719 -0.00403902 0.0233627 0.0431197 0.00450731 0.999789 -0.0200268 -0.00744959 -0.0232769 0.0201264 0.999526 -0.0231851 Input.cpp[readImages,206]: Got image from sensor!384 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999019 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3441/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 83 to 4504176163354184795 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875585.994555) and 378(1311875585.827761) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999655 -0.00427631 0.0259192 0.0401961 0.00477455 0.999804 -0.0191915 -0.00280537 -0.0258321 0.0193086 0.99948 -0.0236531 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999404 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1044/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.97477 resInfo good: 9314, 60 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10123/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999627 -0.00456887 0.0269429 0.0391185 0.00509979 0.999794 -0.0196696 0.00305595 -0.0268475 0.0197996 0.999443 -0.0238764 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!383 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 385 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 483 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.025967 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99953 -0.00605001 0.0300394 0.0432079 0.00668784 0.999753 -0.0211781 0.00202562 -0.0299039 0.0213691 0.999324 -0.026539 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 83 to 4504176163354184795 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.025967) and 378(1311875585.827761) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99953 -0.00605001 0.0300394 0.0432079 0.00668784 0.999753 -0.0211781 0.00202562 -0.0299039 0.0213691 0.999324 -0.026539 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!385 INF|Input.cpp[getImages,132]: mNbReceivedImages!386 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999236 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3038/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 83 to 4504176163354184795 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.025967) and 378(1311875585.827761) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999584 -0.005172 0.0283763 0.0526758 0.00588753 0.999665 -0.0251907 -0.00843034 -0.0282365 0.0253473 0.99928 -0.0291677 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999369 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2355/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 83 to 4504176163354184795 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.025967) and 378(1311875585.827761) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999481 -0.0044635 0.0318996 0.0462009 0.00520055 0.999721 -0.0230598 -0.00575032 -0.0317878 0.0232137 0.999225 -0.030711 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999965 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1514/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.06383 resInfo good: 9216, 158 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8428/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999433 -0.00522589 0.033262 0.0434289 0.00598478 0.999723 -0.0227571 -0.00285623 -0.0331338 0.0229433 0.999188 -0.031436 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875586.025967 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875586.025967 to keyframe with id: 4504176163354184795 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875586.025967 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1014 size: 8418 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId4504176163354184795 timestamp: 1311875586.025967 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -7.75698 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -10.6207 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 341 keyframeId: 76 score: -11.7284 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -17.3449 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 367 keyframeId: 81 score: -18.1965 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 372 keyframeId: 82 score: -13.0424 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 84 = 84 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1f3c1300 fh1 0xa25ee80fh->id: 60 84 384goodE: 34 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1f3c1300 fh1 0x591ac00fh->id: 71 84 384goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1f3c1300 fh1 0x226a5fe0fh->id: 76 84 384goodE: 155 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1f3c1300 fh1 0x20ce020fh->id: 80 84 384goodE: 105 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1f3c1300 fh1 0x261b6e00fh->id: 81 84 384goodE: 80 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1f3c1300 fh1 0x2624ec40fh->id: 82 84 384goodE: 100 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1f3c1300 fh1 0x2529eb00fh->id: 83 84 384goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew84 Input.cpp[readImages,206]: Got image from sensor!385 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 149 out of 160 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 160 newEdgePixels: 160 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2580 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 382 lastEnergy: 628.142 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 74 INF|LocalMapper.cpp[optimize,276]: Start Energy: 628.142 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -8.80117e-12 8.5755e-13 -4.24175e-11 -1.37982e-11 0.00312258 -0.0110025 -0.00167963 -0.00141656 0.000400647 0.000577493 -0.00434727 0.007825 0.000792174 0.000815316 0.00091465 -0.000267769 0.0048072 0.00515834 0.0107733 0.000896096 -0.000358856 0.000507255 0.000911583 0.00688347 0.00746577 0.00139088 0.000801257 6.57357e-05 0.00358406 0.0116483 0.00743163 0.00217158 0.000576818 0.0002476 0.00189242 0.0124191 0.00614338 0.00226122 0.00104777 0.00015724 -0.00845986 0.000428523 0.0087446 0.000889501 0.00177316 0.000415441 -0.00365921 0.0026551 0.0089803 0.00126587 0.00131653 -0.000366111 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2580 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 582.513 0 0 newEnergyL 0 lastEnergy: 628.142 0 0 lastEnergyL: 0mActiveResiduals: 2580 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 386 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.7696e-12 4.56691e-12 3.40636e-12 2.35487e-12 -0.00429142 0.0118632 0.00409008 0.00141304 0.000383107 0.000452022 0.00523363 -0.000891189 -0.00162115 -0.000276054 -0.000649041 -9.40941e-06 -0.00344815 -0.00926548 -0.000514993 -0.00138518 0.000416951 8.66177e-05 -0.00331421 -0.0084227 -0.00331331 -0.00126151 5.5512e-05 0.000458833 -0.00122111 -0.0077157 -0.00410698 -0.00109442 -0.000241384 0.000204542 -0.00121635 -0.00578582 -0.00401679 -0.000753223 -0.000413424 2.79327e-05 -0.00512559 -0.00344883 -0.00677728 -0.000664102 0.000343878 0.000344863 -0.00257589 -0.00866008 -0.00556834 -0.00135088 -0.000165086 0.000647376 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2580 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 559.912 0 0 newEnergyL 0 lastEnergy: 582.513 0 0 lastEnergyL: 0mActiveResiduals: 2580 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 4.10498e-12 -1.29109e-12 -2.29566e-12 7.53958e-12 -0.00263961 -0.0172254 -0.00329854 -0.00253257 -0.0012671 0.00278965 0.000780568 0.00476453 -0.00019744 0.00164233 -0.000448056 0.00331421 0.0041787 0.00155996 -0.000918263 0.00214583 -0.00115255 0.00301555 0.00138144 0.0034568 -0.000661036 0.00278257 -0.000524491 0.00252053 -0.000917313 0.00178767 -0.0010155 0.00260754 -0.000186426 0.00284175 -0.000771494 0.00233064 0.000154656 0.00274811 -0.000107569 0.00279258 -0.00323582 0.00266673 0.0030466 0.00318949 4.69076e-06 0.00225739 0.000546308 3.00967e-05 0.00161336 0.00291422 -0.000332776 0.00207013 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2580 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 558.215 0 0 newEnergyL 0 lastEnergy: 559.912 0 0 lastEnergyL: 0mActiveResiduals: 2580 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -6.6437e-12 5.30014e-12 5.87658e-12 -1.60501e-11 -0.000978745 0.0136555 0.00313279 0.00212269 0.00131584 -0.00248988 0.00347843 -0.000272639 0.00123938 -0.000954151 6.08136e-05 -0.00319664 -0.000299243 -0.00247644 0.000918848 -0.00203933 0.00101665 -0.00292382 0.00153126 -0.00242156 0.000928604 -0.00238117 0.000803456 -0.00243904 0.00115105 -0.000790262 0.00130409 -0.00223149 0.000857868 -0.00257794 0.000299617 -0.000477565 -9.6057e-05 -0.00226569 0.000894549 -0.00258299 -0.00380762 -0.0010797 -0.00310607 -0.00272 0.00153775 -0.00197226 -0.0017793 -0.00531312 -0.0042966 -0.0033441 0.00132841 -0.00190489 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2580 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 537.239 0 0 newEnergyL 0 lastEnergy: 558.215 0 0 lastEnergyL: 0mActiveResiduals: 2580 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.00032e-11 -7.33582e-12 3.38721e-12 2.85572e-11 -0.0001898 -0.0124478 -0.00237589 -0.00199751 -0.00144392 0.00198557 -0.00166428 0.00274202 -0.00176198 0.000982306 -0.000530615 0.00257597 0.00224718 0.000973436 -0.000396982 0.00140483 -0.00141439 0.00248499 -0.00164532 0.00153731 -0.00238937 0.00185099 -0.000641908 0.00203274 -0.000968097 0.00202693 -0.00238204 0.00190998 -0.00053726 0.00220085 -0.00173546 0.00466137 0.000556763 0.0024154 -0.000362368 0.00195245 -0.00196052 0.00232427 0.00297042 0.00240718 -0.000334349 0.00135438 0.00649295 -0.00294345 0.00462381 0.00180239 -0.00140092 0.00125986 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2580 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 542.023 0 0 newEnergyL 0 lastEnergy: 537.239 0 0 lastEnergyL: 0mActiveResiduals: 2580 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.23591e-11 5.4834e-12 -4.39182e-12 -2.18959e-11 0.000688594 0.0131265 0.0030324 0.00241163 0.0016838 -0.00280455 0.00369651 0.00138691 0.0030621 -0.000528675 0.000513232 -0.00351332 -0.00607858 -0.000686067 0.00101454 -0.00173999 0.00212019 -0.00328474 0.0050286 0.000343452 0.00245408 -0.00196831 0.000920845 -0.00277915 0.00188266 -0.00262732 0.00292287 -0.00240881 0.00113305 -0.00278008 0.00287319 -0.00469011 -0.00110883 -0.0028673 0.000977529 -0.00264658 -0.00284995 -0.00252328 -0.00323378 -0.00293741 0.00171514 -0.00202801 -0.00607234 -0.00238863 -0.00815073 -0.00313998 0.00231366 -0.00170133 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2580 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!386 INF|Input.cpp[getImages,132]: mNbReceivedImages!387 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 530.596 0 0 newEnergyL 0 lastEnergy: 542.023 0 0 lastEnergyL: 0mActiveResiduals: 2580 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 530.596 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2580 INF|LocalMapper.cpp[optimize,345]: End Energy: 530.596 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.461803 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.461803 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 81 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 81 with idx: 4 and allID: 367 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 60<->81 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 81->60 INF|LocalMapper.cpp[marginalizeFrame,772]: 71<->81 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 81->71 INF|LocalMapper.cpp[marginalizeFrame,772]: 76<->81 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 81->76 INF|LocalMapper.cpp[marginalizeFrame,801]: 81 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 81 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 13448 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1f3c1300 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 84 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 56 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 34 with distance 0.148Found rest min at: 55 with distance 0.098 overall min: 0.098 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 34 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 691 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 84 into DB 0.148 34 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 34 and real id(62) current kf: 84(384) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.802678 0.254732 -0.539277 -0.988373 -0.172426 0.964703 0.199041 0.0856445 0.570944 -0.0667804 0.818268 0.0923275 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 62 currFrame: 84 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.802678 0.254732 -0.539277 -0.988373 -0.172426 0.964703 0.199041 0.0856445 0.570944 -0.0667804 0.818268 0.0923275 avg 0.00206053 eye: 0.000304387 edge: 84 to 62 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 1108 < 7310 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 84 and 62 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 84 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 84 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1378 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 385 keyframes 85 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 535 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.063225 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999991 -0.000633096 0.0041396 -0.00227036 0.000643681 0.999997 -0.00255622 0.00068064 -0.00413797 0.00255886 0.999988 -0.0022541 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 84 to 4504219443739636664 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.063225) and 384(1311875586.025967) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999991 -0.000633096 0.0041396 -0.00227036 0.000643681 0.999997 -0.00255622 0.00068064 -0.00413797 0.00255886 0.999988 -0.0022541 Input.cpp[readImages,206]: Got image from sensor!386 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999747 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:5068/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 84 to 4504219443739636664 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.063225) and 384(1311875586.025967) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999999 0.00076168 -0.000749795 0.0198633 -0.000766057 0.999983 -0.00585357 0.000753649 0.000745323 0.00585414 0.999983 -0.000784616 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 387 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4671/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 84 to 4504219443739636664 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.063225) and 384(1311875586.025967) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999981 0.00100668 0.00603601 0.00103065 -0.000988618 0.999995 -0.00299439 -0.00189011 -0.00603899 0.00298836 0.999977 -0.0075953 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!387 INF|Input.cpp[getImages,132]: mNbReceivedImages!388 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3442/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.367423 resInfo good: 8418, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 14932/14 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999977 0.000304567 0.00681527 0.00169044 -0.000286327 0.999996 -0.00267716 0.000937713 -0.00681606 0.00267515 0.999973 -0.00748083 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!385 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.096019 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999948 0.000463685 0.0102225 0.00251664 -0.000422645 0.999992 -0.00401646 0.00141389 -0.0102243 0.00401192 0.99994 -0.0112246 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 84 to 4504219443739636664 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.096019) and 384(1311875586.025967) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999948 0.000463685 0.0102225 0.00251664 -0.000422645 0.999992 -0.00401646 0.00141389 -0.0102243 0.00401192 0.99994 -0.0112246 Input.cpp[readImages,206]: Got image from sensor!387 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999342 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2443/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 84 to 4504219443739636664 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.096019) and 384(1311875586.025967) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999954 0.00118152 0.00955522 0.00382748 -0.0011277 0.999983 -0.00563622 -0.00287949 -0.00956172 0.00562518 0.999938 -0.0132961 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 388 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4693/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 84 to 4504219443739636664 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.096019) and 384(1311875586.025967) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999947 0.00175779 0.0101639 0.00971152 -0.00171352 0.999989 -0.00436231 -0.000302381 -0.0101715 0.00434466 0.999939 -0.0124025 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!388 INF|Input.cpp[getImages,132]: mNbReceivedImages!389 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3513/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.557742 resInfo good: 8418, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 12372/12 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999947 0.00161539 0.0102127 0.0137882 -0.00157619 0.999991 -0.00384496 0.00127893 -0.0102188 0.00382865 0.99994 -0.0134185 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!386 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.125866 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999926 0.00227226 0.0119108 0.0198296 -0.00221963 0.999988 -0.00443049 0.00144622 -0.0119207 0.00440373 0.999919 -0.0164026 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 84 to 4504219443739636664 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.125866) and 384(1311875586.025967) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999926 0.00227226 0.0119108 0.0198296 -0.00221963 0.999988 -0.00443049 0.00144622 -0.0119207 0.00440373 0.999919 -0.0164026 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999859 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2436/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 84 to 4504219443739636664 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.125866) and 384(1311875586.025967) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999991 0.00231663 0.00348118 0.0530784 -0.00228987 0.999968 -0.00767209 -0.0040869 -0.00349885 0.00766405 0.999965 -0.000302986 Input.cpp[readImages,206]: Got image from sensor!388 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999259 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3014/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 84 to 4504219443739636664 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.125866) and 384(1311875586.025967) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999927 0.00369654 0.0114722 0.0304429 -0.00360118 0.999959 -0.00832176 -0.00121949 -0.0115024 0.00827985 0.9999 -0.00885939 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 389 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999685 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2885/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.706555 resInfo good: 8418, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9814/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999901 0.00443746 0.013367 0.0265638 -0.00432305 0.999954 -0.00857562 0.00231659 -0.0134044 0.00851698 0.999874 -0.0151231 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!387 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.163822 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!389 INF|Input.cpp[getImages,132]: mNbReceivedImages!390 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999837 0.00727425 0.0165077 0.0393369 -0.00705477 0.999886 -0.0133147 0.00332655 -0.0166027 0.0131961 0.999775 -0.0168634 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 84 to 4504219443739636664 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.163822) and 384(1311875586.025967) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999837 0.00727425 0.0165077 0.0393369 -0.00705477 0.999886 -0.0133147 0.00332655 -0.0166027 0.0131961 0.999775 -0.0168634 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999652 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3140/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 84 to 4504219443739636664 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.163822) and 384(1311875586.025967) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999754 0.00787127 0.0207381 0.0299776 -0.00758057 0.999872 -0.0140594 -0.00234534 -0.0208461 0.0138987 0.999686 -0.0260921 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999339 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1230/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 84 to 4504219443739636664 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.163822) and 384(1311875586.025967) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999682 0.00818635 0.023871 0.0225918 -0.00785624 0.999873 -0.0138901 0.00395179 -0.0239816 0.0136981 0.999619 -0.0257908 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999713 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1405/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.858005 resInfo good: 8409, 9 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7203/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999731 0.00653779 0.0222736 0.0343612 -0.006235 0.999888 -0.0136367 0.00646012 -0.0223603 0.0134941 0.999659 -0.0241357 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!388 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!389 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 390 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!390 INF|Input.cpp[getImages,132]: mNbReceivedImages!391 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.195384 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999476 0.00868232 0.0311677 0.0420862 -0.00810148 0.999792 -0.0187142 0.0106335 -0.0313237 0.0184519 0.999339 -0.0331967 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 84 to 4504219443739636664 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.195384) and 384(1311875586.025967) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999476 0.00868232 0.0311677 0.0420862 -0.00810148 0.999792 -0.0187142 0.0106335 -0.0313237 0.0184519 0.999339 -0.0331967 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999996 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2390/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 84 to 4504219443739636664 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.195384) and 384(1311875586.025967) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999499 0.00963074 0.0301543 0.0416928 -0.0089375 0.999695 -0.0230407 0.0075327 -0.0303669 0.0227596 0.99928 -0.0199807 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999717 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2317/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 84 to 4504219443739636664 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.195384) and 384(1311875586.025967) on lvl: 0 Input.cpp[readImages,206]: Got image from sensor!390 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999333 0.00949753 0.035249 0.030384 -0.00872436 0.999719 -0.0220242 0.0134663 -0.0354483 0.021702 0.999136 -0.0241069 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.99927 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1382/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.987542 resInfo good: 8267, 151 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7819/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999395 0.00797822 0.0338635 0.0383574 -0.00734381 0.999796 -0.0188175 0.00835884 -0.0340068 0.0185574 0.999249 -0.0265072 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!389 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 391 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!391 INF|Input.cpp[getImages,132]: mNbReceivedImages!392 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.227384 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998922 0.00947724 0.0454412 0.0423283 -0.00839216 0.999676 -0.0240103 0.0102649 -0.0456541 0.023603 0.998678 -0.0289152 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 84 to 4504219443739636664 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.227384) and 384(1311875586.025967) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998922 0.00947724 0.0454412 0.0423283 -0.00839216 0.999676 -0.0240103 0.0102649 -0.0456541 0.023603 0.998678 -0.0289152 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999688 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2194/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 84 to 4504219443739636664 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.227384) and 384(1311875586.025967) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999243 0.00985196 0.0376215 0.0592024 -0.00871573 0.999504 -0.0302473 0.00531292 -0.0379009 0.0298965 0.998834 -0.0245974 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999445 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1760/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 84 to 4504219443739636664 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.227384) and 384(1311875586.025967) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999086 0.00971121 0.0416293 0.0516981 -0.00845754 0.999509 -0.0301861 0.0142592 -0.041902 0.0298064 0.998677 -0.0278894 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999615 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1166/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.12498 resInfo good: 8182, 236 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6865/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999017 0.00926018 0.0433502 0.0483377 -0.00808451 0.999597 -0.0272175 0.00877511 -0.0435848 0.0268403 0.998689 -0.0328269 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875586.227384 Input.cpp[readImages,206]: Got image from sensor!391 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875586.227384 to keyframe with id: 4504219443739636664 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875586.227384 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 934 size: 6485 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId4504219443739636664 timestamp: 1311875586.227384 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -7.84772 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -10.7302 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 341 keyframeId: 76 score: -11.7724 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -13.7657 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 372 keyframeId: 82 score: -15.4048 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 378 keyframeId: 83 score: -12.3219 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 85 = 85 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2715fb20 fh1 0xa25ee80fh->id: 60 85 390goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2715fb20 fh1 0x591ac00fh->id: 71 85 390goodE: 42 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2715fb20 fh1 0x226a5fe0fh->id: 76 85 390goodE: 174 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2715fb20 fh1 0x20ce020fh->id: 80 85 390goodE: 108 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2715fb20 fh1 0x2624ec40fh->id: 82 85 390goodE: 104 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2715fb20 fh1 0x2529eb00fh->id: 83 85 390goodE: 24 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2715fb20 fh1 0x1f3c1300fh->id: 84 85 390goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew85 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 392 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 107 out of 116 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 116 newEdgePixels: 116 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2432 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 375 lastEnergy: 551.837 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 74 INF|LocalMapper.cpp[optimize,276]: Start Energy: 551.837 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 7.55067e-12 3.75331e-12 -4.52003e-12 8.44538e-12 0.00696754 -0.0100935 -0.00502593 -0.00159971 -0.000679004 0.000281371 0.000761491 0.0036367 -0.000347522 0.000454123 -0.000478002 0.00024019 -0.00330387 0.00591182 0.00339314 0.000613598 -0.000469817 0.000309813 -0.0104373 0.00923378 0.00101903 0.00133518 0.000645023 -0.000346765 -0.00613955 0.00671785 0.00408449 0.00101528 0.000669526 -0.000207272 -0.00732468 0.0079407 0.00993177 0.00135969 0.000731408 -0.000582828 -0.00618319 0.00695693 0.0199188 0.00143957 0.000564523 -0.000738475 -0.0138206 0.00648104 0.0248793 0.00170384 0.00164501 -0.00160699 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2432 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 516.968 0 0 newEnergyL 0 lastEnergy: 551.837 0 0 lastEnergyL: 0mActiveResiduals: 2432 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -8.86625e-12 5.03944e-12 3.38707e-12 -1.40491e-11 -0.00368492 0.0109174 0.00369949 0.00129995 0.000331064 0.000369756 0.00469769 -0.00182491 0.00115234 -0.000260497 -0.000469379 7.43501e-05 0.000552274 -0.00400741 -0.00188927 -0.000585072 -3.51666e-05 0.000139784 0.00111678 -0.00680718 -0.00214385 -0.00105691 -0.000571547 0.000470258 -0.00554568 -0.0104443 -0.00507226 -0.00150123 -0.000155339 0.000587508 -0.00527909 -0.00607956 -0.00669061 -0.00108718 -0.000223554 0.000995041 -0.0180007 -0.00335225 -0.00840831 -0.000716986 0.00140429 0.000829207 -0.00378522 -0.00584521 0.000432519 -0.000681294 -0.000230063 0.000640174 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2432 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 502.492 0 0 newEnergyL 0 lastEnergy: 516.968 0 0 lastEnergyL: 0mActiveResiduals: 2432 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!392 INF|Input.cpp[getImages,132]: mNbReceivedImages!393 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.08074e-11 -3.13339e-12 8.50685e-13 1.08717e-11 0.000965968 -0.00903027 -0.00229399 -0.0021258 -0.00161066 0.00249532 -0.00217532 -0.00389229 -0.000476855 -0.000131757 -0.000366373 0.00329273 -0.0039505 7.96196e-05 -0.00278082 0.00109546 -0.000669438 0.00308465 0.00133088 0.0014427 -0.00328767 0.00182743 -0.00134343 0.00219012 0.00125481 0.0045467 0.00181742 0.00241327 -0.00111051 0.0020866 0.00113013 0.0036156 0.00318719 0.00257625 -0.00112084 0.00171414 0.00383344 -0.00315163 0.0036066 0.00176467 -0.00147337 0.00157198 -0.00178475 0.00483374 0.00215829 0.0029074 -0.00078818 0.00122797 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2432 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 495.2 0 0 newEnergyL 0 lastEnergy: 502.492 0 0 lastEnergyL: 0mActiveResiduals: 2432 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.45609e-11 2.69566e-12 -2.31945e-12 -2.06621e-11 -0.000957475 0.00984553 0.00329742 0.00212444 0.00213573 -0.00215538 0.00173828 0.000574185 0.00368109 -0.000182058 0.00117933 -0.00327565 0.00130359 0.00178032 0.00215485 -0.000953593 0.00170916 -0.0026096 0.00543148 -0.0045528 0.00210875 -0.00215668 0.00107132 -0.00183075 -0.00223164 -0.00455856 -0.00185749 -0.00233309 0.0017774 -0.00162964 -0.00103222 -0.00281915 -0.00287435 -0.00231138 0.00164374 -0.00126328 -0.00524388 0.00710774 -0.0014476 -0.00114958 0.00223566 -0.001282 -0.00145456 -0.00500136 -0.00493242 -0.00276537 0.00185735 -0.00113634 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2432 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 489.25 0 0 newEnergyL 0 lastEnergy: 495.2 0 0 lastEnergyL: 0mActiveResiduals: 2432 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.79981e-11 -4.60451e-12 2.82105e-12 2.54526e-11 -0.000373687 -0.00841719 -0.00195424 -0.00210295 -0.00177824 0.00261942 -0.00147443 -0.00603683 -0.00216595 -0.000466227 -0.000719289 0.00365238 -0.00118648 -0.000380248 -0.00273681 0.00114095 -0.00136425 0.00320909 -0.00103151 0.00231511 -0.0034931 0.00191817 -0.00139878 0.00236537 0.00110953 0.00223831 0.00152559 0.00219152 -0.00129677 0.00213214 0.000361585 0.00321234 0.00263631 0.00254248 -0.00118075 0.00178792 0.00335526 -0.00250956 0.00385194 0.00198405 -0.00167334 0.0018789 8.79129e-05 0.00709886 0.00460804 0.00333113 -0.00135064 0.00149792 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2432 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 481.213 0 0 newEnergyL 0 lastEnergy: 489.25 0 0 lastEnergyL: 0mActiveResiduals: 2432 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.35935e-11 6.94109e-12 -7.02104e-12 -2.54225e-11 0.00101725 0.0103946 0.00172224 0.00233136 0.00145921 -0.00310283 0.00128168 0.00448369 0.00277568 3.17106e-05 0.000493937 -0.00398399 -0.000712102 0.00225221 0.00176079 -0.00115713 0.0013442 -0.00359837 0.00223192 -0.0010681 0.00348236 -0.00201181 0.00114337 -0.00302118 -0.00109092 -0.000837903 -0.00173243 -0.00235478 0.00122745 -0.00265875 -0.000550408 -0.0021638 -0.001014 -0.00267317 0.00113584 -0.00238582 -0.00160136 -0.00463616 -0.00565996 -0.00331821 0.00146903 -0.00231587 -0.000767197 -0.00594502 -0.00404522 -0.00355286 0.00151173 -0.00196629 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2432 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 477.511 0 0 newEnergyL 0 lastEnergy: 481.213 0 0 lastEnergyL: 0mActiveResiduals: 2432 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 477.511 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2432 INF|LocalMapper.cpp[optimize,345]: End Energy: 477.511 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.458345 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.458345 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 82 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 82 with idx: 4 and allID: 372 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 60<->82 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 82->60 INF|LocalMapper.cpp[marginalizeFrame,772]: 71<->82 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 82->71 INF|LocalMapper.cpp[marginalizeFrame,772]: 76<->82 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 82->76 INF|LocalMapper.cpp[marginalizeFrame,801]: 82 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 82 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 Input.cpp[readImages,206]: Got image from sensor!392 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 30574 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2715fb20 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 85 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 57 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 34 with distance 0.166Found rest min at: 56 with distance 0.096 overall min: 0.096 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 34 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 703 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 85 into DB 0.166 34 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 34 and real id(62) current kf: 85(390) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.782013 0.263334 -0.564899 -1.06176 -0.156597 0.9603 0.230871 0.0974455 0.603268 -0.0920825 0.792205 0.0924058 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 62 currFrame: 85 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.782013 0.263334 -0.564899 -1.06176 -0.156597 0.9603 0.230871 0.0974455 0.603268 -0.0920825 0.792205 0.0924058 avg 0.00313495 eye: 0.000438709 edge: 85 to 62 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 674 < 5811 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 85 and 62 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 85 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 85 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1428 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 391 keyframes 86 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 475 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.261721 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 393 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999956 -0.000248825 0.00940898 0.00942777 0.000318829 0.999972 -0.00743942 -0.000435375 -0.00940687 0.00744209 0.999928 -0.0110071 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 85 to 671519264 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.261721) and 390(1311875586.227384) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999956 -0.000248825 0.00940898 0.00942777 0.000318829 0.999972 -0.00743942 -0.000435375 -0.00940687 0.00744209 0.999928 -0.0110071 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!393 INF|Input.cpp[getImages,132]: mNbReceivedImages!394 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3760/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 85 to 671519264 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.261721) and 390(1311875586.227384) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999967 -0.00143616 0.00803641 0.0111816 0.00151486 0.999951 -0.00979615 -0.00210697 -0.00802195 0.009808 0.99992 -0.00320861 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999546 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3443/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 85 to 671519264 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.261721) and 390(1311875586.227384) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999969 -0.00132293 0.00776603 0.0186545 0.00138942 0.999962 -0.0085626 -0.00055928 -0.00775441 0.00857313 0.999933 -0.00199878 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999992 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1658/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.554259 resInfo good: 6482, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10312/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999941 -0.000778493 0.0108742 0.00935936 0.000863824 0.999969 -0.00784459 0.00126208 -0.0108677 0.00785352 0.99991 -0.00468702 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!391 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 760 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.295336 Input.cpp[readImages,206]: Got image from sensor!393 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999762 -0.00147152 0.0217528 0.0186662 0.00181282 0.999875 -0.0156788 0.00256897 -0.021727 0.0157145 0.99964 -0.00946543 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 85 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.295336) and 390(1311875586.227384) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999762 -0.00147152 0.0217528 0.0186662 0.00181282 0.999875 -0.0156788 0.00256897 -0.021727 0.0157145 0.99964 -0.00946543 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 394 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999658 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3012/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 85 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.295336) and 390(1311875586.227384) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999811 -0.00328258 0.0191806 0.0187339 0.00356671 0.999884 -0.0147982 -0.00186601 -0.0191298 0.0148638 0.999707 -0.00768514 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!394 INF|Input.cpp[getImages,132]: mNbReceivedImages!395 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4046/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 85 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.295336) and 390(1311875586.227384) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999761 -0.00343176 0.021585 0.0177004 0.00372982 0.999898 -0.0137837 0.00177039 -0.0215355 0.0138609 0.999672 -0.00893391 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999774 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1623/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.770185 resInfo good: 6478, 7 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10107/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999738 -0.00354991 0.0226158 0.0165618 0.00385308 0.999903 -0.0133761 0.00344954 -0.0225662 0.0134597 0.999655 -0.00899508 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!392 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.328161 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999582 -0.00491086 0.0284913 0.0201417 0.00537191 0.999855 -0.0161284 0.00456014 -0.028408 0.0162747 0.999464 -0.011176 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 85 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.328161) and 390(1311875586.227384) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999582 -0.00491086 0.0284913 0.0201417 0.00537191 0.999855 -0.0161284 0.00456014 -0.028408 0.0162747 0.999464 -0.011176 Input.cpp[readImages,206]: Got image from sensor!394 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 395 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 10,0.999927 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4870/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 85 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.328161) and 390(1311875586.227384) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999585 -0.0054832 0.0282893 0.0306768 0.00599425 0.99982 -0.0180121 -0.00159538 -0.0281854 0.0181742 0.999437 -0.0161385 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999334 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2815/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 85 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.328161) and 390(1311875586.227384) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999525 -0.00642518 0.0301559 0.0327572 0.00694914 0.999826 -0.0173026 0.00287943 -0.0300394 0.0175039 0.999395 -0.016233 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999419 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1169/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.918436 resInfo good: 6470, 15 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10375/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999449 -0.00589296 0.0326657 0.0235459 0.00644249 0.999839 -0.0167431 0.00287624 -0.0325618 0.0169444 0.999326 -0.0149035 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!393 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!395 INF|Input.cpp[getImages,132]: mNbReceivedImages!396 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.362850 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999265 -0.0070513 0.0376924 0.0270161 0.00774977 0.9998 -0.0184168 0.00260376 -0.0375551 0.0186953 0.99912 -0.0178846 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 85 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.362850) and 390(1311875586.227384) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999265 -0.0070513 0.0376924 0.0270161 0.00774977 0.9998 -0.0184168 0.00260376 -0.0375551 0.0186953 0.99912 -0.0178846 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999129 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2160/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 85 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.362850) and 390(1311875586.227384) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99931 -0.00556751 0.0367192 0.0361896 0.00628836 0.999789 -0.0195455 0.00128134 -0.0366026 0.0197629 0.999134 -0.0205557 Input.cpp[readImages,206]: Got image from sensor!395 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999407 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4073/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 85 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.362850) and 390(1311875586.227384) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999166 -0.00669551 0.0402922 0.0299802 0.00756529 0.999741 -0.0214732 0.00752088 -0.040138 0.0217601 0.998957 -0.0215424 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 396 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2366/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.0184 resInfo good: 6456, 29 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10070/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999115 -0.00716167 0.0414439 0.0274816 0.00800534 0.999763 -0.0202269 0.00615302 -0.0412893 0.0205408 0.998936 -0.0215647 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875586.362850 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875586.362850 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875586.362850 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1003 size: 7798 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875586.362850 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -7.92476 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -10.866 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 341 keyframeId: 76 score: -11.955 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -12.3119 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 378 keyframeId: 83 score: -13.8177 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 384 keyframeId: 84 score: -11.4047 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 86 = 86 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28069240 fh1 0xa25ee80fh->id: 60 86 394goodE: 9 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28069240 fh1 0x591ac00fh->id: 71 86 394goodE: 25 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28069240 fh1 0x226a5fe0fh->id: 76 86 394goodE: 156 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28069240 fh1 0x20ce020fh->id: 80 86 394goodE: 102 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28069240 fh1 0x2529eb00fh->id: 83 86 394goodE: 28 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28069240 fh1 0x1f3c1300fh->id: 84 86 394goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28069240 fh1 0x2715fb20fh->id: 85 86 394goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew86 Input.cpp[readImages,192]: readImages loop! INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 177 out of 188 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 188 newEdgePixels: 188 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2084 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 308 lastEnergy: 536.284 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 75 INF|LocalMapper.cpp[optimize,276]: Start Energy: 536.284 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 8.38399e-12 -1.38882e-11 -6.27384e-12 2.48854e-11 0.00114446 -0.00334398 -0.00251759 -0.000321838 -0.000393854 6.08222e-05 -0.00982379 -0.00660056 -0.00201868 -0.000649073 0.000749255 0.000659566 -0.00153459 -0.00104715 0.000906015 0.000160813 -0.000453327 0.000314578 -0.00244002 -0.000518995 -0.000208869 0.000394109 -0.000119028 -0.000303181 0.0110006 0.0108757 0.00521502 0.00207199 -0.000908679 -0.000690859 0.0126343 0.00253754 0.0108605 0.0012312 -0.00167537 -0.000973206 0.0119457 0.0111388 0.0105369 0.00211598 -0.00138169 -0.00107236 0.00468017 0.000489312 0.0070394 0.000704891 -0.000628656 -0.000424507 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2084 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 494.479 0 0 newEnergyL 0 lastEnergy: 536.284 0 0 lastEnergyL: 0mActiveResiduals: 2084 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -3.60909e-12 2.07957e-12 -2.51363e-13 -7.44156e-12 0.000209102 0.00233993 0.000998265 0.000294961 -2.59564e-05 7.35843e-05 0.00328074 0.00346995 -0.000700116 0.000417019 -0.000430508 3.71453e-05 -2.15101e-05 -0.00519554 -0.00260366 -0.000711781 9.35104e-05 -6.89278e-05 0.00898591 -0.0019964 -0.00163917 -0.000251677 -0.00108328 -8.44407e-05 -0.01093 -0.00488602 -0.00358054 -0.000674652 0.000792441 1.32861e-05 -0.0117375 -0.00444289 -0.00476074 -0.000770752 0.000976589 0.00033936 -0.00509093 -0.0111075 -0.00374043 -0.00165265 9.90855e-05 0.000310067 -0.000562024 -0.0018023 -0.00307384 -0.000503503 -0.000311992 0.000212114 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2084 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 485.268 0 0 newEnergyL 0 lastEnergy: 494.479 0 0 lastEnergyL: 0mActiveResiduals: 2084 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.85455e-12 1.90292e-12 1.05418e-11 8.11293e-12 -0.00138257 -0.00130636 -0.000249947 -0.000809704 -0.00062664 0.00127547 -0.00031088 -0.00631737 -0.000938421 -0.000767768 -0.000289379 0.00171934 0.00206546 -0.00110448 -0.000933498 0.000243096 -0.000839535 0.00170455 -0.00527499 -0.000581207 -0.000920907 0.000486726 -0.00015274 0.00160934 0.00537902 0.000335294 0.00129043 0.000907186 -0.000962426 0.00102326 0.00428608 0.00310015 0.00239293 0.00134726 -0.000892003 0.000862732 -0.00248758 0.00551484 -0.000965793 0.00176241 -1.42048e-05 0.000772225 -0.00253433 -0.00073272 0.00287295 0.000981121 -0.000186984 0.000975308 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2084 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 473.261 0 0 newEnergyL 0 lastEnergy: 485.268 0 0 lastEnergyL: 0mActiveResiduals: 2084 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -4.55262e-14 -5.17161e-13 3.50463e-12 8.96375e-13 -0.00126536 0.00228803 0.00063956 0.000687021 0.000810203 -0.000929974 0.00108224 0.00518084 0.00103614 0.000549143 0.000346814 -0.00138924 0.00199696 -0.00175503 0.00166931 -0.000700601 0.00067647 -0.00140343 0.00554731 0.00052866 -0.000345747 -0.00050484 0.000461746 -0.0012066 -0.00328408 -0.00190889 -0.000791783 -0.00104435 0.000958222 -0.000611345 -0.00425358 -0.000935631 -0.00213542 -0.000933483 0.00110149 -0.000642637 -0.000690991 -0.00509002 -0.000764641 -0.00159311 0.000664667 -0.000539729 0.000346909 0.00272351 -0.000651208 -0.000495634 0.000711707 -0.000585274 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2084 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 471.191 0 0 newEnergyL 0 lastEnergy: 473.261 0 0 lastEnergyL: 0mActiveResiduals: 2084 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -3.43831e-13 3.76406e-12 7.1748e-12 4.10658e-12 0.000475646 -0.00134625 -0.000245457 -0.000429962 -0.000650648 0.000395481 -0.000196076 -0.000326435 -0.0009265 -9.96586e-05 -0.000507799 0.000672139 -0.00030275 -0.0014586 -0.00193318 -2.15057e-05 -0.000816602 0.000807272 -0.0065064 -0.00123856 -0.00053486 3.42914e-05 -0.000185498 0.000734266 0.00319812 0.00224195 0.000807673 0.000712454 -0.000683574 0.000105945 0.00668107 -0.000605788 -0.000153859 0.000299321 -0.00101084 0.000201456 -0.00341251 0.00348743 0.000681278 0.000950777 4.73672e-05 0.000463712 0.000883689 -0.0017355 0.00255245 0.000226 -0.000573426 0.000225711 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2084 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 460.955 0 0 newEnergyL 0 lastEnergy: 471.191 0 0 lastEnergyL: 0mActiveResiduals: 2084 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -2.0993e-12 2.25259e-15 -2.12342e-12 -9.38006e-12 0.000703357 0.00154322 -1.85084e-05 0.000326016 0.000355317 -0.000367494 -0.000395195 -1.02904e-05 -8.63255e-05 -5.20948e-05 0.000320282 -0.000470663 -0.00277454 0.00137659 0.00155377 -2.59894e-05 0.00092251 -0.000793745 0.00890978 0.00127393 0.00076703 -8.55182e-05 -0.000402884 -0.000715511 -0.00207365 -0.00273424 0.000421265 -0.000758885 0.00024621 -0.000189899 -0.00922995 1.27846e-05 0.000759394 -0.000284117 0.00101459 -0.000391899 0.00367661 -0.00340237 -0.000695767 -0.000920189 -0.000371559 -0.000547184 0.00110121 0.0024782 -0.00285356 -0.00011698 5.5055e-05 -0.000459967 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2084 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 461.871 0 0 newEnergyL 0 lastEnergy: 460.955 0 0 lastEnergyL: 0mActiveResiduals: 2084 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 461.871 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2084 INF|LocalMapper.cpp[optimize,345]: End Energy: 461.871 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.476407 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.476407 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 83 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 83 with idx: 4 and allID: 378 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 60<->83 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 83->60 INF|LocalMapper.cpp[marginalizeFrame,772]: 71<->83 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 83->71 INF|LocalMapper.cpp[marginalizeFrame,772]: 76<->83 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 83->76 INF|LocalMapper.cpp[marginalizeFrame,801]: 83 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 83 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 13256 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x28069240 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 86 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 58 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 34 with distance 0.192Found rest min at: 57 with distance 0.094 overall min: 0.094 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 34 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 698 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 86 into DB 0.192 34 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 34 and real id(62) current kf: 86(394) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.755455 0.28053 -0.592107 -1.09708 -0.153582 0.954345 0.2562 0.10247 0.636946 -0.102611 0.764049 0.0954668 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 62 currFrame: 86 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00515648 eye: 0.000404957 edge: 86 to 62 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 86 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 394(1311875586.362850) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 13,0.999828 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3923/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 86 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 394(1311875586.362850) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.984985 -0.112582 0.130882 -0.511573 0.114061 0.993466 -0.00383648 -0.00235263 -0.129595 0.0187073 0.991391 -0.430402 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999066 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1082/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 86 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 394(1311875586.362850) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.984219 -0.118889 0.131063 -0.511907 0.120315 0.992731 -0.00298319 -0.00466613 -0.129756 0.0187049 0.99137 -0.433334 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 0,0.999568 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1168/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.984185 -0.119126 0.13111 -0.511807 0.12055 0.992703 -0.0029483 -0.0047519 -0.129802 0.018707 0.991363 -0.43331 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 61 end 64 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 10867 o[1]: 1619 o[2]: 737 o[3]: 224 histWeights: 1 1 1.25 1.5overlap: 2876.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7798 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 62 and 86 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 86 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 86 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 9888 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 395 keyframes 87 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 518 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!396 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.396579 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 397 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999961 -0.000814693 0.00875522 0.00416217 0.000844373 0.999994 -0.00338678 0.00271515 -0.00875241 0.00339404 0.999956 -0.00699175 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 86 to 639273920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.396579) and 394(1311875586.362850) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999961 -0.000814693 0.00875522 0.00416217 0.000844373 0.999994 -0.00338678 0.00271515 -0.00875241 0.00339404 0.999956 -0.00699175 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!397 INF|Input.cpp[getImages,132]: mNbReceivedImages!398 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999747 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3150/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 86 to 639273920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.396579) and 394(1311875586.362850) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999975 -0.00295716 0.00636218 0.00499742 0.00298271 0.999988 -0.00401124 0.00126336 -0.00635024 0.00403012 0.999972 -0.00852929 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 4): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3927/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 86 to 639273920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.396579) and 394(1311875586.362850) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999968 -0.00299215 0.00747572 0.00658624 0.00300274 0.999995 -0.00140607 -0.00115402 -0.00747147 0.00142847 0.999971 -0.00714092 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999733 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2205/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.468844 resInfo good: 7798, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10978/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999957 -0.00357882 0.00854032 0.00598857 0.0035812 0.999994 -0.000263569 -0.00143209 -0.00853932 0.000294142 0.999963 -0.00680746 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!395 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.425735 Input.cpp[readImages,206]: Got image from sensor!397 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999829 -0.00715496 0.0170809 0.0119239 0.00716448 0.999974 -0.000496542 -0.00284093 -0.0170769 0.000618833 0.999854 -0.0136662 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 86 to 639273920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.425735) and 394(1311875586.362850) on lvl: 2 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 398 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999829 -0.00715496 0.0170809 0.0119239 0.00716448 0.999974 -0.000496542 -0.00284093 -0.0170769 0.000618833 0.999854 -0.0136662 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.99945 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3628/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 86 to 639273920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.425735) and 394(1311875586.362850) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.9999 -0.00691006 0.0123239 0.0214686 0.00698884 0.999955 -0.00636073 0.0053857 -0.0122794 0.00644622 0.999904 -0.0113955 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!398 INF|Input.cpp[getImages,132]: mNbReceivedImages!399 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999963 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3931/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 86 to 639273920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.425735) and 394(1311875586.362850) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999858 -0.00677613 0.0154208 0.0153836 0.00683076 0.999971 -0.00349252 0.00285134 -0.0153967 0.00359736 0.999875 -0.0116958 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3103/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.674443 resInfo good: 7794, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 12366/12 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999838 -0.0073016 0.0164789 0.0149187 0.00734298 0.99997 -0.00245215 0.00253572 -0.0164605 0.00257276 0.999861 -0.0110107 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!396 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.464110 Input.cpp[readImages,206]: Got image from sensor!398 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999749 -0.00915614 0.0204509 0.0193656 0.00923031 0.999951 -0.00353522 0.00453565 -0.0204175 0.0037231 0.999785 -0.0131355 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 86 to 639273920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.464110) and 394(1311875586.362850) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999749 -0.00915614 0.0204509 0.0193656 0.00923031 0.999951 -0.00353522 0.00453565 -0.0204175 0.0037231 0.999785 -0.0131355 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 399 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.99906 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4475/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 86 to 639273920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.464110) and 394(1311875586.362850) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999727 -0.0101215 0.0210811 0.0238249 0.0102543 0.999928 -0.00619744 0.00136774 -0.0210168 0.00641191 0.999759 -0.0228609 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!399 INF|Input.cpp[getImages,132]: mNbReceivedImages!400 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999812 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3550/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 86 to 639273920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.464110) and 394(1311875586.362850) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999693 -0.00976818 0.0227841 0.0241003 0.00988455 0.999939 -0.00500048 0.00363763 -0.0227338 0.00522415 0.999728 -0.01877 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999932 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2695/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.822106 resInfo good: 7725, 73 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 12420/12 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999673 -0.00984198 0.0235803 0.0235878 0.00996065 0.999938 -0.00492017 0.00658778 -0.0235304 0.00515343 0.99971 -0.0175731 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!397 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.496543 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,206]: Got image from sensor!399 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999453 -0.0123639 0.0306868 0.0321997 0.0125956 0.999894 -0.00736949 0.0106786 -0.0305924 0.00775197 0.999502 -0.0241866 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 86 to 639273920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.496543) and 394(1311875586.362850) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999453 -0.0123639 0.0306868 0.0321997 0.0125956 0.999894 -0.00736949 0.0106786 -0.0305924 0.00775197 0.999502 -0.0241866 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999582 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2643/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 86 to 639273920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.496543) and 394(1311875586.362850) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999488 -0.0124341 0.029466 0.0280975 0.0126787 0.999887 -0.00812709 0.00693421 -0.0293616 0.00849652 0.999533 -0.0331872 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 400 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999642 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4374/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 86 to 639273920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.496543) and 394(1311875586.362850) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999449 -0.0128697 0.0305978 0.0305865 0.0130393 0.999901 -0.00534728 0.00631192 -0.030526 0.0057433 0.999517 -0.02648 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!400 INF|Input.cpp[getImages,132]: mNbReceivedImages!401 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999865 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1917/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.93636 resInfo good: 7562, 236 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10552/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999411 -0.0129947 0.0317636 0.0293659 0.0131679 0.9999 -0.00525017 0.00941468 -0.0316922 0.00566534 0.999482 -0.0245156 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!398 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.525678 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999071 -0.0161429 0.0399457 0.035078 0.0163775 0.99985 -0.00555391 0.0122629 -0.0398501 0.00620296 0.999186 -0.0315038 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 86 to 639273920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.525678) and 394(1311875586.362850) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999071 -0.0161429 0.0399457 0.035078 0.0163775 0.99985 -0.00555391 0.0122629 -0.0398501 0.00620296 0.999186 -0.0315038 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999445 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2428/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 86 to 639273920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.525678) and 394(1311875586.362850) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999146 -0.0182307 0.0370716 0.0380644 0.0185005 0.999805 -0.00694645 0.0115598 -0.0369377 0.00762636 0.999288 -0.0342913 Input.cpp[readImages,206]: Got image from sensor!400 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999811 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1636/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 86 to 639273920 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.525678) and 394(1311875586.362850) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999119 -0.0178612 0.0379758 0.0402735 0.0181468 0.999809 -0.00718818 0.010931 -0.0378401 0.00787099 0.999253 -0.0355522 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999878 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1613/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.03205 resInfo good: 7346, 452 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7189/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.99904 -0.0178008 0.0400365 0.0337935 0.0180625 0.999818 -0.00618391 0.012025 -0.0399191 0.00690113 0.999179 -0.0347288 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875586.525678 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875586.525678 to keyframe with id: 639273920 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875586.525678 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 401 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1022 size: 7113 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId639273920 timestamp: 1311875586.525678 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 259 keyframeId: 60 score: -7.91053 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -10.8932 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 341 keyframeId: 76 score: -11.8901 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -11.1204 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 384 keyframeId: 84 score: -11.6005 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 390 keyframeId: 85 score: -10.1083 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 87 = 87 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x6f0c780 fh1 0xa25ee80fh->id: 60 87 399goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x6f0c780 fh1 0x591ac00fh->id: 71 87 399goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x6f0c780 fh1 0x226a5fe0fh->id: 76 87 399goodE: 151 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x6f0c780 fh1 0x20ce020fh->id: 80 87 399goodE: 99 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x6f0c780 fh1 0x1f3c1300fh->id: 84 87 399goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x6f0c780 fh1 0x2715fb20fh->id: 85 87 399goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x6f0c780 fh1 0x28069240fh->id: 86 87 399goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew87 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 178 out of 192 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 192 newEdgePixels: 192 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1963 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!401 INF|Input.cpp[getImages,132]: mNbReceivedImages!402 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 323 lastEnergy: 509.595 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 71 INF|LocalMapper.cpp[optimize,276]: Start Energy: 509.595 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 3.80561e-12 -6.49418e-12 -1.9748e-11 1.04666e-11 0.00283643 -0.00264098 -0.00130631 4.328e-05 -2.11008e-06 -0.000511127 0.00230469 0.00779849 0.000372136 0.00132533 -0.000257312 -0.000458484 0.00110928 -0.000969774 0.0015784 -2.10441e-06 -9.17247e-05 -6.16112e-05 -0.00420031 -0.00604456 0.00194989 -0.000516711 0.000573358 -0.000182394 0.00633019 0.00428424 0.00695556 0.00098898 0.000346131 -0.000442587 0.00458164 0.00247858 0.0105689 0.000772483 0.000242328 -0.000820662 0.00405726 -0.00586319 0.0109124 -0.000437557 0.000230478 -0.000656049 0.00208489 -0.00878877 0.0169222 -0.000751033 0.000791775 -0.00118651 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1963 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 469.308 0 0 newEnergyL 0 lastEnergy: 509.595 0 0 lastEnergyL: 0mActiveResiduals: 1963 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 8.64311e-12 1.37548e-12 1.41487e-12 8.80158e-12 0.000378755 0.00144142 -1.25477e-05 0.000166209 -4.68093e-05 4.74828e-05 -0.00397458 -0.00369165 -0.00026621 -0.000502617 0.00047816 0.000172157 0.00219111 1.5731e-05 0.00061614 -4.24912e-05 -0.000179606 -0.00020099 0.00820704 -0.00227694 -0.00229087 -0.000312918 -0.000879235 -0.000460373 -0.00534044 -0.000602292 -0.000779801 -0.000100413 0.000323306 -0.000159012 -0.00492945 -0.00733397 -0.000694141 -0.00113906 0.000198153 -0.000204915 -0.00574495 -0.00112684 -0.00182714 -0.000210756 0.00039887 -0.000322612 0.00467765 -0.0110499 -0.00273793 -0.00160888 -0.000751451 -0.000144787 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1963 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 453.462 0 0 newEnergyL 0 lastEnergy: 469.308 0 0 lastEnergyL: 0mActiveResiduals: 1963 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.58837e-12 4.00596e-12 1.53369e-11 3.4276e-12 0.00156179 6.26405e-06 -0.000500183 2.12796e-05 -0.00012692 -0.000106688 -0.00162596 0.000195747 0.000369306 6.30564e-05 1.72683e-05 -3.78653e-05 -0.00119617 0.000404356 0.000147463 -5.92554e-06 -0.000193681 2.37853e-05 -0.00175535 8.47668e-05 -0.000619069 -5.73808e-05 -0.000170932 -9.85315e-05 0.00345869 -0.00126809 0.000121174 -0.000122716 -0.00054576 -2.95718e-05 -0.000656153 0.000583146 -0.0013316 0.000140409 -1.71068e-05 0.000144023 0.00221171 0.000802843 7.48862e-05 0.00011208 -0.000381649 -0.000111237 -0.00134511 -0.000585552 0.00153163 -1.21902e-05 -9.69854e-05 -9.58375e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1963 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 438.984 0 0 newEnergyL 0 lastEnergy: 453.462 0 0 lastEnergyL: 0mActiveResiduals: 1963 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 4.67248e-13 -4.97138e-12 -1.17738e-11 -8.59256e-12 -0.00317578 -0.00171482 0.00112988 -0.00019627 0.000375549 0.000326485 0.0007746 -0.000307784 5.81615e-05 8.66613e-05 0.000546992 0.000355336 0.00259425 0.001119 0.000520277 0.000370537 0.0006607 9.41967e-05 0.00529369 0.00101188 -0.000387586 0.000348353 0.000378011 0.000383401 0.000499944 6.06498e-05 -0.00149723 0.00018876 0.000761967 0.000444396 0.00224273 0.00041583 0.00190562 0.000327711 0.000459937 0.000278759 -0.00259975 -0.000219612 0.000922177 0.000240713 0.00106847 0.000427439 -0.00744268 -0.00020882 -0.0019088 0.000223132 0.00181431 0.000408086 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1963 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 436.395 0 0 newEnergyL 0 lastEnergy: 438.984 0 0 lastEnergyL: 0mActiveResiduals: 1963 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.93824e-12 4.92801e-12 5.6883e-12 -1.18182e-12 0.00326486 0.00118252 -0.00155477 0.000115874 -0.000741568 -0.000409919 -0.00207618 -0.00102717 -0.000517629 -0.000221533 -0.000627272 -0.000233292 -0.00258402 0.000258208 -0.000653658 -0.00012332 -0.000794722 -0.000130996 -0.00373052 0.000578909 0.00053812 -8.80715e-05 -0.000708313 -0.000296834 8.52996e-05 0.000687316 0.00251746 1.82122e-05 -0.000919978 -0.000425013 -0.00176854 -5.8041e-05 -0.00232714 -0.000245641 -0.000624352 -0.000326839 0.00505976 0.00124528 -0.000332741 -6.4086e-05 -0.00148013 -0.000433834 0.00389186 -0.00316785 0.00141353 -0.000573167 -0.00150926 -0.000408433 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1963 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 428.402 0 0 newEnergyL 0 lastEnergy: 436.395 0 0 lastEnergyL: 0mActiveResiduals: 1963 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -4.11804e-12 -3.40245e-12 -3.37354e-12 -6.85231e-12 -0.0027395 -0.000806889 0.000969424 -9.10586e-05 0.000331308 0.000303967 0.00139121 -0.000575047 -0.000256497 3.8186e-06 0.000234925 0.000286463 0.00263857 0.000888798 9.78088e-05 0.000235861 0.000327648 -2.4858e-05 0.00169906 -0.000232004 -0.000713419 9.08252e-05 0.000464973 0.000165267 0.00112837 -3.32455e-05 -0.00180874 7.41628e-05 0.000247561 0.000299177 0.00121106 0.000647269 0.00191012 0.000302617 0.000187177 0.000174298 -0.00358336 -0.00197038 0.000665192 -2.27125e-05 0.000725875 0.000264175 -0.0028503 0.00186924 -0.000455064 0.000397974 0.000773087 0.000333918 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1963 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 428.943 0 0 newEnergyL 0 lastEnergy: 428.402 0 0 lastEnergyL: 0mActiveResiduals: 1963 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 428.943 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1963 INF|LocalMapper.cpp[optimize,345]: End Energy: 428.943 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.475768 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.475768 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 76 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 76 with idx: 2 and allID: 341 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 60<->76 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 76->60 INF|LocalMapper.cpp[marginalizeFrame,772]: 71<->76 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 76->71 INF|LocalMapper.cpp[marginalizeFrame,772]: 76<->76 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 80<->76 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 76->80 INF|LocalMapper.cpp[marginalizeFrame,801]: 76 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 76 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 12518 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x6f0c780 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 87 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 59 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 34 with distance 0.186Found rest min at: 58 with distance 0.104 overall min: 0.104 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 34 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 691 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 87 into DB 0.186 34 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 34 and real id(62) current kf: 87(399) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.726336 0.300019 -0.618405 -1.15493 -0.161479 0.94901 0.270749 0.0974527 0.668103 -0.0967953 0.737746 0.105797 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 62 currFrame: 87 Input.cpp[readImages,206]: Got image from sensor!401 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.726336 0.300019 -0.618405 -1.15493 -0.161479 0.94901 0.270749 0.0974527 0.668103 -0.0967953 0.737746 0.105797 avg 0.0418843 eye: 0.000399799 edge: 87 to 62 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 55 < 7058 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 87 and 62 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 87 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 87 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1330 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 400 keyframes 88 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.561707 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 402 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999956 -0.00513666 0.00779298 0.00515138 0.00516006 0.999982 -0.00298552 0.00986414 -0.00777751 0.0030256 0.999965 -0.0121385 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 87 to 631500224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.561707) and 399(1311875586.525678) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999956 -0.00513666 0.00779298 0.00515138 0.00516006 0.999982 -0.00298552 0.00986414 -0.00777751 0.0030256 0.999965 -0.0121385 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!402 INF|Input.cpp[getImages,132]: mNbReceivedImages!403 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999414 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4179/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 87 to 631500224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.561707) and 399(1311875586.525678) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999979 -0.00353289 0.00537989 0.0064773 0.00356454 0.999976 -0.00588625 0.00181344 -0.00535897 0.0059053 0.999968 -0.00772714 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 4): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3202/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 87 to 631500224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.561707) and 399(1311875586.525678) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999964 -0.00450708 0.0071237 0.00789486 0.00452463 0.999987 -0.00244929 0.00039118 -0.00711256 0.00248144 0.999972 -0.00569489 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999406 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2898/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.478447 resInfo good: 7104, 9 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11781/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999957 -0.00446008 0.00812224 0.00765858 0.00447459 0.999988 -0.00176922 0.00153454 -0.00811425 0.00180549 0.999965 -0.00562632 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!400 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.593803 Input.cpp[readImages,206]: Got image from sensor!402 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999903 -0.00668455 0.0121861 0.0114681 0.0067172 0.999974 -0.00264018 0.00231839 -0.0121682 0.00272178 0.999922 -0.0084617 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 87 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.593803) and 399(1311875586.525678) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999903 -0.00668455 0.0121861 0.0114681 0.0067172 0.999974 -0.00264018 0.00231839 -0.0121682 0.00272178 0.999922 -0.0084617 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 403 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999976 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3824/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 87 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.593803) and 399(1311875586.525678) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999874 -0.0102719 0.0121281 0.0146839 0.0103395 0.999931 -0.00552473 1.40818e-05 -0.0120705 0.00564943 0.999911 -0.0133612 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!403 INF|Input.cpp[getImages,132]: mNbReceivedImages!404 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999961 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3470/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 87 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.593803) and 399(1311875586.525678) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999848 -0.00987377 0.0143692 0.0136358 0.00992658 0.999944 -0.00360806 0.000107795 -0.0143328 0.00375014 0.99989 -0.0143598 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999538 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2026/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.649009 resInfo good: 7100, 13 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10936/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99983 -0.00989358 0.0155854 0.0123829 0.00994657 0.999945 -0.00332612 0.0027158 -0.0155517 0.00348058 0.999873 -0.0141374 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!401 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 452 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.625705 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999734 -0.0126055 0.0193199 0.0147188 0.0126868 0.999911 -0.00408924 0.00332122 -0.0192666 0.00433326 0.999805 -0.0184054 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 87 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.625705) and 399(1311875586.525678) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999734 -0.0126055 0.0193199 0.0147188 0.0126868 0.999911 -0.00408924 0.00332122 -0.0192666 0.00433326 0.999805 -0.0184054 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999951 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1673/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 87 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.625705) and 399(1311875586.525678) on lvl: 1 Input.cpp[readImages,206]: Got image from sensor!403 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999688 -0.0156993 0.0194156 0.0154692 0.0158094 0.99986 -0.00553306 0.000689505 -0.019326 0.00583828 0.999796 -0.0182187 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999798 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1798/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 87 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.625705) and 399(1311875586.525678) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999642 -0.014649 0.0223745 0.0100827 0.0147406 0.999884 -0.00393671 0.00103062 -0.0223142 0.00426511 0.999742 -0.0257359 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999419 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1528/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.741522 resInfo good: 7108, 5 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6350/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999607 -0.0149789 0.0236759 0.0109077 0.0150648 0.999881 -0.00345581 0.00436383 -0.0236213 0.00381112 0.999714 -0.0227451 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!402 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 404 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.662702 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!404 INF|Input.cpp[getImages,132]: mNbReceivedImages!405 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999462 -0.0175203 0.0277207 0.010141 0.0176241 0.999839 -0.00350512 0.0051857 -0.0276549 0.00399178 0.99961 -0.0270443 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 87 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.662702) and 399(1311875586.525678) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999462 -0.0175203 0.0277207 0.010141 0.0176241 0.999839 -0.00350512 0.0051857 -0.0276549 0.00399178 0.99961 -0.0270443 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.99928 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2094/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 87 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.662702) and 399(1311875586.525678) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999598 -0.0173566 0.0224145 0.0290609 0.0176292 0.999772 -0.0120242 0.00686648 -0.0222007 0.0124145 0.999676 -0.0161054 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.99942 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1546/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 87 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.662702) and 399(1311875586.525678) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999495 -0.0181153 0.0261016 0.0229395 0.0183255 0.999801 -0.00783645 0.00334966 -0.0259545 0.00831082 0.999629 -0.0209027 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999774 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1286/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.853827 resInfo good: 7073, 40 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6375/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99943 -0.0188454 0.0280164 0.01951 0.0190184 0.999802 -0.00591841 0.00269731 -0.0278993 0.00644786 0.99959 -0.0218042 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!403 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!404 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 405 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.693999 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!405 INF|Input.cpp[getImages,132]: mNbReceivedImages!406 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999218 -0.0227002 0.032366 0.0281227 0.0229821 0.999701 -0.00836375 0.00106192 -0.0321664 0.00910105 0.999441 -0.0209048 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 87 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.693999) and 399(1311875586.525678) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999218 -0.0227002 0.032366 0.0281227 0.0229821 0.999701 -0.00836375 0.00106192 -0.0321664 0.00910105 0.999441 -0.0209048 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999677 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:665/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 87 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.693999) and 399(1311875586.525678) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999236 -0.0253307 0.0297645 0.0305643 0.0255901 0.999638 -0.00836694 -0.00577451 -0.0295418 0.00912223 0.999522 -0.0143857 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999338 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2998/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 87 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.693999) and 399(1311875586.525678) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999183 -0.0223917 0.0336339 0.0214185 0.0228419 0.999654 -0.01306 0.00810849 -0.0333299 0.0138176 0.999349 -0.0264131 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.99916 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1911/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.935984 resInfo good: 7047, 66 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7119/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999132 -0.0228908 0.0347942 0.0205957 0.0232725 0.999673 -0.0106043 0.00334499 -0.0345401 0.0114048 0.999338 -0.031016 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!404 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 509 Input.cpp[readImages,206]: Got image from sensor!405 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 406 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.729865 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!406 INF|Input.cpp[getImages,132]: mNbReceivedImages!407 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998773 -0.0269021 0.0415892 0.0216164 0.0275572 0.999504 -0.0152609 0.00404137 -0.041158 0.0163882 0.999018 -0.0402316 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 87 to 631500224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.729865) and 399(1311875586.525678) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998773 -0.0269021 0.0415892 0.0216164 0.0275572 0.999504 -0.0152609 0.00404137 -0.041158 0.0163882 0.999018 -0.0402316 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999495 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3319/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 87 to 631500224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.729865) and 399(1311875586.525678) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998921 -0.0273779 0.0375067 0.0271516 0.0279851 0.999484 -0.0157624 0.00125874 -0.0370558 0.016795 0.999172 -0.0291373 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999404 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:697/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 87 to 631500224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.729865) and 399(1311875586.525678) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999005 -0.0254455 0.036634 0.0362602 0.0260679 0.999522 -0.0166119 0.00690883 -0.0361937 0.0175504 0.999191 -0.0288065 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2573/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.03449 resInfo good: 6999, 114 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8224/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998822 -0.0268917 0.0404002 0.0285131 0.0274721 0.999526 -0.0138798 0.00519968 -0.0400078 0.0149734 0.999087 -0.0364446 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875586.729865 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875586.729865 to keyframe with id: 631500224 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875586.729865 Input.cpp[readImages,206]: Got image from sensor!406 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1042 size: 7918 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId631500224 timestamp: 1311875586.729865 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 88 = 88 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2804c280 fh1 0xa25ee80fh->id: 60 88 405goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2804c280 fh1 0x591ac00fh->id: 71 88 405goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2804c280 fh1 0x20ce020fh->id: 80 88 405goodE: 90 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2804c280 fh1 0x1f3c1300fh->id: 84 88 405goodE: 114 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2804c280 fh1 0x2715fb20fh->id: 85 88 405goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2804c280 fh1 0x28069240fh->id: 86 88 405goodE: 42 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2804c280 fh1 0x6f0c780fh->id: 87 88 405goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew88 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 407 INF|LocalMapper.cpp[optimize,276]: Start Energy: 488.164 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.3181e-12 1.02848e-12 -4.39614e-12 6.56095e-12 0.00232179 -0.0012444 -0.000695064 -0.000134334 5.75041e-05 -0.000291258 -0.00389504 0.00601708 -0.00165265 0.000633461 0.000417062 -0.000173282 0.00394536 -0.00633997 0.00172157 -0.0012047 -0.000561915 0.000146481 -0.00070625 -0.00215691 0.000652187 -0.000298869 0.00023533 -0.000553114 -0.00146125 -0.00589254 -0.00459615 -0.000764011 0.000569081 -0.000868419 0.00609587 -0.0105162 -0.000840731 -0.00138768 -0.000686588 -0.000276065 0.00412996 -0.00700596 0.0011111 -0.000848416 -0.000454604 -0.000415686 -0.00533934 -0.00528129 0.00279274 -0.00057001 0.000715568 0.000314389 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1861 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 440.667 0 0 newEnergyL 0 lastEnergy: 488.164 0 0 lastEnergyL: 0mActiveResiduals: 1861 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 4.95097e-12 -8.91326e-13 -1.14836e-12 5.47063e-12 -0.000247208 -0.000902869 0.000167554 -9.67478e-05 2.74587e-05 -1.35397e-05 0.00183434 -0.00275589 -0.000180105 -0.000336348 -0.000224621 4.64928e-05 0.00277573 1.44509e-05 0.00193691 -2.43814e-06 -0.000297182 7.92203e-05 -0.00608287 0.00142277 0.00047005 0.000302487 0.000797872 2.79195e-05 -0.00639858 0.00112453 0.00123253 0.000228382 0.000786148 0.000344497 -0.00964251 -0.00359398 -0.000161849 -0.000330581 0.00118234 6.09168e-05 -0.0123603 0.003903 -0.000903617 0.00054488 0.00152678 0.000361632 -0.0051878 -0.000501695 0.00137727 1.62978e-05 0.00063886 0.000303273 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1861 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 410.327 0 0 newEnergyL 0 lastEnergy: 440.667 0 0 lastEnergyL: 0mActiveResiduals: 1861 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 3.04525e-12 -6.5742e-13 4.41155e-12 1.00591e-14 0.000198775 0.00022026 6.08682e-05 -0.000133481 -0.000303631 7.77577e-05 -0.000184143 -0.00078809 -0.000518614 -0.00021084 -0.000251577 0.000248671 -0.00121529 0.000112381 -0.000506488 -6.07687e-05 -0.000230112 0.000161181 -0.000948554 0.00242566 -0.000928221 0.000299898 -0.000197064 -7.78891e-05 -0.00206785 -0.00117855 -0.00210821 -0.000198485 -4.09295e-05 -0.000192693 -6.03115e-06 -2.30266e-05 4.25201e-05 6.80222e-06 -0.000329362 5.07924e-06 0.00441238 -0.00303881 0.00228925 -0.000225814 -0.000785556 -0.000375593 0.000424621 0.0019386 0.00123338 0.000289836 -0.000421006 -0.000225638 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1861 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 391.127 0 0 newEnergyL 0 lastEnergy: 410.327 0 0 lastEnergyL: 0mActiveResiduals: 1861 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.96163e-12 2.36747e-12 1.88793e-12 -1.28963e-12 -0.00157084 -0.000586511 0.00121943 -6.17331e-05 0.000624104 0.000454161 0.0014068 -0.00109785 0.000762826 -1.98669e-05 0.000602525 0.000247079 0.00421727 -0.0018472 0.00232117 4.60253e-05 0.000456893 0.000306962 0.00136391 -0.00169919 0.0008069 0.000138847 0.000735831 0.000614276 3.99656e-05 0.00215828 0.00075934 0.000632682 0.000891124 0.000863775 -0.00383761 0.000259373 0.000547068 0.000406837 0.00134308 0.000627016 -0.00474836 0.00310017 -0.00289789 0.000599753 0.00142977 0.000888833 0.000668299 0.000258289 -0.00124619 0.00034059 0.000926229 0.000741631 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1861 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 382.109 0 0 newEnergyL 0 lastEnergy: 391.127 0 0 lastEnergyL: 0mActiveResiduals: 1861 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!407 INF|Input.cpp[getImages,132]: mNbReceivedImages!408 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 4.01485e-13 -1.8953e-12 2.00447e-12 1.57799e-12 0.000637465 0.00025272 -0.000900524 -0.000123204 -0.000732703 -1.74508e-05 -0.00025388 -0.000316557 -0.00122607 -0.000119462 -0.000745027 0.000248021 -0.00440798 0.00014249 -0.00205649 -1.5817e-05 -0.000447685 0.000121617 -0.00144613 0.00268996 -0.00109638 0.000295261 -0.000747812 -0.000163103 0.0011305 -0.00353338 -0.00186663 -0.000496238 -0.00104604 -0.000451352 0.00201282 5.58735e-05 -0.000130319 -2.95945e-05 -0.00117393 -0.000104907 0.00428544 -0.00293463 0.0025795 -0.000182154 -0.0013763 -0.000590379 0.000163591 0.00271456 0.00334327 0.000448591 -0.00109998 -0.000551744 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1861 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 376.514 0 0 newEnergyL 0 lastEnergy: 382.109 0 0 lastEnergyL: 0mActiveResiduals: 1861 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.02714e-12 1.77447e-12 -1.68512e-13 -1.16173e-13 -0.000992043 -0.000160024 0.00117546 0.000182494 0.000838034 -8.04465e-05 0.000845651 -0.000351855 0.00120834 8.44621e-06 0.000757915 -0.000399292 0.00438183 0.000906942 0.00305528 0.000143109 0.000635095 -0.000254922 0.00159813 -0.00193666 0.00124424 -0.000289922 0.000923131 0.000140125 0.000911636 0.00467086 0.00180003 0.000487888 0.00100671 0.000504548 -0.00353298 0.00172133 0.00103067 0.000158873 0.00157305 0.000170547 -0.00559537 -0.000122514 -0.0023985 -0.000311675 0.00170955 0.000570694 -0.000228112 -0.00368825 -0.0055231 -0.000752167 0.00142622 0.000576094 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1861 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 373.578 0 0 newEnergyL 0 lastEnergy: 376.514 0 0 lastEnergyL: 0mActiveResiduals: 1861 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 373.578 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1861 INF|LocalMapper.cpp[optimize,345]: End Energy: 373.578 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.452562 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.452562 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 60 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 60 with idx: 0 and allID: 259 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 60<->60 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 71<->60 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 60->71 INF|LocalMapper.cpp[marginalizeFrame,772]: 80<->60 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 60->80 INF|LocalMapper.cpp[marginalizeFrame,772]: 84<->60 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 60->84 INF|LocalMapper.cpp[marginalizeFrame,801]: 60 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 60 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 11271 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2804c280 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 88 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 60 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 33 with distance 0.212Found rest min at: 59 with distance 0.11 overall min: 0.11 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 33 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 686 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 88 into DB 0.212 33 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 33 and real id(61) current kf: 88(405) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.661373 0.341052 -0.668034 -1.25111 -0.186576 0.937455 0.293884 0.123102 0.726482 -0.0697277 0.683639 0.0572279 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 61 currFrame: 88 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.257614 eye: 0.000478897 edge: 88 to 61 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 88 to 61 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 263(1311875581.721877) and 405(1311875586.729865) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 11,0.999346 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2935/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 88 to 61 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 263(1311875581.721877) and 405(1311875586.729865) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.943774 -0.0389096 0.328293 -1.40756 0.0970268 0.981917 -0.162554 0.488683 -0.316031 0.185268 0.930484 0.460626 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999876 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1109/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 88 to 61 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 263(1311875581.721877) and 405(1311875586.729865) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.943774 -0.0389565 0.328288 -1.4077 0.0970442 0.981931 -0.162465 0.488981 -0.316027 0.185189 0.930501 0.461428 Input.cpp[readImages,206]: Got image from sensor!407 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999858 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1985/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.942465 -0.0368749 0.332266 -1.41751 0.0952041 0.982348 -0.161023 0.48856 -0.320463 0.183392 0.929339 0.462935 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 60 end 63 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 11664 o[1]: 2060 o[2]: 539 o[3]: 57 histWeights: 1 1 1.25 1.5overlap: 2819.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7918 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 61 and 88 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 88 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 88 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 9610 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 406 keyframes 89 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 530 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 408 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.761574 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!408 INF|Input.cpp[getImages,132]: mNbReceivedImages!409 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99998 -0.00339521 0.00541046 0.00807671 0.00341251 0.999989 -0.00319104 0.000760303 -0.00539956 0.00320944 0.99998 -0.00621215 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.761574) and 405(1311875586.729865) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99998 -0.00339521 0.00541046 0.00807671 0.00341251 0.999989 -0.00319104 0.000760303 -0.00539956 0.00320944 0.99998 -0.00621215 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999794 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4503/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.761574) and 405(1311875586.729865) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999981 -0.00614613 -0.0010958 0.0222465 0.00613955 0.999964 -0.00591286 -0.00856206 0.0011321 0.00590602 0.999982 0.00145851 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999423 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3041/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.761574) and 405(1311875586.729865) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999979 -0.00519173 0.00385814 0.0111908 0.00520938 0.999976 -0.00457921 -0.00511009 -0.00383427 0.00459922 0.999982 -0.0025787 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999553 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1152/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.458337 resInfo good: 7907, 11 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10359/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999969 -0.00520218 0.00596934 0.00751509 0.00523245 0.999973 -0.00506707 0.00154096 -0.00594282 0.00509815 0.999969 -0.00195643 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!406 Input.cpp[readImages,206]: Got image from sensor!408 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 467 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.796764 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 409 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999929 -0.00779177 0.00896379 0.0112652 0.00785988 0.99994 -0.00758881 0.00232989 -0.00890412 0.00765873 0.999931 -0.00294845 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.796764) and 405(1311875586.729865) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999929 -0.00779177 0.00896379 0.0112652 0.00785988 0.99994 -0.00758881 0.00232989 -0.00890412 0.00765873 0.999931 -0.00294845 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999755 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2919/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.796764) and 405(1311875586.729865) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999939 -0.00967669 0.00527458 0.0208964 0.00974251 0.999873 -0.0125981 -0.00322834 -0.00515201 0.0126487 0.999907 -0.00806285 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!409 INF|Input.cpp[getImages,132]: mNbReceivedImages!410 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999992 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2554/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.796764) and 405(1311875586.729865) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999915 -0.00913882 0.00932976 0.0130214 0.00923473 0.999904 -0.0102894 -0.00327571 -0.00923484 0.0103747 0.999904 -0.0116154 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.99921 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1957/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.593854 resInfo good: 7908, 10 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9029/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999885 -0.0090365 0.0122105 0.00598165 0.00914874 0.999916 -0.00916791 -0.0028753 -0.0121267 0.00927856 0.999883 -0.0134097 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!407 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.833188 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999822 -0.0109438 0.0153369 0.00519464 0.0111163 0.999875 -0.0112091 -0.00506792 -0.0152123 0.0113776 0.99982 -0.0191396 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.833188) and 405(1311875586.729865) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999822 -0.0109438 0.0153369 0.00519464 0.0111163 0.999875 -0.0112091 -0.00506792 -0.0152123 0.0113776 0.99982 -0.0191396 Input.cpp[readImages,206]: Got image from sensor!409 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999661 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1817/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.833188) and 405(1311875586.729865) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999822 -0.0117492 0.0147813 0.00814201 0.0119388 0.999847 -0.0128051 -0.00698548 -0.0146286 0.0129793 0.999809 -0.0203172 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999082 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2162/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.833188) and 405(1311875586.729865) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999831 -0.0117683 0.0141033 0.0152326 0.0119502 0.999846 -0.0128805 0.0015624 -0.0139495 0.0130469 0.999818 -0.0209208 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 410 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999301 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1429/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.699073 resInfo good: 7913, 5 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7049/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999785 -0.0124985 0.016556 0.0108965 0.0127262 0.999825 -0.0137177 0.0107111 -0.0163817 0.0139254 0.999769 -0.0202775 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!408 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.864795 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!410 INF|Input.cpp[getImages,132]: mNbReceivedImages!411 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999723 -0.0142219 0.0187346 0.013325 0.0145221 0.999767 -0.0159866 0.0175226 -0.0185028 0.0162543 0.999697 -0.0236959 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.864795) and 405(1311875586.729865) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999723 -0.0142219 0.0187346 0.013325 0.0145221 0.999767 -0.0159866 0.0175226 -0.0185028 0.0162543 0.999697 -0.0236959 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999352 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3848/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.864795) and 405(1311875586.729865) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999761 -0.018352 0.0119101 0.0388898 0.0185345 0.99971 -0.0153942 -0.00366324 -0.0116241 0.0156113 0.999811 -0.0199546 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999112 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2559/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.864795) and 405(1311875586.729865) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999701 -0.0176403 0.0169132 0.0275682 0.0178763 0.999744 -0.0139011 -0.000348205 -0.0166637 0.0141993 0.99976 -0.0229174 Input.cpp[readImages,206]: Got image from sensor!410 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999809 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3660/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.796162 resInfo good: 7903, 15 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11568/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999639 -0.0173501 0.0205314 0.0176116 0.0176111 0.999765 -0.0126034 -0.00106658 -0.0203079 0.0129604 0.99971 -0.0248922 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!409 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 411 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!411 INF|Input.cpp[getImages,132]: mNbReceivedImages!412 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.896422 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999551 -0.0197771 0.0225169 0.0209841 0.0200518 0.999726 -0.0120389 -0.00694483 -0.0222727 0.012485 0.999674 -0.027205 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.896422) and 405(1311875586.729865) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999551 -0.0197771 0.0225169 0.0209841 0.0200518 0.999726 -0.0120389 -0.00694483 -0.0222727 0.012485 0.999674 -0.027205 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999228 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2031/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.896422) and 405(1311875586.729865) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999658 -0.0200584 0.0167613 0.0389326 0.0203939 0.99959 -0.0200938 -0.00832046 -0.0163514 0.0204288 0.999658 -0.0278181 Input.cpp[readImages,206]: Got image from sensor!411 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 8): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5616/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.896422) and 405(1311875586.729865) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99959 -0.0195317 0.0209339 0.0300843 0.0199521 0.9996 -0.0200628 -0.000502921 -0.0205337 0.0204722 0.99958 -0.0303321 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 412 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999135 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1754/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.891768 resInfo good: 7912, 6 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11116/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999531 -0.0197468 0.0233969 0.0240838 0.0202184 0.999594 -0.0200925 0.00428303 -0.0229906 0.0205561 0.999524 -0.0311859 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!410 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.931923 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!412 INF|Input.cpp[getImages,132]: mNbReceivedImages!413 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999472 -0.0209369 0.0248362 0.0273084 0.0215294 0.999484 -0.0238338 0.00698155 -0.0243244 0.0243559 0.999407 -0.0343244 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.931923) and 405(1311875586.729865) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999472 -0.0209369 0.0248362 0.0273084 0.0215294 0.999484 -0.0238338 0.00698155 -0.0243244 0.0243559 0.999407 -0.0343244 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999663 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3345/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.931923) and 405(1311875586.729865) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999484 -0.0222966 0.0231089 0.0320652 0.0228696 0.99943 -0.0248344 0.00230939 -0.022542 0.02535 0.999424 -0.0322798 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999691 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3494/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.931923) and 405(1311875586.729865) on lvl: 0 Input.cpp[readImages,206]: Got image from sensor!412 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999476 -0.0219702 0.0237718 0.0364292 0.0225231 0.999476 -0.0232438 0.00314757 -0.0232487 0.023767 0.999447 -0.0369012 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999269 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1448/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.951876 resInfo good: 7917, 1 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9953/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999384 -0.0216436 0.0276153 0.0260657 0.0222922 0.999478 -0.0233971 0.00818645 -0.0270945 0.0239983 0.999345 -0.0386177 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!411 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 413 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!413 INF|Input.cpp[getImages,132]: mNbReceivedImages!414 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.968467 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999303 -0.0225866 0.0297266 0.0270421 0.0233341 0.999414 -0.025046 0.010149 -0.0291435 0.0257222 0.999244 -0.0423317 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.968467) and 405(1311875586.729865) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999303 -0.0225866 0.0297266 0.0270421 0.0233341 0.999414 -0.025046 0.010149 -0.0291435 0.0257222 0.999244 -0.0423317 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999461 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2298/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.968467) and 405(1311875586.729865) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999468 -0.0282952 0.016209 0.0733427 0.0286569 0.999335 -0.0225316 -0.0158447 -0.0155607 0.0229841 0.999615 -0.0337869 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.99999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2721/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 88 to 4507908060438548095 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.968467) and 405(1311875586.729865) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999291 -0.0262971 0.0269605 0.040357 0.0269277 0.999366 -0.0233002 -0.00528585 -0.0263307 0.0240097 0.999365 -0.0394035 Input.cpp[readImages,206]: Got image from sensor!413 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999639 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2014/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.02179 resInfo good: 7782, 136 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8664/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999204 -0.0259434 0.0302982 0.0327151 0.0266696 0.999361 -0.0238166 0.00189533 -0.029661 0.0246057 0.999257 -0.0451873 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875586.968467 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875586.968467 to keyframe with id: 4507908060438548095 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875586.968467 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1023 size: 8158 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId4507908060438548095 timestamp: 1311875586.968467 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -8.27198 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -12.412 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 384 keyframeId: 84 score: -19.6833 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 390 keyframeId: 85 score: -23.9796 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 394 keyframeId: 86 score: -21.5544 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 399 keyframeId: 87 score: -13.3244 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 89 = 89 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x185b3f60 fh1 0x591ac00fh->id: 71 89 412goodE: 14 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x185b3f60 fh1 0x20ce020fh->id: 80 89 412goodE: 177 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x185b3f60 fh1 0x1f3c1300fh->id: 84 89 412goodE: 132 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x185b3f60 fh1 0x2715fb20fh->id: 85 89 412goodE: 23 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x185b3f60 fh1 0x28069240fh->id: 86 89 412goodE: 42 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x185b3f60 fh1 0x6f0c780fh->id: 87 89 412goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x185b3f60 fh1 0x2804c280fh->id: 88 89 412goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew89 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 414 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 91 out of 97 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 97 newEdgePixels: 97 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2427 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 450 lastEnergy: 553.481 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 98 INF|LocalMapper.cpp[optimize,276]: Start Energy: 553.481 0 0 lastEnergyL: 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!414 INF|Input.cpp[getImages,132]: mNbReceivedImages!415 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -6.76123e-12 8.66211e-12 -5.01209e-12 -1.58942e-11 -0.00126318 0.00550896 -0.00123715 0.00068174 -0.000455229 -0.000308793 -0.00670072 -0.00159529 -0.0019177 -0.000460357 6.24554e-05 -0.000301838 -0.00169617 -0.000176502 -0.000892334 -0.000254871 -0.000355848 -0.000686821 0.00429404 -0.00665366 -0.000895382 -0.00110578 -0.00112087 -0.00132328 0.00952988 -0.00182413 0.00155857 -0.000576384 -0.00182221 -0.000691879 0.0107454 -0.00256912 0.00228902 -0.000396615 -0.00181013 -0.00114416 0.00207952 -0.000505717 0.00541867 -0.000323437 -0.00103893 -0.00160408 -0.00286141 -0.0153734 0.00163044 -0.00227667 -0.000329892 -0.000136648 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2427 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 530.439 0 0 newEnergyL 0 lastEnergy: 553.481 0 0 lastEnergyL: 0mActiveResiduals: 2427 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -5.25697e-12 3.16191e-12 1.00456e-11 1.90834e-12 0.000977106 -0.0036352 0.000610139 -0.000439033 -0.000102155 -8.74432e-06 0.00197072 0.00125922 0.0014969 0.000243718 -0.000211061 -5.80168e-05 -0.00115713 3.3204e-05 -0.000728369 3.34683e-05 2.59405e-05 0.000299329 -0.00395142 0.00639324 0.000612934 0.000830565 0.000357323 0.000727785 -0.0106887 0.000330617 -0.0021509 0.000104288 0.00119473 0.000342513 -0.0108008 0.0038827 -0.000907164 0.00044579 0.00106508 0.000739542 -0.0108539 0.00247977 -0.00335305 0.000345851 0.00144998 0.00108997 -0.00324081 0.00400331 -0.0013864 0.000491145 0.000315816 0.000139788 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2427 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 514.868 0 0 newEnergyL 0 lastEnergy: 530.439 0 0 lastEnergyL: 0mActiveResiduals: 2427 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 4.7164e-12 -2.05834e-12 -4.38818e-12 -4.35265e-12 0.000872357 0.00177778 -0.00334363 0.000127603 -0.000796115 1.36197e-05 -0.00518555 0.000853116 -0.00442484 -0.000156223 -0.000561242 -0.000111043 -0.00477706 0.00155885 -0.00381328 -9.57212e-05 -0.000657449 -0.000357294 -0.0013953 -0.00425162 -0.00274477 -0.000779775 -0.00114672 -0.000819011 0.00459122 0.000106427 0.0020792 -0.00024417 -0.00193378 -0.000575107 0.00481448 -0.002907 0.00124518 -0.00052988 -0.00192006 -0.000928376 0.00552538 0.000240496 0.00499081 -0.000167322 -0.00228447 -0.00171486 -0.000888352 0.000611094 0.0025006 -4.16631e-05 -0.00137364 -0.000699626 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2427 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 502.236 0 0 newEnergyL 0 lastEnergy: 514.868 0 0 lastEnergyL: 0mActiveResiduals: 2427 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -4.2157e-12 1.38391e-12 2.4231e-12 5.81352e-12 -0.00170833 -0.00243868 0.00479171 -0.00026193 0.000939479 -8.88331e-05 0.00750393 0.000444601 0.00570183 0.000314805 0.000576865 7.73739e-05 0.00411927 -0.00046417 0.00254646 0.000180195 0.00106082 0.000441747 0.002264 0.00553927 0.00209257 0.000901227 0.00137933 0.000979324 -0.00559852 8.73184e-05 -0.00214634 0.000244711 0.00244189 0.000589238 -0.0052098 0.00383109 -0.000460115 0.00059871 0.00238604 0.00091433 -0.00600908 -0.0029997 -0.00484133 -0.00022229 0.00273443 0.00201189 0.000357188 -0.00125913 -0.00367647 -0.00013408 0.00190748 0.000759071 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2427 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 496.714 0 0 newEnergyL 0 lastEnergy: 502.236 0 0 lastEnergyL: 0mActiveResiduals: 2427 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 3.56645e-12 -4.53715e-13 -5.52342e-12 -6.71271e-12 0.00160788 0.00249928 -0.00348067 0.00026589 -0.000773552 -0.000131973 -0.00680257 0.00191945 -0.00455419 -0.000148513 -0.000402047 -0.000211927 -0.00456296 0.000608131 -0.00436439 -0.000400277 -0.000757167 -0.000486201 -0.00211891 -0.00375305 -0.00285951 -0.000865512 -0.00116011 -0.000997737 0.00548151 -0.000651488 0.00117604 -0.000568155 -0.00220919 -0.000736525 0.00346025 -0.00336153 -0.000772032 -0.000835821 -0.0020142 -0.00108894 0.00290399 0.00437733 0.00646635 0.000213988 -0.00224344 -0.00227503 0.00417393 -0.00361393 0.00388704 -0.000754435 -0.00235701 -0.00111412 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2427 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 488.702 0 0 newEnergyL 0 lastEnergy: 496.714 0 0 lastEnergyL: 0mActiveResiduals: 2427 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.03174e-12 -1.49582e-12 9.31293e-12 1.05074e-11 -0.0016594 -0.00205419 0.00400823 -0.000169529 0.00072427 4.10393e-05 0.00806176 -0.00100803 0.00525527 0.000257889 0.000392881 0.000107254 0.0028539 -0.000678042 0.00332601 0.000365394 0.00114161 0.000401167 0.00324893 0.00198553 0.00431204 0.000643409 0.00116547 0.000976309 -0.00570053 0.001742 -0.00157405 0.000685591 0.00249733 0.000825495 -0.005327 0.00358233 -0.000453138 0.000785101 0.002533 0.00115123 0.000560409 -0.0093213 -0.00597932 -0.000899282 0.00209181 0.0021906 -0.00665189 0.00802619 -0.00431415 0.00124955 0.00299057 0.00125569 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2427 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 487.258 0 0 newEnergyL 0 lastEnergy: 488.702 0 0 lastEnergyL: 0mActiveResiduals: 2427 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 487.258 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2427 INF|LocalMapper.cpp[optimize,345]: End Energy: 487.258 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.453808 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.453808 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 85 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 85 with idx: 3 and allID: 390 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 71<->85 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 85->71 INF|LocalMapper.cpp[marginalizeFrame,772]: 80<->85 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 85->80 INF|LocalMapper.cpp[marginalizeFrame,772]: 84<->85 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 85->84 INF|LocalMapper.cpp[marginalizeFrame,801]: 85 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 85 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 13496 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x185b3f60 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 89 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 61 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 10 with distance 0.244Found rest min at: 60 with distance 0.15 overall min: 0.15 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 10 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 693 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 89 into DB 0.244 10 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 10 and real id(25) current kf: 89(412) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: -0.0281014 0.527265 -0.849236 -1.26445 -0.146838 0.838178 0.525258 1.25273 0.988761 0.139461 0.0538687 -1.07722 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 25 currFrame: 89 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000737416 edge: 89 to 25 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 0 < 8158 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 89 and 25 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 89 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 89 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1360 Input.cpp[readImages,206]: Got image from sensor!414 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 413 keyframes 90 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875586.997109 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 415 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99999 -0.00390776 0.00211755 0.00859014 0.00390973 0.999992 -0.000928892 -0.00553984 -0.00211391 0.000937162 0.999997 -0.00443641 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.997109) and 412(1311875586.968467) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99999 -0.00390776 0.00211755 0.00859014 0.00390973 0.999992 -0.000928892 -0.00553984 -0.00211391 0.000937162 0.999997 -0.00443641 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999817 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2843/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.997109) and 412(1311875586.968467) on lvl: 1 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!415 INF|Input.cpp[getImages,132]: mNbReceivedImages!416 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999997 -0.0022871 0.000240265 0.00427071 0.0022889 0.999967 -0.00780167 -0.0016304 -0.000222413 0.0078022 0.99997 7.66804e-05 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999997 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4436/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875586.997109) and 412(1311875586.968467) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999996 -0.0023727 0.00157324 0.00528355 0.00238271 0.999977 -0.00639164 -0.00236676 -0.00155803 0.00639536 0.999978 -0.00489563 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 9,0.999751 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:4540/4 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.417284 resInfo good: 8120, 38 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 13516/13 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999995 -0.00261254 0.00180773 0.00739712 0.00262448 0.999975 -0.00663236 0.00136286 -0.00179035 0.00663707 0.999976 -0.00514746 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!413 Input.cpp[readImages,206]: Got image from sensor!415 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 524 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.032401 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 416 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99998 -0.005213 0.00363273 0.0147813 0.00526075 0.999898 -0.0132596 0.00277924 -0.00356324 0.0132785 0.999905 -0.010299 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.032401) and 412(1311875586.968467) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99998 -0.005213 0.00363273 0.0147813 0.00526075 0.999898 -0.0132596 0.00277924 -0.00356324 0.0132785 0.999905 -0.010299 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!416 INF|Input.cpp[getImages,132]: mNbReceivedImages!417 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 11): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:6402/6 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.032401) and 412(1311875586.968467) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999987 -0.00509181 0.000577446 0.01544 0.0051001 0.999868 -0.0153984 0.00222029 -0.000498964 0.0154011 0.999881 -0.0121885 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999998 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4667/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.032401) and 412(1311875586.968467) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999982 -0.00501587 0.00323129 0.0126357 0.00505916 0.999896 -0.0135288 0.00281308 -0.0031631 0.0135449 0.999903 -0.01227 Input.cpp[readImages,206]: Got image from sensor!416 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999756 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2093/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.557469 resInfo good: 8150, 8 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 14742/14 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999977 -0.00491776 0.00469163 0.00999847 0.00497401 0.999915 -0.0120557 0.00142294 -0.00463194 0.0120788 0.999916 -0.013889 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!414 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 474 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.065073 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 417 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999963 -0.00606446 0.00613824 0.0112897 0.00615454 0.999872 -0.0147648 0.00147306 -0.00604792 0.014802 0.999872 -0.0182625 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.065073) and 412(1311875586.968467) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999963 -0.00606446 0.00613824 0.0112897 0.00615454 0.999872 -0.0147648 0.00147306 -0.00604792 0.014802 0.999872 -0.0182625 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!417 INF|Input.cpp[getImages,132]: mNbReceivedImages!418 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999997 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3847/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.065073) and 412(1311875586.968467) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999972 -0.00585998 0.00455409 0.0117604 0.0059342 0.999847 -0.0164586 -0.00104885 -0.00445695 0.0164852 0.999854 -0.019032 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5082/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.065073) and 412(1311875586.968467) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999969 -0.00659509 0.00419435 0.0190225 0.0066614 0.99985 -0.0159975 0.00331466 -0.00408821 0.016025 0.999863 -0.0203486 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999254 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1676/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.661008 resInfo good: 8150, 8 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 12073/12 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999963 -0.00668834 0.00539415 0.0180942 0.00677756 0.999838 -0.016694 0.0094892 -0.00528161 0.01673 0.999846 -0.0192192 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!415 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!417 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.097245 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 418 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999955 -0.0075724 0.00574848 0.0221353 0.00768044 0.99979 -0.0190125 0.013537 -0.0056033 0.0190558 0.999803 -0.0218722 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.097245) and 412(1311875586.968467) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999955 -0.0075724 0.00574848 0.0221353 0.00768044 0.99979 -0.0190125 0.013537 -0.0056033 0.0190558 0.999803 -0.0218722 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999541 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2829/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.097245) and 412(1311875586.968467) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999954 -0.00867454 0.00419137 0.0187087 0.00876964 0.999692 -0.0232296 0.0160922 -0.00398857 0.0232652 0.999721 -0.0175305 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!418 INF|Input.cpp[getImages,132]: mNbReceivedImages!419 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999289 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3819/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.097245) and 412(1311875586.968467) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999952 -0.00844578 0.00504463 0.0220818 0.00853864 0.999789 -0.01868 0.00218812 -0.0048858 0.0187221 0.999813 -0.0255346 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999856 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1855/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.721722 resInfo good: 8151, 7 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10006/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999946 -0.00846167 0.00600409 0.0218968 0.0085749 0.999781 -0.0190914 0.00737452 -0.00584123 0.0191419 0.9998 -0.0255226 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!416 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1373 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.129742 Input.cpp[readImages,206]: Got image from sensor!418 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999926 -0.0102335 0.00661828 0.0256995 0.0103736 0.999715 -0.0214876 0.00528181 -0.0063965 0.0215547 0.999747 -0.0318334 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.129742) and 412(1311875586.968467) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999926 -0.0102335 0.00661828 0.0256995 0.0103736 0.999715 -0.0214876 0.00528181 -0.0063965 0.0215547 0.999747 -0.0318334 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999718 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:727/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.129742) and 412(1311875586.968467) on lvl: 1 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 419 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999922 -0.0124723 -0.000279968 0.0467242 0.0124635 0.999695 -0.0213097 0.00259091 0.000545664 0.0213046 0.999773 -0.0261803 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999367 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3384/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.129742) and 412(1311875586.968467) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999941 -0.00836377 0.00691263 0.0201557 0.00853012 0.999666 -0.0243953 0.0137329 -0.00670628 0.0244528 0.999678 -0.0319289 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!419 INF|Input.cpp[getImages,132]: mNbReceivedImages!420 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.99924 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2110/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.785344 resInfo good: 8150, 8 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7715/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999945 -0.00880338 0.00563452 0.0277905 0.00893 0.999699 -0.0228562 0.0113583 -0.00543161 0.0229053 0.999723 -0.0333595 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!417 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.163354 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999945 -0.00897475 0.00545022 0.030738 0.00910697 0.999652 -0.0247386 0.013362 -0.0052263 0.0247869 0.999679 -0.0372714 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.163354) and 412(1311875586.968467) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999945 -0.00897475 0.00545022 0.030738 0.00910697 0.999652 -0.0247386 0.013362 -0.0052263 0.0247869 0.999679 -0.0372714 Input.cpp[readImages,206]: Got image from sensor!419 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 8): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:5002/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.163354) and 412(1311875586.968467) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99997 -0.00766845 0.000531542 0.0332541 0.00768014 0.999595 -0.02739 0.0166757 -0.000321288 0.0273933 0.999625 -0.0394206 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 420 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999783 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3676/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.163354) and 412(1311875586.968467) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999964 -0.00775998 0.00340545 0.0296884 0.00784387 0.999648 -0.0253551 0.0163512 -0.0032075 0.0253809 0.999673 -0.0402925 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.99995 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2109/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.811139 resInfo good: 8158, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 12231/12 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999964 -0.00792048 0.00309134 0.0340262 0.00799418 0.999665 -0.0246049 0.0169881 -0.00289543 0.0246288 0.999692 -0.0404499 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!418 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!420 INF|Input.cpp[getImages,132]: mNbReceivedImages!421 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.195797 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999979 -0.00616785 -0.00199966 0.0465668 0.00610925 0.999587 -0.0280949 0.028267 0.00217212 0.0280821 0.999603 -0.0545541 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.195797) and 412(1311875586.968467) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999979 -0.00616785 -0.00199966 0.0465668 0.00610925 0.999587 -0.0280949 0.028267 0.00217212 0.0280821 0.999603 -0.0545541 Input.cpp[readImages,206]: Got image from sensor!420 Input.cpp[readImages,215]: mInputFrameQueue: 1 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999674 ): FINISHED pyramid level 2 (last residual reduction too small). Input.cpp[readImages,218]: mNbOfImages: 421 INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3639/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.195797) and 412(1311875586.968467) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999969 -0.00719716 -0.00320242 0.0412489 0.00711164 0.999638 -0.0259592 0.0204639 0.0033881 0.0259356 0.999658 -0.0433107 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999747 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4517/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.195797) and 412(1311875586.968467) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999979 -0.00654693 -0.000257721 0.0398742 0.0065393 0.999715 -0.0229433 0.0157974 0.000407856 0.0229411 0.999737 -0.0447033 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!421 INF|Input.cpp[getImages,132]: mNbReceivedImages!422 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999978 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1392/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.807657 resInfo good: 8158, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11033/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999979 -0.00648834 -0.000122822 0.042254 0.00648421 0.999749 -0.0214344 0.0136967 0.000261865 0.0214331 0.99977 -0.0462187 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!419 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 487 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.231799 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999979 -0.00648834 -0.000122822 0.042254 0.00648421 0.999749 -0.0214344 0.0136967 0.000261865 0.0214331 0.99977 -0.0462187 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.231799) and 412(1311875586.968467) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999979 -0.00648834 -0.000122822 0.042254 0.00648421 0.999749 -0.0214344 0.0136967 0.000261865 0.0214331 0.99977 -0.0462187 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999761 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1775/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.231799) and 412(1311875586.968467) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999977 -0.00419515 -0.00528216 0.0528787 0.00406089 0.999675 -0.0251755 0.0152291 0.00538606 0.0251535 0.999669 -0.0405377 Input.cpp[readImages,206]: Got image from sensor!421 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999755 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4127/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.231799) and 412(1311875586.968467) on lvl: 0 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 422 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999978 -0.00402263 -0.00527314 0.0578193 0.00389884 0.999721 -0.023281 0.00938538 0.00536532 0.02326 0.999715 -0.0484825 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1334/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.863874 resInfo good: 8140, 18 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8708/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999983 -0.00395375 -0.00436082 0.057144 0.00385275 0.99973 -0.0229323 0.0116087 0.00445031 0.0229151 0.999728 -0.0488076 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!420 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 471 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.263752 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!422 INF|Input.cpp[getImages,132]: mNbReceivedImages!423 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999917 0.00109651 -0.0128478 0.0869391 -0.00142894 0.999664 -0.0258944 0.00732683 0.0128151 0.0259106 0.999582 -0.053808 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.263752) and 412(1311875586.968467) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999917 0.00109651 -0.0128478 0.0869391 -0.00142894 0.999664 -0.0258944 0.00732683 0.0128151 0.0259106 0.999582 -0.053808 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999419 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1322/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.263752) and 412(1311875586.968467) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999915 0.000622622 -0.0129877 0.0858487 -0.000961697 0.999658 -0.0261176 0.0066228 0.012967 0.0261278 0.999575 -0.0549434 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.99959 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4296/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.263752) and 412(1311875586.968467) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999984 0.00156348 -0.00534521 0.0646148 -0.00170879 0.999626 -0.0272897 0.0177223 0.00530055 0.0272984 0.999613 -0.0534148 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999735 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1369/1 Input.cpp[readImages,206]: Got image from sensor!422 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.914912 resInfo good: 8158, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8629/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999985 0.00157502 -0.00529995 0.0670908 -0.00171496 0.999647 -0.0265042 0.0190039 0.00525633 0.0265128 0.999635 -0.05355 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!421 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 423 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.296886 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!423 INF|Input.cpp[getImages,132]: mNbReceivedImages!424 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999955 0.00710033 -0.0062588 0.0770822 -0.00728546 0.999521 -0.0300704 0.0263607 0.00604229 0.0301147 0.999528 -0.0582579 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.296886) and 412(1311875586.968467) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999955 0.00710033 -0.0062588 0.0770822 -0.00728546 0.999521 -0.0300704 0.0263607 0.00604229 0.0301147 0.999528 -0.0582579 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999922 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2173/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.296886) and 412(1311875586.968467) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99995 0.0068752 -0.00730643 0.074629 -0.00709231 0.999521 -0.0301168 0.0226654 0.00709587 0.0301671 0.99952 -0.0549074 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.99971 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1657/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.296886) and 412(1311875586.968467) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999953 0.00797294 -0.00550975 0.0745975 -0.00811765 0.999609 -0.0267621 0.0143382 0.00529422 0.0268055 0.999627 -0.0596692 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2520/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.948085 resInfo good: 8149, 9 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7883/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999959 0.00721362 -0.00550966 0.0779413 -0.00734903 0.999661 -0.0249644 0.0150362 0.00532771 0.0250038 0.999673 -0.0586545 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!422 Input.cpp[readImages,206]: Got image from sensor!423 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 504 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 424 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.333079 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!424 INF|Input.cpp[getImages,132]: mNbReceivedImages!425 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999934 0.010033 -0.00561127 0.0833583 -0.0101659 0.999656 -0.024194 0.0130265 0.00536659 0.0242494 0.999692 -0.0612043 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.333079) and 412(1311875586.968467) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999934 0.010033 -0.00561127 0.0833583 -0.0101659 0.999656 -0.024194 0.0130265 0.00536659 0.0242494 0.999692 -0.0612043 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999996 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1976/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.333079) and 412(1311875586.968467) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999909 0.0113193 -0.00737624 0.0850832 -0.0115109 0.999583 -0.0264668 0.0192147 0.00707358 0.0265493 0.999622 -0.0584419 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999245 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3150/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.333079) and 412(1311875586.968467) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999902 0.0121567 -0.0069639 0.0880696 -0.0123417 0.999554 -0.0271809 0.0225063 0.00663037 0.0272642 0.999606 -0.0657171 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999469 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1315/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.967963 resInfo good: 8133, 25 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7998/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99991 0.012413 -0.00515262 0.0839442 -0.012548 0.999555 -0.0270536 0.0268988 0.00481452 0.0271158 0.999621 -0.0642474 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!423 Input.cpp[readImages,206]: Got image from sensor!424 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 425 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.362887 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!425 INF|Input.cpp[getImages,132]: mNbReceivedImages!426 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999833 0.0176128 -0.00480646 0.0900057 -0.0177456 0.999418 -0.0291445 0.038742 0.00429034 0.0292249 0.999564 -0.069818 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.362887) and 412(1311875586.968467) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999833 0.0176128 -0.00480646 0.0900057 -0.0177456 0.999418 -0.0291445 0.038742 0.00429034 0.0292249 0.999564 -0.069818 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999914 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3001/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.362887) and 412(1311875586.968467) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99984 0.0171258 -0.00523047 0.0897048 -0.017263 0.999475 -0.0274122 0.039555 0.00475827 0.0274981 0.999611 -0.0666626 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999606 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2658/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.362887) and 412(1311875586.968467) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999843 0.0173348 -0.00354183 0.0900576 -0.0174071 0.999617 -0.0215141 0.0253645 0.00316753 0.0215724 0.999762 -0.0689951 Input.cpp[readImages,206]: Got image from sensor!425 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999135 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1217/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.969653 resInfo good: 8136, 22 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8411/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999851 0.0166539 -0.00455558 0.096009 -0.0167487 0.999626 -0.0216251 0.0305116 0.00419373 0.0216982 0.999756 -0.0675873 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!424 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 474 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 426 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.397183 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!426 INF|Input.cpp[getImages,132]: mNbReceivedImages!427 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999815 0.0187731 -0.00424842 0.102046 -0.0188502 0.999643 -0.0189116 0.0322921 0.00389187 0.0189882 0.999812 -0.0692678 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.397183) and 412(1311875586.968467) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999815 0.0187731 -0.00424842 0.102046 -0.0188502 0.999643 -0.0189116 0.0322921 0.00389187 0.0189882 0.999812 -0.0692678 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999651 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1964/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.397183) and 412(1311875586.968467) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999733 0.0224331 -0.00546479 0.10553 -0.0225344 0.999561 -0.0192472 0.030314 0.00503061 0.0193652 0.9998 -0.0652774 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999773 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3129/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.397183) and 412(1311875586.968467) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999719 0.023089 -0.00537461 0.110759 -0.0231733 0.9996 -0.0161933 0.0218504 0.00499858 0.0163133 0.999854 -0.0711791 Input.cpp[readImages,206]: Got image from sensor!426 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999713 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1471/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.990838 resInfo good: 8150, 8 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8040/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999716 0.0234734 -0.00415536 0.109009 -0.0235351 0.999603 -0.015468 0.0234323 0.00379063 0.0155614 0.999872 -0.0709967 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!425 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 466 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 427 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.432193 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!427 INF|Input.cpp[getImages,132]: mNbReceivedImages!428 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999631 0.0268818 -0.00393951 0.11549 -0.0269288 0.999561 -0.0123902 0.0198517 0.00360471 0.0124917 0.999915 -0.0726876 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.432193) and 412(1311875586.968467) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999631 0.0268818 -0.00393951 0.11549 -0.0269288 0.999561 -0.0123902 0.0198517 0.00360471 0.0124917 0.999915 -0.0726876 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999951 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3700/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.432193) and 412(1311875586.968467) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99949 0.0314542 -0.00556903 0.125681 -0.0315587 0.999306 -0.0197991 0.0371329 0.0049424 0.0199648 0.999788 -0.0725199 Input.cpp[readImages,206]: Got image from sensor!427 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999527 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4096/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 89 to 663422752 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.432193) and 412(1311875586.968467) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999501 0.031363 -0.00367992 0.124693 -0.0314175 0.999381 -0.0158298 0.0295834 0.00318117 0.0159375 0.999868 -0.0760691 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999539 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1136/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.03951 resInfo good: 8066, 92 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10468/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999515 0.0310748 -0.00185026 0.119571 -0.0310973 0.999422 -0.0137066 0.0257159 0.00142326 0.0137575 0.999904 -0.0768524 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875587.432193 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875587.432193 to keyframe with id: 663422752 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875587.432193 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1113 size: 8297 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId663422752 timestamp: 1311875587.432193 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -8.25129 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -12.1621 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 384 keyframeId: 84 score: -16.0293 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 394 keyframeId: 86 score: -19.5706 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 399 keyframeId: 87 score: -19.1092 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 405 keyframeId: 88 score: -13.3288 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 90 = 90 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x278b0740 fh1 0x591ac00fh->id: 71 90 426goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x278b0740 fh1 0x20ce020fh->id: 80 90 426goodE: 178 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 428 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x278b0740 fh1 0x1f3c1300fh->id: 84 90 426goodE: 136 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x278b0740 fh1 0x28069240fh->id: 86 90 426goodE: 39 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x278b0740 fh1 0x6f0c780fh->id: 87 90 426goodE: 24 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x278b0740 fh1 0x2804c280fh->id: 88 90 426goodE: 43 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x278b0740 fh1 0x185b3f60fh->id: 89 90 426goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew90 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 95 out of 102 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 102 newEdgePixels: 102 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2613 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 407 lastEnergy: 612.36 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 85 INF|LocalMapper.cpp[optimize,276]: Start Energy: 612.36 0 0 lastEnergyL: 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!428 INF|Input.cpp[getImages,132]: mNbReceivedImages!429 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -7.70906e-12 2.17339e-12 -1.17345e-11 -1.54362e-11 -0.00305789 0.0035777 -0.000755845 0.000549903 0.00041023 0.000496653 -0.00531587 -0.00253496 -0.00432723 -0.000462509 0.000150469 4.77708e-05 0.000710083 -0.00367199 -0.00605739 -0.000777081 -0.000537481 -0.000367987 0.0115115 -0.0069876 0.0023794 -0.00108829 -0.00197633 -0.00128623 0.0125194 -0.00625329 0.00162448 -0.000907006 -0.00230371 -0.00132317 0.00455479 0.0128166 0.00707234 0.00155015 -0.00145405 -0.00226296 0.0122679 -0.000592102 0.00539303 7.37339e-06 -0.00219964 -0.00204948 -0.000679571 0.0104332 0.0033116 0.00138632 -0.000718036 -0.00127821 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2613 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 563.334 0 0 newEnergyL 0 lastEnergy: 612.36 0 0 lastEnergyL: 0mActiveResiduals: 2613 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -2.75835e-12 3.86768e-12 1.5109e-11 5.53098e-13 0.00399985 -0.00782411 -0.000946961 -0.00102471 -0.000496937 9.79422e-05 0.000903644 0.00152971 0.00162857 0.000254462 -3.22186e-05 -0.000204969 -0.00675309 0.00582681 0.00395751 0.000936616 0.00081027 0.000199382 -0.00919102 0.00196633 0.000632365 0.000518323 0.00123169 0.000843901 -0.0120853 0.00760495 0.000101 0.00106823 0.00156167 0.00126696 -0.00969362 -0.0051207 -0.00430943 -0.000561343 0.00144629 0.00180983 -0.017086 0.00114511 -0.000769706 0.000305894 0.00218585 0.00184261 -0.0130789 -0.0101705 0.000329567 -0.00113875 0.0014296 0.0013263 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2613 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 538.786 0 0 newEnergyL 0 lastEnergy: 563.334 0 0 lastEnergyL: 0mActiveResiduals: 2613 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -3.75354e-13 -3.62425e-12 2.41029e-12 2.57089e-12 -0.00217671 0.00326762 0.00183156 0.000558221 0.000996418 0.000716047 0.00124835 -0.00200258 -0.00190703 -0.000171173 0.000234205 0.00102385 -0.000440712 -0.00355795 -0.00553166 -0.000406262 0.000386523 0.00112607 0.0026033 -0.00171472 -0.000110752 5.88088e-06 -0.000123432 0.000524536 0.00457895 -0.00808305 -0.000193749 -0.000618723 -0.000346198 0.000365096 -0.001492 0.00342814 0.000231135 0.000903753 0.000398848 -0.000117559 0.0011433 -0.000236306 0.00298754 0.00040739 -8.29539e-05 1.25558e-05 -0.00537043 0.00949962 0.0023447 0.00180123 0.0009166 7.82032e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2613 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 519.966 0 0 newEnergyL 0 lastEnergy: 538.786 0 0 lastEnergyL: 0mActiveResiduals: 2613 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 3.97739e-12 7.84185e-13 8.8151e-13 4.34432e-12 -0.0009336 -0.00266348 0.0011091 -0.00024097 3.6845e-06 -0.00058641 0.00248955 0.000149835 0.0018912 0.000135476 6.38066e-05 -0.000706939 0.00520771 0.00187472 0.00568837 0.000454137 -0.000190201 -0.000531992 -0.000603205 0.00245446 0.00107371 0.000399063 0.000702956 0.000182606 -0.00468611 0.00735235 -0.000973543 0.00084671 0.00121997 0.000403304 -0.000977103 -0.00248825 -0.00369005 -0.000525533 0.000877887 0.000898311 -0.00471482 0.000760361 -0.00288299 -5.04549e-05 0.00140736 0.000941738 0.00228307 -0.00678463 -2.38517e-05 -0.00096605 0.000391756 0.000489554 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2613 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 515.196 0 0 newEnergyL 0 lastEnergy: 519.966 0 0 lastEnergyL: 0mActiveResiduals: 2613 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.68723e-12 -8.6354e-13 -6.20526e-13 -3.79439e-12 -0.000514544 -0.000140215 -0.000346614 -0.000130229 9.19201e-05 0.000980742 -0.00154825 -0.00022382 -0.00278935 -3.08175e-05 -0.000260915 0.000971533 -0.00502414 -0.00136428 -0.00635058 -0.000211799 0.000126216 0.00110423 0.00167636 -0.000470426 -0.000540207 0.000132255 -0.000846934 0.000207227 0.00490918 -0.00595997 0.00176551 -0.000363514 -0.0013108 2.43145e-05 0.00196353 0.00356299 0.00459312 0.000977149 -0.00102989 -0.000670506 0.00294131 -0.000570116 0.00386652 0.000424151 -0.00114319 -0.000834569 -0.00274961 0.00449178 -0.00120864 0.0010019 -0.00044045 -0.000224344 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2613 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 503.727 0 0 newEnergyL 0 lastEnergy: 515.196 0 0 lastEnergyL: 0mActiveResiduals: 2613 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 7.34694e-12 -1.11145e-12 7.43076e-12 9.82797e-12 -0.000402007 -4.08928e-05 0.00218243 0.000104239 0.000399718 -0.000747463 0.00276318 -0.00103465 0.00361115 -3.05284e-06 0.000541584 -0.000559359 0.00759816 0.000920492 0.00691401 0.000379549 5.34618e-05 -0.000580391 -0.000364458 0.00151915 0.00113632 0.00027952 0.00129997 0.000160088 -0.00563976 0.00661262 -0.00220892 0.000690539 0.00199839 0.000542666 -0.00298766 -0.00507877 -0.0066433 -0.00101418 0.0018527 0.00133214 -0.00497137 -0.00105076 -0.00412681 -0.000384971 0.00209924 0.0016299 0.00103817 -0.000367084 0.00166426 -7.37118e-05 0.00156916 0.000575585 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2613 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 511.207 0 0 newEnergyL 0 lastEnergy: 503.727 0 0 lastEnergyL: 0mActiveResiduals: 2613 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 511.207 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2613 INF|LocalMapper.cpp[optimize,345]: End Energy: 511.207 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.447217 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.447217 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 86 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 86 with idx: 3 and allID: 394 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 71<->86 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 86->71 INF|LocalMapper.cpp[marginalizeFrame,772]: 80<->86 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 86->80 INF|LocalMapper.cpp[marginalizeFrame,772]: 84<->86 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 86->84 INF|LocalMapper.cpp[marginalizeFrame,801]: 86 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 86 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 13540 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x278b0740 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 90 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 62 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 12 with distance 0.232Found rest min at: 61 with distance 0.082 overall min: 0.082 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 12 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 693 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 90 into DB 0.232 12 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 12 and real id(27) current kf: 90(426) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: -0.0683358 0.548003 -0.83368 -1.29768 -0.0502678 0.832681 0.551467 1.20055 0.996395 0.0795922 -0.029355 -1.37627 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 27 currFrame: 90 Input.cpp[readImages,206]: Got image from sensor!428 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000603509 edge: 90 to 27 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 90 to 27 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 56(1311875574.282187) and 426(1311875587.432193) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.99975 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2109/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 90 to 27 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 56(1311875574.282187) and 426(1311875587.432193) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999889 0.00816997 0.0124862 -0.0636575 -0.00820212 0.999963 0.00252565 -0.0319733 -0.0124652 -0.00262779 0.999919 0.0214265 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 429 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999992 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1748/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 90 to 27 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 56(1311875574.282187) and 426(1311875587.432193) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999889 0.00817168 0.0124855 -0.0636608 -0.00820382 0.999963 0.00252487 -0.0319762 -0.0124644 -0.00262702 0.999919 0.0214253 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999977 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2245/2 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.999881 0.00919436 0.0123848 -0.0642599 -0.0092214 0.999955 0.00212815 -0.0336007 -0.0123647 -0.00224211 0.999921 0.0231262 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 26 end 29 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 13748 o[1]: 79 o[2]: 37 o[3]: 5 histWeights: 1 1 1.25 1.5overlap: 132.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 8297 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 27 and 90 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 90 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 90 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 9935 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 427 keyframes 91 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!429 INF|Input.cpp[getImages,132]: mNbReceivedImages!430 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.462816 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999975 0.00696291 0.00149564 0.0148314 -0.00696733 0.999971 0.00296655 -0.000710327 -0.00147495 -0.0029769 0.999994 -0.00627868 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 90 to 192 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.462816) and 426(1311875587.432193) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999975 0.00696291 0.00149564 0.0148314 -0.00696733 0.999971 0.00296655 -0.000710327 -0.00147495 -0.0029769 0.999994 -0.00627868 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999656 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3908/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 90 to 192 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.462816) and 426(1311875587.432193) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999977 0.0065033 0.00166789 0.0154234 -0.00650572 0.999978 0.00144639 -0.0100721 -0.00165845 -0.00145721 0.999998 -0.0021537 Input.cpp[readImages,206]: Got image from sensor!429 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999335 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3385/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 90 to 192 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.462816) and 426(1311875587.432193) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99998 0.00564317 0.00294087 0.0174462 -0.00565426 0.999977 0.00377609 -0.00825999 -0.00291949 -0.00379264 0.999989 -0.00249005 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 430 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999798 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1526/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.457713 resInfo good: 8294, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10655/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999967 0.0056059 0.00587321 0.0105471 -0.00563128 0.999975 0.0043138 -0.00588224 -0.00584888 -0.00434673 0.999973 -0.00251418 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!427 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.497165 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999926 0.00839918 0.00881878 0.0158027 -0.00845629 0.999943 0.00645824 -0.00884964 -0.00876404 -0.00653233 0.99994 -0.00378483 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 90 to 192 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.497165) and 426(1311875587.432193) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999926 0.00839918 0.00881878 0.0158027 -0.00845629 0.999943 0.00645824 -0.00884964 -0.00876404 -0.00653233 0.99994 -0.00378483 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!430 INF|Input.cpp[getImages,132]: mNbReceivedImages!431 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999105 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2938/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 90 to 192 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.497165) and 426(1311875587.432193) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999907 0.0122473 0.0059724 0.0227204 -0.0122551 0.999924 0.00127517 -0.0151268 -0.00595632 -0.00134825 0.999981 -0.00374578 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999443 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1027/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 90 to 192 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.497165) and 426(1311875587.432193) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99988 0.0133107 0.00794388 0.0208922 -0.0133103 0.999911 -0.000103789 -0.00647511 -0.00794456 -1.95951e-06 0.999968 -0.00460514 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2424/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.602536 resInfo good: 8294, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7778/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999879 0.0124426 0.00930104 0.0218998 -0.0124567 0.999921 0.00146649 -0.0063054 -0.00928207 -0.00158217 0.999956 -0.006931 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!428 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.533063 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 6 Input.cpp[readImages,206]: Got image from sensor!430 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999814 0.0158643 0.0110076 0.0275694 -0.0158656 0.999874 3.4071e-05 -0.00654148 -0.0110057 -0.000208707 0.999939 -0.00915438 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 90 to 192 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.533063) and 426(1311875587.432193) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999814 0.0158643 0.0110076 0.0275694 -0.0158656 0.999874 3.4071e-05 -0.00654148 -0.0110057 -0.000208707 0.999939 -0.00915438 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 431 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999739 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3557/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 90 to 192 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.533063) and 426(1311875587.432193) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999804 0.0170279 0.0100808 0.0307576 -0.0170099 0.999854 -0.00186941 -0.00690376 -0.0101112 0.00169757 0.999947 -0.0142168 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!431 INF|Input.cpp[getImages,132]: mNbReceivedImages!432 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999822 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4453/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 90 to 192 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.533063) and 426(1311875587.432193) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999789 0.0168172 0.011819 0.0309955 -0.0167862 0.999855 -0.00271831 0.00276676 -0.0118631 0.00251934 0.999926 -0.01409 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999553 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2109/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.708183 resInfo good: 8294, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 12128/12 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999774 0.0167561 0.0130802 0.0298832 -0.0167299 0.999858 -0.00210525 0.00410954 -0.0131136 0.00188594 0.999912 -0.0144061 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!429 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 452 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.565159 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999709 0.0189176 0.0149639 0.0338811 -0.0188613 0.999815 -0.00389715 0.00931396 -0.0150349 0.00361378 0.99988 -0.0181412 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 90 to 192 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.565159) and 426(1311875587.432193) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999709 0.0189176 0.0149639 0.0338811 -0.0188613 0.999815 -0.00389715 0.00931396 -0.0150349 0.00361378 0.99988 -0.0181412 Input.cpp[readImages,206]: Got image from sensor!431 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 432 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999879 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4814/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 90 to 192 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.565159) and 426(1311875587.432193) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.9998 0.0147322 0.0135246 0.0445951 -0.0147928 0.999881 0.00439423 -0.00684184 -0.0134583 -0.00459342 0.999899 -0.0180784 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999476 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3897/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 90 to 192 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.565159) and 426(1311875587.432193) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999744 0.0149509 0.0169751 0.0392243 -0.0150148 0.999881 0.00364087 0.00259379 -0.0169187 -0.00389482 0.999849 -0.0178214 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!432 INF|Input.cpp[getImages,132]: mNbReceivedImages!433 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999759 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1772/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.831099 resInfo good: 8288, 9 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 12253/12 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999731 0.0148258 0.0178186 0.0398471 -0.0149113 0.999878 0.00467278 0.0029482 -0.0177472 -0.00493723 0.99983 -0.0193396 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!430 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.597077 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999731 0.0148258 0.0178186 0.0398471 -0.0149113 0.999878 0.00467278 0.0029482 -0.0177472 -0.00493723 0.99983 -0.0193396 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 90 to 192 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.597077) and 426(1311875587.432193) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999731 0.0148258 0.0178186 0.0398471 -0.0149113 0.999878 0.00467278 0.0029482 -0.0177472 -0.00493723 0.99983 -0.0193396 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999451 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2073/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 90 to 192 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.597077) and 426(1311875587.432193) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999824 0.0142331 0.0121956 0.0649975 -0.0142965 0.999885 0.0051222 -0.00188492 -0.0121213 -0.00529565 0.999913 -0.0197672 Input.cpp[readImages,206]: Got image from sensor!432 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999141 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3425/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 90 to 192 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.597077) and 426(1311875587.432193) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999771 0.0142086 0.0159855 0.0621373 -0.014315 0.999876 0.0065569 -0.00466507 -0.0158903 -0.00678423 0.999851 -0.023354 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999692 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1626/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.935167 resInfo good: 8268, 29 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8667/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999735 0.014591 0.0178287 0.0582797 -0.0147041 0.999872 0.00622744 0.000472999 -0.0177356 -0.00648794 0.999822 -0.0227671 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!431 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 433 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!433 INF|Input.cpp[getImages,132]: mNbReceivedImages!434 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.632637 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999738 0.0143563 0.0178384 0.0767129 -0.0144969 0.999865 0.00778207 -0.00200319 -0.0177243 -0.00803864 0.999811 -0.0261909 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 90 to 192 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.632637) and 426(1311875587.432193) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999738 0.0143563 0.0178384 0.0767129 -0.0144969 0.999865 0.00778207 -0.00200319 -0.0177243 -0.00803864 0.999811 -0.0261909 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999589 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1060/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 90 to 192 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.632637) and 426(1311875587.432193) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999669 0.0160976 0.0200519 0.0681891 -0.016058 0.999869 -0.00213541 0.0347776 -0.0200836 0.00181272 0.999797 -0.0214906 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999238 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1609/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 90 to 192 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.632637) and 426(1311875587.432193) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999666 0.01648 0.0198987 0.0751737 -0.0165172 0.999862 0.00170532 0.0273748 -0.0198679 -0.00203342 0.999801 -0.026691 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999694 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1466/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.05215 resInfo good: 8192, 105 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5930/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999632 0.0164236 0.0215915 0.073788 -0.0165447 0.999848 0.00544434 0.0187659 -0.0214988 -0.00579956 0.999752 -0.02627 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875587.632637 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875587.632637 to keyframe with id: 192 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875587.632637 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 992 size: 7298 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId192 timestamp: 1311875587.632637 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -8.52383 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -12.6944 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 384 keyframeId: 84 score: -15.3324 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 399 keyframeId: 87 score: -21.8538 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 405 keyframeId: 88 score: -22.6785 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -15.3792 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 91 = 91 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x27138700 fh1 0x591ac00fh->id: 71 91 432goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x27138700 fh1 0x20ce020fh->id: 80 91 432goodE: 184 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x27138700 fh1 0x1f3c1300fh->id: 84 91 432goodE: 124 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x27138700 fh1 0x6f0c780fh->id: 87 91 432goodE: 26 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x27138700 fh1 0x2804c280fh->id: 88 91 432goodE: 45 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x27138700 fh1 0x185b3f60fh->id: 89 91 432goodE: 32 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x27138700 fh1 0x278b0740fh->id: 90 91 432goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew91 Input.cpp[readImages,206]: Got image from sensor!433 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 100 out of 109 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 109 newEdgePixels: 109 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 434 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2662 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 422 lastEnergy: 634.254 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 93 INF|LocalMapper.cpp[optimize,276]: Start Energy: 634.254 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -8.9894e-13 3.56768e-12 -9.57456e-12 -3.25103e-12 0.000555719 0.00718937 -0.000738367 0.000864987 -0.000997124 -0.000322062 -0.00402177 -0.0007069 -0.00305692 -0.000597447 -0.000902997 -0.000732281 -0.00989003 -0.000749708 -0.00567384 -0.000914772 -0.00030817 -0.000249837 0.00599474 0.00047915 0.00166451 -0.000520174 -0.00237065 -0.00164484 0.00654615 0.00585962 0.00779695 0.000468274 -0.0025835 -0.00225671 0.00627463 0.00138982 0.00882833 -0.000168542 -0.00252437 -0.00232752 0.00407397 0.00276326 0.00296047 -0.000205632 -0.00275132 -0.00155248 0.00726801 0.00442704 0.00547363 -0.000175041 -0.00248541 -0.00137563 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2662 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 576.846 0 0 newEnergyL 0 lastEnergy: 634.254 0 0 lastEnergyL: 0mActiveResiduals: 2662 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.012e-11 4.1278e-12 1.54029e-11 -5.95903e-12 -0.000215532 -0.00454555 -0.00253229 -0.000698195 -1.90077e-06 4.68843e-05 0.00166071 0.00029156 0.000307609 0.000124994 -0.000116802 -0.000283093 0.00326032 0.00122783 0.00147172 0.000296161 -0.000416518 -0.000285672 -0.00392967 0.00262965 -0.00449022 0.00018404 0.000559404 0.000314823 -0.00665215 -0.00461697 -0.00873011 -0.000954153 0.000972893 0.00108937 -0.00565776 -0.00281178 -0.00376943 -0.000587061 0.000558381 0.00118412 -0.00864759 -0.00306919 -0.0041699 -0.000560837 0.00132801 0.00078539 -0.00127508 0.00320647 0.000482983 0.000324685 0.000119413 0.000128635 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2662 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 557.784 0 0 newEnergyL 0 lastEnergy: 576.846 0 0 lastEnergyL: 0mActiveResiduals: 2662 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.10978e-11 -3.75761e-12 -9.00376e-12 4.86035e-12 -0.000506403 -0.00050408 -3.0338e-05 -7.39187e-05 -6.4514e-05 0.000776132 -0.000727564 -0.00181927 -0.00274647 -0.000244746 -0.000270048 0.000803646 -0.00298209 -0.00142128 -0.00532629 -0.000178596 -5.99775e-06 0.000770185 0.00107275 -0.00151978 0.00125638 0.000165299 -0.000788092 0.000300079 0.00260226 0.00301163 0.00506256 0.000979751 -0.00104661 -0.00029408 0.00229013 0.000409082 0.00197724 0.00059258 -0.000877008 -0.000521699 -0.000451811 0.00153465 0.00101156 0.000577941 -0.00084379 -0.000311772 -3.27712e-05 -0.00028054 -0.00154079 0.000361567 -0.000658669 0.00022859 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2662 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 537.532 0 0 newEnergyL 0 lastEnergy: 557.784 0 0 lastEnergyL: 0mActiveResiduals: 2662 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!434 INF|Input.cpp[getImages,132]: mNbReceivedImages!435 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -6.61586e-12 2.25214e-12 9.60823e-12 -2.2058e-12 0.000119567 0.00121853 -0.000368485 0.000176337 -0.000199007 -0.000873019 0.00105312 0.00144246 0.00178959 0.000159331 2.47875e-05 -0.000840261 0.000855528 0.00173449 0.00395267 0.00016224 4.95519e-05 -0.000851232 0.000701439 0.000316168 -0.000778011 -0.000361241 0.000318182 -0.000472326 -0.00143255 -0.00206874 -0.00457836 -0.000867026 0.000635917 9.46459e-05 -0.00192945 -0.00180002 -0.00203166 -0.000805405 0.000573757 0.000395771 0.000457007 0.000126152 0.000890809 -0.000393796 0.000709942 5.68955e-05 -0.000445181 -0.000597743 0.000662278 -0.000595085 0.000459652 -0.000165574 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2662 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 535.403 0 0 newEnergyL 0 lastEnergy: 537.532 0 0 lastEnergyL: 0mActiveResiduals: 2662 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 5.39366e-12 -1.72722e-12 -9.26124e-12 -1.44167e-12 0.000543697 0.00063429 0.000141281 5.04667e-05 8.80782e-06 0.00030407 -0.000682395 -0.00180246 -0.00233212 -0.000330849 -8.0908e-05 0.000420545 -0.000580285 -0.00163405 -0.00413506 -0.000351439 -8.2129e-05 0.000450409 -0.00131276 -0.00036686 0.000839543 2.39195e-05 -0.000189082 -2.21313e-05 -0.000751248 0.00185478 0.00507688 0.000493028 -0.000351851 -0.000467662 0.00150306 0.00298878 0.0024048 0.000587757 -0.000563054 -0.000896378 -0.00124532 0.000803487 -0.000652559 0.000110198 -0.000605835 -0.000503138 0.00350893 -0.0031137 -0.00159406 -0.00033593 -0.000838559 -0.000355552 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2662 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 525.495 0 0 newEnergyL 0 lastEnergy: 535.403 0 0 lastEnergyL: 0mActiveResiduals: 2662 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -3.23911e-12 -3.14909e-12 8.43478e-12 7.6848e-12 0.000521337 0.00188034 -0.0001335 0.000287542 -0.000479654 -0.000299885 -0.000100931 0.000335159 0.00117962 0.000109439 -0.00024423 -0.00036265 -0.000340969 0.00186657 0.00237917 0.000341306 -0.000273644 -0.00037652 0.00213047 -0.00254517 -0.000948322 -0.000382955 -0.000509633 0.000110042 -0.00145664 -0.00291382 -0.00662994 -0.000636288 4.99144e-05 0.000483069 -0.00348726 -0.00516762 -0.00450455 -0.000844345 0.000272767 0.000986593 0.00292375 -0.00391625 0.00138173 -0.000515052 -9.67949e-05 0.000622918 -7.64324e-05 0.0106042 0.00657634 0.0013313 4.61542e-05 0.000239952 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2662 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 527.437 0 0 newEnergyL 0 lastEnergy: 525.495 0 0 lastEnergyL: 0mActiveResiduals: 2662 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 527.437 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2662 INF|LocalMapper.cpp[optimize,345]: End Energy: 527.437 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.450487 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.450487 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 88 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 88 with idx: 4 and allID: 405 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 71<->88 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 88->71 INF|LocalMapper.cpp[marginalizeFrame,772]: 80<->88 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 88->80 INF|LocalMapper.cpp[marginalizeFrame,772]: 84<->88 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 88->84 INF|LocalMapper.cpp[marginalizeFrame,801]: 88 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 88 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 14191 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x27138700 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 91 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 63 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 26 with distance 0.23Found rest min at: 62 with distance 0.09 overall min: 0.09 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 26 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 706 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 91 into DB 0.23 26 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 26 and real id(54) current kf: 91(432) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.424176 0.413192 -0.80582 -1.76221 -0.138781 0.908988 0.39304 0.30025 0.894882 -0.0548855 0.442915 -0.512429 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 54 currFrame: 91 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000563599 edge: 91 to 54 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 91 to 54 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 234(1311875580.694724) and 432(1311875587.632637) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,206]: Got image from sensor!434 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 435 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 48,0.999922 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:10745/10 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 91 to 54 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 234(1311875580.694724) and 432(1311875587.632637) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.964364 0.135673 -0.227145 0.540384 -0.208074 0.919186 -0.33437 0.87197 0.163424 0.369717 0.914659 0.239852 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999698 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:813/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 91 to 54 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 234(1311875580.694724) and 432(1311875587.632637) on lvl: 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!435 INF|Input.cpp[getImages,132]: mNbReceivedImages!436 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.964444 0.135467 -0.226927 0.540803 -0.20781 0.919214 -0.334457 0.871634 0.163286 0.369723 0.914682 0.237408 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 9,0.999818 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2416/2 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.961584 0.131111 -0.241177 0.602314 -0.204233 0.928743 -0.309396 0.783624 0.183426 0.346766 0.919841 0.184425 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 53 end 56 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 12220 o[1]: 869 o[2]: 225 o[3]: 21 histWeights: 1 1 1.25 1.5overlap: 1181.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7298 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 54 and 91 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 91 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 91 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 17669 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 433 keyframes 92 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 520 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.663223 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,206]: Got image from sensor!435 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999987 0.00142228 0.00486027 0.00958728 -0.00142816 0.999998 0.00120659 0.0104961 -0.00485855 -0.00121351 0.999987 -0.00775214 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 91 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.663223) and 432(1311875587.632637) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999987 0.00142228 0.00486027 0.00958728 -0.00142816 0.999998 0.00120659 0.0104961 -0.00485855 -0.00121351 0.999987 -0.00775214 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999453 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2955/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 91 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.663223) and 432(1311875587.632637) on lvl: 1 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 436 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999994 3.44585e-05 0.00345217 0.0281155 -6.39206e-05 0.999964 0.00853462 -0.0117974 -0.00345175 -0.00853479 0.999958 0.00418641 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999294 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1640/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 91 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.663223) and 432(1311875587.632637) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999981 -0.000411803 0.00622819 0.0261421 0.000343782 0.99994 0.0109187 -0.0134443 -0.00623231 -0.0109163 0.999921 0.00212892 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999916 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2049/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.595037 resInfo good: 7286, 12 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8234/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999953 0.000789486 0.00964741 0.0148181 -0.0008864 0.999949 0.0100454 -0.00668136 -0.00963899 -0.0100535 0.999903 0.00112172 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!433 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!436 INF|Input.cpp[getImages,132]: mNbReceivedImages!437 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1320 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.695392 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999895 0.00114784 0.0144737 0.022229 -0.00136589 0.999886 0.0150645 -0.0100226 -0.0144547 -0.0150827 0.999782 0.00165417 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 91 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.695392) and 432(1311875587.632637) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999895 0.00114784 0.0144737 0.022229 -0.00136589 0.999886 0.0150645 -0.0100226 -0.0144547 -0.0150827 0.999782 0.00165417 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999744 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3515/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 91 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.695392) and 432(1311875587.632637) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999918 0.00186397 0.0126613 0.0428454 -0.0020311 0.999911 0.0132002 -0.0292785 -0.0126356 -0.0132248 0.999833 -0.00603371 Input.cpp[readImages,206]: Got image from sensor!436 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999309 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2456/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 91 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.695392) and 432(1311875587.632637) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999861 0.00239173 0.0165054 0.0377922 -0.0025391 0.999957 0.00891358 -0.00702898 -0.0164833 -0.00895425 0.999824 -0.00218387 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999127 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:870/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.81027 resInfo good: 7298, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8551/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999826 0.00315766 0.0183622 0.0328643 -0.00332469 0.999953 0.00907345 -0.0036911 -0.0183327 -0.00913292 0.99979 -0.00134858 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!434 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.730464 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 437 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999618 0.00553374 0.0270732 0.0508957 -0.00575442 0.999951 0.00808025 -0.000742672 -0.0270272 -0.00823295 0.999601 -0.00397289 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 91 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.730464) and 432(1311875587.632637) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999618 0.00553374 0.0270732 0.0508957 -0.00575442 0.999951 0.00808025 -0.000742672 -0.0270272 -0.00823295 0.999601 -0.00397289 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999912 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1140/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 91 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.730464) and 432(1311875587.632637) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999675 0.0026981 0.0253566 0.0431452 -0.00301147 0.999919 0.0123285 0.00390109 -0.0253213 -0.0124008 0.999602 -0.00214387 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!437 INF|Input.cpp[getImages,132]: mNbReceivedImages!438 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999822 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2277/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 91 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.730464) and 432(1311875587.632637) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999525 0.00452168 0.0305006 0.0373651 -0.00482155 0.999941 0.00976518 0.014826 -0.0304546 -0.0099076 0.999487 -0.00537117 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999208 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:841/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.973746 resInfo good: 7236, 62 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6546/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999509 0.00393899 0.0310735 0.0380411 -0.00432833 0.999913 0.0124725 0.00843928 -0.0310216 -0.0126009 0.999439 -0.00690457 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!435 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.762870 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99903 0.00467616 0.0437823 0.0431578 -0.00537503 0.99986 0.0158584 0.0205457 -0.043702 -0.0160783 0.998915 -0.0125674 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 91 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.762870) and 432(1311875587.632637) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99903 0.00467616 0.0437823 0.0431578 -0.00537503 0.99986 0.0158584 0.0205457 -0.043702 -0.0160783 0.998915 -0.0125674 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999921 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1728/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 91 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.762870) and 432(1311875587.632637) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999103 0.00254967 0.0422678 0.0446583 -0.00323278 0.999865 0.0161011 0.0172302 -0.042221 -0.0162233 0.998977 0.000448484 Input.cpp[readImages,206]: Got image from sensor!437 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 438 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999868 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4987/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 91 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.762870) and 432(1311875587.632637) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999184 0.00150396 0.0403595 0.0586787 -0.00240839 0.999747 0.0223701 0.0013006 -0.0403156 -0.022449 0.998935 -0.00692516 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3423/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.16323 resInfo good: 7080, 218 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11722/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999132 0.00177186 0.041616 0.0572272 -0.00271532 0.99974 0.0226252 0.00394439 -0.0415651 -0.0227185 0.998877 -0.00772481 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875587.762870 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875587.762870 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875587.762870 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!438 INF|Input.cpp[getImages,132]: mNbReceivedImages!439 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1060 size: 7640 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875587.762870 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -8.49811 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -12.5721 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 384 keyframeId: 84 score: -14.7565 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 399 keyframeId: 87 score: -15.1797 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -12.7912 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 426 keyframeId: 90 score: -7.94904 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 92 = 92 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x29720800 fh1 0x591ac00fh->id: 71 92 436goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x29720800 fh1 0x20ce020fh->id: 80 92 436goodE: 191 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x29720800 fh1 0x1f3c1300fh->id: 84 92 436goodE: 131 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x29720800 fh1 0x6f0c780fh->id: 87 92 436goodE: 56 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x29720800 fh1 0x185b3f60fh->id: 89 92 436goodE: 34 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x29720800 fh1 0x278b0740fh->id: 90 92 436goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x29720800 fh1 0x27138700fh->id: 91 92 436goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew92 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 94 out of 100 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 100 newEdgePixels: 100 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2687 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 461 lastEnergy: 678.176 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 99 INF|LocalMapper.cpp[optimize,276]: Start Energy: 678.176 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -4.53327e-13 1.11121e-11 -1.46233e-11 -5.84773e-12 -0.00182482 -0.00698265 0.000930214 -0.000907793 0.0008841 0.000158105 -0.00103542 0.00271264 0.0022047 0.000408941 0.000740573 6.29178e-05 0.00109231 -0.00129251 0.0016884 -4.39692e-05 0.000617387 4.12084e-05 0.00506271 0.00333982 0.00971976 0.00079697 3.74342e-05 -0.000570756 0.00825777 0.0113135 0.0105669 0.00189432 -7.9538e-05 -0.0022844 0.00254997 0.00935695 0.00538422 0.00139715 0.000119989 -0.00158793 0.00950479 -0.00153726 -0.000745815 1.23984e-05 -0.000935813 -0.000954488 0.0132423 0.00750324 0.00847813 0.00162348 -0.00110272 0.000174273 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2687 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 622.437 0 0 newEnergyL 0 lastEnergy: 678.176 0 0 lastEnergyL: 0mActiveResiduals: 2687 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -4.00507e-12 1.36548e-12 9.2802e-12 -4.92576e-12 0.00176753 0.00393329 0.000668751 0.000556479 -0.000216351 -0.000144106 0.000992623 0.000767651 5.23855e-05 5.71314e-05 -9.9937e-05 3.5178e-05 -0.000440923 0.00216315 0.000738057 0.000316727 -0.00010401 0.000131183 0.00505854 -0.00267313 -0.00241649 -0.000370582 -0.00077345 0.000599256 -0.00481025 -0.00363268 -0.00336911 -0.000595997 0.000358866 0.00136104 -0.000893917 0.0014378 0.000722674 0.000296061 0.000218798 0.00118841 -0.0124558 0.00230057 0.00174064 0.00048881 0.00154954 0.00119018 -0.00900766 0.00126792 -0.00236954 0.000341855 0.000882936 0.000636921 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2687 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 601.479 0 0 newEnergyL 0 lastEnergy: 622.437 0 0 lastEnergyL: 0mActiveResiduals: 2687 Input.cpp[readImages,206]: Got image from sensor!438 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -3.35376e-12 5.97747e-12 2.96609e-12 -5.01681e-12 0.00110669 -0.00534313 0.000534549 -0.000903538 0.000279866 0.000802627 -4.36435e-05 0.00199309 0.00181666 0.000329523 0.000149199 0.000750631 0.000293769 0.000875965 -0.00123986 0.000269079 0.000157215 0.000646816 -0.00690765 0.00253939 0.00183675 0.00064082 0.000893543 0.00027705 0.00264208 0.00542853 0.00444867 0.00117273 -0.000174427 -0.00040066 -0.00184848 0.000576428 -0.000433362 0.000431285 1.44182e-05 -0.000314711 0.000384766 -0.00495264 -0.00408974 -0.00049093 -0.000191143 -0.000533516 0.00339777 -0.00142937 -0.000613934 0.000193576 -0.000539065 0.000330694 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2687 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 590.912 0 0 newEnergyL 0 lastEnergy: 601.479 0 0 lastEnergyL: 0mActiveResiduals: 2687 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.8785e-13 -2.33521e-12 5.10882e-13 1.34331e-12 -0.00231207 0.00442908 0.00188641 0.000827669 0.000586915 -0.000495553 0.00112039 -0.00182092 0.000318941 -0.000181833 0.000678035 -0.000165472 0.000928951 -0.00105378 0.00133586 -8.15151e-05 0.000723752 0.000209756 0.0102823 -0.00275953 -0.00156197 -0.000341809 -0.000323674 0.00050846 -0.00317772 -0.00796611 -0.00533664 -0.00121546 0.00119555 0.00122246 0.00149771 -0.000205702 -0.00115699 -7.1672e-05 0.0012676 0.00103204 -0.00525942 0.00804512 0.00405527 0.00130759 0.00196591 0.00132249 -0.00412007 0.00321611 -0.000147183 0.000575501 0.00188824 0.00043977 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2687 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 583.042 0 0 newEnergyL 0 lastEnergy: 590.912 0 0 lastEnergyL: 0mActiveResiduals: 2687 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 4.22551e-12 -3.00162e-13 4.76539e-12 5.23549e-12 0.00326508 -0.00492639 -0.000865824 -0.000735989 4.65327e-05 0.000327803 -0.000483214 0.00204505 0.000982258 0.000293279 2.20831e-05 0.00021266 0.000267335 6.45387e-05 0.000575808 2.77055e-05 -0.000132864 5.20295e-05 -0.0110759 0.00184809 0.0024705 0.000285901 0.00121166 -0.000225084 -0.00046899 0.00967895 0.00524047 0.00152102 -2.63242e-05 -0.000839925 -0.00114514 -0.000470799 0.000458575 4.47836e-05 -0.000635142 -0.000575919 0.00481499 -0.00481993 -0.00316928 -0.000666394 -0.00125993 -0.0012307 0.00439311 -0.00503133 -0.00351611 -0.000669576 -0.00127643 -0.00010491 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 439 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2687 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 577.397 0 0 newEnergyL 0 lastEnergy: 583.042 0 0 lastEnergyL: 0mActiveResiduals: 2687 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.74764e-12 -2.30149e-12 2.52036e-12 6.72544e-13 -0.00250639 0.00382603 0.00180461 0.000597919 0.000487203 2.80845e-05 0.000724549 -0.00216432 0.00062228 -0.000164032 0.000427312 0.000286785 0.00127026 -0.00097894 0.00148589 8.04903e-05 0.000307051 0.000490123 0.00939411 -0.0034393 -0.00308133 -0.000198576 -0.000652205 0.000880075 -0.00120342 -0.00863586 -0.00711506 -0.00108786 0.000551249 0.00136171 -0.00045798 0.000201095 -0.00224378 0.000267208 0.00121234 0.00126989 -0.0072363 0.00362613 0.0015012 0.000904121 0.00193158 0.00212351 -0.000663877 0.00961644 0.00634241 0.00177916 0.001213 0.000380949 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2687 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 572.499 0 0 newEnergyL 0 lastEnergy: 577.397 0 0 lastEnergyL: 0mActiveResiduals: 2687 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 572.499 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2687 INF|LocalMapper.cpp[optimize,345]: End Energy: 572.499 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.467273 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.467273 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 87 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 87 with idx: 3 and allID: 399 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 71<->87 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 87->71 INF|LocalMapper.cpp[marginalizeFrame,772]: 80<->87 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 87->80 INF|LocalMapper.cpp[marginalizeFrame,772]: 84<->87 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 87->84 INF|LocalMapper.cpp[marginalizeFrame,801]: 87 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 87 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 16519 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x29720800 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 92 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!439 INF|Input.cpp[getImages,132]: mNbReceivedImages!440 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 64 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 34 with distance 0.232Found rest min at: 63 with distance 0.114 overall min: 0.114 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 34 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 698 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 92 into DB 0.232 34 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 34 and real id(62) current kf: 92(436) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.643713 0.312835 -0.698404 -1.52004 -0.123656 0.943155 0.308493 0.173152 0.755211 -0.112219 0.645805 0.0183137 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 62 currFrame: 92 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000579744 edge: 92 to 62 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 92 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 436(1311875587.762870) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 18,0.999745 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:5486/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 92 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 436(1311875587.762870) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.986812 0.0340549 0.158247 -0.546395 -0.0266687 0.998464 -0.0485674 0.0636169 -0.159658 0.0437067 0.986204 -0.457217 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999994 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1408/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 92 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 436(1311875587.762870) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.986812 0.0340556 0.158247 -0.546396 -0.0266692 0.998464 -0.048568 0.063616 -0.159658 0.0437072 0.986204 -0.457221 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999537 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:955/0 Input.cpp[readImages,206]: Got image from sensor!439 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.986008 0.0329595 0.163407 -0.57387 -0.0247992 0.998353 -0.0517302 0.0754846 -0.164843 0.046954 0.985202 -0.475464 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 61 end 64 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 11770 o[1]: 1309 o[2]: 611 o[3]: 214 histWeights: 1 1 1.25 1.5overlap: 2393.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7640 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 62 and 92 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 92 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 92 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 11755 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 437 keyframes 93 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 440 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1309 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.794603 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!440 INF|Input.cpp[getImages,132]: mNbReceivedImages!441 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99998 -0.000968112 0.00630852 0.00528068 0.00092933 0.999981 0.00614748 -0.0054204 -0.00631435 -0.00614149 0.999961 -0.00221879 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 92 to 695359840 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.794603) and 436(1311875587.762870) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99998 -0.000968112 0.00630852 0.00528068 0.00092933 0.999981 0.00614748 -0.0054204 -0.00631435 -0.00614149 0.999961 -0.00221879 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999856 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3969/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 92 to 695359840 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.794603) and 436(1311875587.762870) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999962 -0.00126243 0.00864849 0.0190902 0.00123717 0.999995 0.00292481 -0.00789107 -0.00865213 -0.002914 0.999958 9.47742e-05 Input.cpp[readImages,206]: Got image from sensor!440 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 8): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5707/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 92 to 695359840 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.794603) and 436(1311875587.762870) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999942 -0.00132672 0.0107095 0.0178035 0.0012913 0.999994 0.0033138 -0.00213855 -0.0107138 -0.00329978 0.999937 -0.000826951 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999207 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2186/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.595035 resInfo good: 7620, 20 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 13532/13 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999915 -0.000936338 0.0130139 0.0123631 0.000887366 0.999993 0.00376833 0.000192746 -0.0130173 -0.00375646 0.999908 -0.000892713 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!437 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 441 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.829824 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99966 -0.00192148 0.026022 0.0247134 0.0017256 0.99997 0.00754783 0.000393098 -0.0260357 -0.00750035 0.999633 -0.001947 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 92 to 695370048 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.829824) and 436(1311875587.762870) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99966 -0.00192148 0.026022 0.0247134 0.0017256 0.99997 0.00754783 0.000393098 -0.0260357 -0.00750035 0.999633 -0.001947 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!441 INF|Input.cpp[getImages,132]: mNbReceivedImages!442 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999439 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3379/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 92 to 695370048 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.829824) and 436(1311875587.762870) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999854 -0.00379073 0.0166588 0.0454959 0.00364129 0.999953 0.00899147 -0.022954 -0.0166922 -0.0089295 0.999821 -0.0133301 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.9992 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3610/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 92 to 695370048 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.829824) and 436(1311875587.762870) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999678 -0.00279079 0.0252103 0.0200951 0.00267282 0.999985 0.0047117 0.000236059 -0.0252231 -0.00464281 0.999671 -0.00531465 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999721 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1075/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.828533 resInfo good: 7613, 27 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9623/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999668 -0.00292028 0.0255901 0.022721 0.00275226 0.999974 0.00659837 -0.00275813 -0.0256088 -0.00652575 0.999651 -0.00698259 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!438 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.861712 Input.cpp[readImages,206]: Got image from sensor!441 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99926 -0.00493888 0.0381566 0.0330071 0.00458136 0.999945 0.0094516 -0.00570637 -0.0382012 -0.00926979 0.999227 -0.0131942 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 92 to 18446744073709551615 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.861712) and 436(1311875587.762870) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99926 -0.00493888 0.0381566 0.0330071 0.00458136 0.999945 0.0094516 -0.00570637 -0.0382012 -0.00926979 0.999227 -0.0131942 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.99949 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1486/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 92 to 18446744073709551615 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.861712) and 436(1311875587.762870) on lvl: 1 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 442 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999537 -0.00657587 0.0296962 0.044564 0.00645216 0.99997 0.00425977 0.00240515 -0.0297234 -0.00406619 0.99955 0.000685025 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999034 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1263/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 92 to 18446744073709551615 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.861712) and 436(1311875587.762870) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999296 -0.00557158 0.0370929 0.0305291 0.00519664 0.999935 0.010197 -0.00547229 -0.0371473 -0.00999703 0.99926 -0.0143613 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999858 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1565/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.993021 resInfo good: 7592, 48 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6037/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999271 -0.00536752 0.037801 0.0303449 0.00502884 0.999946 0.00904896 0.0029999 -0.0378476 -0.00885227 0.999244 -0.0128684 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!439 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.898206 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!442 INF|Input.cpp[getImages,132]: mNbReceivedImages!443 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998718 -0.00784297 0.0500002 0.0378825 0.00727521 0.999907 0.0115271 0.00876165 -0.050086 -0.0111486 0.998683 -0.0188606 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 92 to 18446744073709551615 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.898206) and 436(1311875587.762870) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998718 -0.00784297 0.0500002 0.0378825 0.00727521 0.999907 0.0115271 0.00876165 -0.050086 -0.0111486 0.998683 -0.0188606 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999985 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3323/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 92 to 18446744073709551615 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.898206) and 436(1311875587.762870) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998909 -0.0122827 0.0450469 0.0507702 0.0115601 0.999801 0.0162659 -0.0174708 -0.0452377 -0.0157274 0.998852 -0.0197461 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999903 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3127/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 92 to 18446744073709551615 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.898206) and 436(1311875587.762870) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998707 -0.0119382 0.0494145 0.0421164 0.0112457 0.999835 0.0142677 -0.00298803 -0.0495767 -0.0136936 0.998676 -0.0160565 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999981 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1324/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.15893 resInfo good: 7559, 81 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9211/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998667 -0.0117054 0.0502676 0.0417614 0.0109772 0.999831 0.0147384 -0.000845531 -0.0504316 -0.014167 0.998627 -0.0155611 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875587.898206 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875587.898206 to keyframe with id: 18446744073709551615 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875587.898206 Input.cpp[readImages,206]: Got image from sensor!442 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1091 size: 7719 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId18446744073709551615 timestamp: 1311875587.898206 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -8.23009 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -11.762 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 384 keyframeId: 84 score: -12.0826 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -11.4481 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 426 keyframeId: 90 score: -11.5153 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 432 keyframeId: 91 score: -9.24719 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 93 = 93 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb43700 fh1 0x591ac00fh->id: 71 93 440goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb43700 fh1 0x20ce020fh->id: 80 93 440goodE: 190 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb43700 fh1 0x1f3c1300fh->id: 84 93 440goodE: 115 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb43700 fh1 0x185b3f60fh->id: 89 93 440goodE: 52 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb43700 fh1 0x278b0740fh->id: 90 93 440goodE: 22 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb43700 fh1 0x27138700fh->id: 91 93 440goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb43700 fh1 0x29720800fh->id: 92 93 440goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew93 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 443 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 116 out of 129 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 129 newEdgePixels: 129 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2603 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 402 lastEnergy: 683.939 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 84 INF|LocalMapper.cpp[optimize,276]: Start Energy: 683.939 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -7.7005e-13 1.60488e-12 -3.9221e-12 4.46427e-12 -0.00107974 -0.00288064 -0.00305345 -0.000505574 -0.00120954 -0.000811148 -0.00512384 0.00312813 -0.00165869 0.000292577 -0.000766222 -0.00102582 -0.00432894 0.00238963 0.00104859 -2.36437e-05 -0.000844906 -0.000986328 0.00422673 0.0117917 0.00718628 0.0013371 -0.00174754 -0.00221567 0.00152906 0.00076362 0.00423507 -0.000394816 -0.00192328 -0.0023347 0.0114229 0.00218523 0.00138487 -0.000330157 -0.00307077 -0.00278903 0.00196844 0.00177782 -0.000479944 -0.000533893 -0.00197148 -0.00178274 0.00188092 0.00355118 0.00144703 -0.000114341 -0.00179505 -0.00141684 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2603 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 643.395 0 0 newEnergyL 0 lastEnergy: 683.939 0 0 lastEnergyL: 0mActiveResiduals: 2603 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -3.21844e-12 2.0104e-12 8.96224e-12 -4.56744e-12 1.27039e-05 -0.00195548 -0.000476356 -0.000205267 -1.40041e-05 0.000153919 0.00237212 -9.33894e-06 -0.000360131 -6.36183e-05 -0.000281997 -8.93269e-05 -0.00055471 0.00271038 -0.000672877 0.000258945 -3.59272e-06 -0.000186812 0.000177311 -0.004251 -0.0038594 -0.000832964 -0.000214573 6.61532e-05 0.00262959 0.00495664 0.00141665 0.000567513 -0.00014007 -0.000476668 -0.00759126 0.0059608 -0.000175694 0.00070839 0.00099757 0.00050557 -0.000239416 0.00852053 0.00184651 0.00108091 0.000107277 -0.000245629 -0.00376239 0.00197935 0.000305899 0.000262501 0.000397526 -2.54497e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2603 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 619.477 0 0 newEnergyL 0 lastEnergy: 643.395 0 0 lastEnergyL: 0mActiveResiduals: 2603 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!443 INF|Input.cpp[getImages,132]: mNbReceivedImages!444 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.71167e-12 1.93478e-12 -3.34413e-12 -1.23255e-12 0.00119274 0.00113606 -0.000342894 0.000231298 8.83111e-07 -0.000641598 -0.000667567 0.000499831 2.40355e-05 -7.19998e-05 0.000324417 -0.000588335 0.000463601 -0.000804271 7.83978e-05 -0.000360122 0.00026929 -0.000500114 -0.00144701 0.00492505 0.00211024 0.000324447 0.000559625 -0.000539106 -0.00414806 -0.00294734 -0.000640246 -0.000772793 0.000472393 -0.000192147 0.00517652 0.000797486 0.00209573 -0.000242215 -0.000643508 -0.00106435 -0.00373016 -0.00573632 -0.00262479 -0.00136142 0.000440986 -0.000260038 0.00302942 0.00168717 -0.00123167 -0.000169461 -0.000390888 -0.000531482 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2603 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 604.067 0 0 newEnergyL 0 lastEnergy: 619.477 0 0 lastEnergyL: 0mActiveResiduals: 2603 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.36204e-12 -1.7259e-12 3.97834e-13 1.22081e-12 -0.00145283 -0.00064657 0.00126513 -0.000251269 0.000380087 0.00140528 0.000878177 -0.00280662 0.000285857 -7.48334e-05 -0.000159832 0.00145356 -1.1557e-05 -0.00222414 -0.00147437 0.000256996 -0.000218709 0.00127385 0.0012404 -0.00594633 -0.00428631 9.3663e-06 -0.000573091 0.00135257 0.00262611 0.00206231 0.000297079 0.00124115 -0.000393889 0.00104831 -0.00567501 0.00148635 -0.00166009 0.00123632 0.000575213 0.00182889 0.00611193 0.0081142 0.00401357 0.00236959 -0.00090726 0.000816313 -0.00370427 0.000815848 0.00276036 0.00129489 0.000384245 0.00103448 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2603 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 591.035 0 0 newEnergyL 0 lastEnergy: 604.067 0 0 lastEnergyL: 0mActiveResiduals: 2603 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 4.52675e-12 -2.39536e-13 -8.78371e-13 -2.52292e-12 0.00158626 0.000415522 -0.00153759 0.000150454 -0.000564811 -0.00105806 -0.00106404 0.00273693 -0.000997442 5.20644e-05 -0.000149669 -0.00121421 -0.000798546 0.0014862 -0.000374845 -0.00029484 -9.92193e-05 -0.00117974 -0.002607 0.00490162 0.00436693 3.15147e-05 0.000130463 -0.00107188 -0.00133916 -0.0044022 -0.00123788 -0.00131898 -0.000446806 -0.000817424 0.00741551 -0.000197958 0.00135443 -0.000802728 -0.00159081 -0.0016076 -0.0105178 -0.00589764 -0.00139768 -0.00187594 0.000892196 -0.000886378 0.00837557 -0.000263196 -0.00183564 -0.000928256 -0.00171432 -0.00103637 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2603 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 584.259 0 0 newEnergyL 0 lastEnergy: 591.035 0 0 lastEnergyL: 0mActiveResiduals: 2603 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -4.21887e-12 -2.96246e-13 1.27476e-12 -7.82365e-13 -0.00240614 -0.0022924 0.00193194 -0.000523569 0.000698508 0.00206658 0.000664553 -0.00346586 0.00156378 0.000100561 5.47887e-05 0.00221169 0.00119988 -0.00302013 -0.000439479 0.000525302 -0.000197577 0.00216587 0.00322873 -0.00693979 -0.00642141 0.00037776 -0.000628783 0.00212717 0.00122286 0.00325314 0.000676291 0.00191029 0.000125511 0.00184274 -0.00419792 -0.00010231 -0.00245768 0.00157704 0.000724281 0.00267733 0.00951456 0.00679916 0.00217514 0.00282469 -0.000954704 0.00174363 -0.0102056 0.00734614 0.00560139 0.00288947 0.00166461 0.00169567 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2603 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 579.272 0 0 newEnergyL 0 lastEnergy: 584.259 0 0 lastEnergyL: 0mActiveResiduals: 2603 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 579.272 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2603 INF|LocalMapper.cpp[optimize,345]: End Energy: 579.272 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.477087 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.477087 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 84 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 84 with idx: 2 and allID: 384 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 71<->84 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 84->71 INF|LocalMapper.cpp[marginalizeFrame,772]: 80<->84 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 84->80 INF|LocalMapper.cpp[marginalizeFrame,772]: 84<->84 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->84 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 84->89 INF|LocalMapper.cpp[marginalizeFrame,801]: 84 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 84 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 13968 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2bb43700 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 93 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 65 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 34 with distance 0.202Found rest min at: 63 with distance 0.152 overall min: 0.152 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 34 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 714 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 93 into DB 0.202 34 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 34 and real id(62) current kf: 93(440) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.60293 0.307346 -0.736216 -1.55802 -0.118854 0.94712 0.298055 0.192077 0.788891 -0.0922043 0.607577 -0.00549751 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 62 currFrame: 93 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000533827 edge: 93 to 62 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 93 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 440(1311875587.898206) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,206]: Got image from sensor!443 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999989 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3376/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 93 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 440(1311875587.898206) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.981396 0.0385331 -0.18809 0.775991 -0.026337 0.997411 0.0669164 -0.352045 0.190182 -0.0607177 0.97987 -0.29744 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999995 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1556/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 93 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 440(1311875587.898206) on lvl: 0 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 444 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.981396 0.0385335 -0.18809 0.775991 -0.0263375 0.997411 0.0669159 -0.352047 0.190182 -0.0607172 0.97987 -0.297445 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999995 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1778/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.980059 0.0395898 -0.194722 0.798537 -0.0267937 0.997331 0.067916 -0.355065 0.196891 -0.0613444 0.978504 -0.33733 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 61 end 64 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 12437 o[1]: 1546 o[2]: 572 o[3]: 175 histWeights: 1 1 1.25 1.5overlap: 2523.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7719 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 62 and 93 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 93 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 93 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 10532 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 441 keyframes 94 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 501 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!444 INF|Input.cpp[getImages,132]: mNbReceivedImages!445 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.929733 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999979 -0.00289019 0.00581335 0.00766145 0.00287227 0.999991 0.00308828 -0.00236167 -0.00582223 -0.00307151 0.999978 -0.00214001 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 93 to 68019264 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.929733) and 440(1311875587.898206) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999979 -0.00289019 0.00581335 0.00766145 0.00287227 0.999991 0.00308828 -0.00236167 -0.00582223 -0.00307151 0.999978 -0.00214001 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999492 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3488/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 93 to 68019264 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.929733) and 440(1311875587.898206) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999966 -0.00617572 0.00539831 0.022925 0.00617725 0.999981 -0.000267231 -0.00844614 -0.00539656 0.000300568 0.999985 -0.0062879 Input.cpp[readImages,206]: Got image from sensor!444 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999072 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2643/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 93 to 68019264 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.929733) and 440(1311875587.898206) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999937 -0.00566451 0.00970881 0.0145096 0.00567039 0.999984 -0.000578112 -0.000485578 -0.00970538 0.000633128 0.999953 -0.00331417 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999509 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2432/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.589266 resInfo good: 7719, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10143/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999923 -0.00541223 0.0111359 0.0127943 0.00540557 0.999985 0.000627382 -0.000759902 -0.0111391 -0.000567138 0.999938 -0.00285563 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!441 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 472 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.961563 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 445 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999693 -0.0108303 0.0222668 0.0255599 0.0108037 0.999941 0.00131491 -0.00145242 -0.0222798 -0.00107395 0.999751 -0.00585317 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 93 to 59932736 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.961563) and 440(1311875587.898206) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999693 -0.0108303 0.0222668 0.0255599 0.0108037 0.999941 0.00131491 -0.00145242 -0.0222798 -0.00107395 0.999751 -0.00585317 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!445 INF|Input.cpp[getImages,132]: mNbReceivedImages!446 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999978 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3671/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 93 to 59932736 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.961563) and 440(1311875587.898206) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99975 -0.0098723 0.0200478 0.0252262 0.00989953 0.99995 -0.0012595 -0.0067545 -0.0200343 0.00145765 0.999798 -0.0139245 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 7): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5164/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 93 to 59932736 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.961563) and 440(1311875587.898206) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999709 -0.0100445 0.021929 0.0255744 0.010047 0.99995 -4.63203e-06 -0.000771228 -0.0219279 0.000224953 0.99976 -0.0101517 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 4): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3612/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.831119 resInfo good: 7687, 32 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 13969/13 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999672 -0.00978931 0.0236669 0.0227604 0.00976956 0.999952 0.000949989 -0.000784273 -0.0236751 -0.000718462 0.999719 -0.00946384 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!442 Input.cpp[readImages,206]: Got image from sensor!445 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 471 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875587.997540 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 446 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999244 -0.0141678 0.0361927 0.0326428 0.014129 0.999899 0.00132726 -0.000766928 -0.0362078 -0.000814894 0.999344 -0.0161965 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 93 to 59985792 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.997540) and 440(1311875587.898206) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999244 -0.0141678 0.0361927 0.0326428 0.014129 0.999899 0.00132726 -0.000766928 -0.0362078 -0.000814894 0.999344 -0.0161965 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999917 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3168/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 93 to 59985792 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.997540) and 440(1311875587.898206) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999455 -0.0146373 0.029601 0.0489625 0.014806 0.999875 -0.00548833 0.0136993 -0.029517 0.00592361 0.999547 -0.00872047 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!446 INF|Input.cpp[getImages,132]: mNbReceivedImages!447 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999993 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3509/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 93 to 59985792 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875587.997540) and 440(1311875587.898206) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999291 -0.0138291 0.0350172 0.0364626 0.013799 0.999904 0.00110229 0.000167913 -0.0350291 -0.000618304 0.999386 -0.0121929 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999987 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2401/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.0258 resInfo good: 7547, 172 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10791/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999236 -0.0142512 0.0363855 0.0346237 0.0142419 0.999898 0.000513334 0.00540613 -0.0363891 5.25771e-06 0.999338 -0.0118417 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875587.997540 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875587.997540 to keyframe with id: 59985792 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875587.997540 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1003 size: 7493 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId59985792 timestamp: 1311875587.997540 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -7.58303 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -8.96276 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -11.984 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 426 keyframeId: 90 score: -15.0188 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 432 keyframeId: 91 score: -15.522 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 436 keyframeId: 92 score: -11.775 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 94 = 94 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb262e0 fh1 0x591ac00fh->id: 71 94 443goodE: 10 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb262e0 fh1 0x20ce020fh->id: 80 94 443goodE: 198 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb262e0 fh1 0x185b3f60fh->id: 89 94 443goodE: 88 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb262e0 fh1 0x278b0740fh->id: 90 94 443goodE: 29 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb262e0 fh1 0x27138700fh->id: 91 94 443goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb262e0 fh1 0x29720800fh->id: 92 94 443goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb262e0 fh1 0x2bb43700fh->id: 93 94 443goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew94 Input.cpp[readImages,206]: Got image from sensor!446 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 176 out of 185 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 185 newEdgePixels: 185 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2582 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 388 lastEnergy: 727.022 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 79 INF|LocalMapper.cpp[optimize,276]: Start Energy: 727.022 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.003e-11 -1.31486e-11 -2.99589e-12 2.49209e-11 -0.00218553 0.000546507 -0.00156592 0.000281046 -0.000133251 -0.00173282 -0.000546202 0.00472154 -0.00347303 0.000232232 -1.62634e-05 -0.00197139 -0.00203458 0.000243033 0.00198576 -0.00108416 0.000826546 -0.00231758 0.000228469 -0.00324737 -0.00242484 -0.00173129 9.36142e-05 -0.00189573 0.00647568 -0.00391072 0.000180203 -0.0019102 -0.00073318 -0.00288828 -0.00652467 -0.00819411 -0.00388808 -0.0027432 0.000752549 -0.00140802 0.00597246 -0.00635282 -0.00323155 -0.0027994 -0.000441063 -0.0022151 0.00101092 0.00228488 0.00238536 -0.0014794 0.0001377 -0.00191866 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2582 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 447 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 677.834 0 0 newEnergyL 0 lastEnergy: 727.022 0 0 lastEnergyL: 0mActiveResiduals: 2582 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -2.44421e-12 5.77954e-12 1.40424e-11 -8.75058e-12 -0.000285366 0.00023213 0.000382656 2.28736e-05 5.64698e-05 -8.53432e-05 0.0012921 -0.00230732 0.000698084 -0.000263148 -0.000177627 0.000119344 -0.00292349 0.000432832 -0.00648318 -8.1747e-05 0.000234315 9.79074e-05 -0.000492994 0.00919503 0.000560408 0.00114927 0.000146758 -0.000506035 -0.00617961 0.00854085 -0.00169849 0.00108773 0.000640422 0.000509847 0.000229022 0.00877017 0.00182265 0.00118043 8.05304e-05 -0.000408583 -0.0111857 0.00949523 0.00179239 0.00122487 0.00137416 -0.000247252 -0.00334265 0.00918133 0.000156062 0.00113079 0.000359469 -0.00027513 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2582 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 649.07 0 0 newEnergyL 0 lastEnergy: 677.834 0 0 lastEnergyL: 0mActiveResiduals: 2582 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 5.73749e-12 -7.55771e-13 -1.17459e-11 1.77353e-12 -0.000187052 0.000957536 -0.00164998 5.90918e-05 -0.000594865 -0.000617414 0.000927815 0.00227804 -0.00222506 -6.01161e-05 -0.000520594 -0.000915046 -0.00253549 0.00338927 0.00442801 -4.65512e-05 0.000131605 -0.00106239 -0.000669156 -0.0040675 -0.00101522 -0.00114661 -0.000436135 -0.000647806 0.00678766 0.000893032 0.00185788 -0.000447214 -0.00119402 -0.00164475 -0.00640658 0.000886032 -0.000942342 -0.000618033 0.000330111 -0.000843991 0.00514539 -0.00128256 -0.00064789 -0.000941399 -0.000998172 -0.000809404 -0.00167491 -0.00428535 -0.00121023 -0.00141417 -9.47139e-05 -0.000973282 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2582 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 628.171 0 0 newEnergyL 0 lastEnergy: 649.07 0 0 lastEnergyL: 0mActiveResiduals: 2582 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.05987e-12 -2.0739e-12 1.35647e-11 -3.39934e-12 -0.000928606 -0.00289347 0.00250984 -0.000502937 0.00065012 0.00173437 0.000492551 -0.00457295 0.00192404 -9.35596e-05 0.000136081 0.00186976 0.00100109 -0.0023197 -0.00622541 0.000798388 -8.87371e-05 0.00181299 0.000580219 0.00614703 0.00172633 0.0021228 0.000144752 0.0013095 -0.00565888 -0.00123661 -0.00229979 0.00113497 0.000823683 0.00215231 0.00560454 0.000167896 0.00154465 0.0014683 -0.000421607 0.00128519 -0.00756006 0.00266848 0.00194175 0.00186486 0.00124373 0.00120283 0.00473727 0.0034742 0.00183344 0.00202086 -0.000366274 0.00161544 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2582 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 614.511 0 0 newEnergyL 0 lastEnergy: 628.171 0 0 lastEnergyL: 0mActiveResiduals: 2582 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 4.40643e-12 -4.79372e-14 -1.11095e-11 5.47727e-12 0.00311077 0.00208393 -0.00220635 0.000374733 -0.000842153 -0.00131661 -0.0014807 0.00293206 -0.00216407 -3.61394e-05 -0.000114309 -0.00143197 -0.00543257 0.0026652 0.00560284 -0.000467795 0.000536979 -0.00152851 -0.00294978 -0.0059803 0.000683652 -0.00178594 -6.21675e-05 -0.000982181 0.00386977 0.00202564 0.00265346 -0.00079902 -0.000761837 -0.00178306 -0.00451119 0.00107985 -0.000154609 -0.000967328 0.000161381 -0.00134665 0.00936043 -0.00316067 -0.00327521 -0.00166913 -0.00168854 -0.00101872 -0.00035186 -0.00394386 -0.00343674 -0.00174681 -0.000408189 -0.00140789 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2582 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!447 INF|Input.cpp[getImages,132]: mNbReceivedImages!448 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 604.489 0 0 newEnergyL 0 lastEnergy: 614.511 0 0 lastEnergyL: 0mActiveResiduals: 2582 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -6.62299e-14 -3.05561e-12 1.12032e-11 -1.18254e-12 -0.00244711 -0.00201604 0.00239227 -0.000467717 0.000858367 0.00157929 0.000207563 -0.00319051 0.00311155 1.86279e-05 0.000338062 0.00172159 0.0043603 -0.00372237 -0.00679256 0.000374361 -0.000388815 0.00182347 0.0044672 0.00424433 -0.00107796 0.00161465 -0.000137405 0.00139348 -0.00219005 -0.00299068 -0.00254152 0.000717233 0.000547252 0.00207431 0.00579099 -0.000995652 -0.000325923 0.00111088 -0.000179094 0.00145299 -0.00895682 0.00341911 0.00370925 0.00181993 0.00183181 0.00111424 -0.00312281 0.00769775 0.00406378 0.00238694 0.00108746 0.0015527 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2582 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 598.924 0 0 newEnergyL 0 lastEnergy: 604.489 0 0 lastEnergyL: 0mActiveResiduals: 2582 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 598.924 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2582 INF|LocalMapper.cpp[optimize,345]: End Energy: 598.924 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.487319 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.487319 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 91 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 91 with idx: 4 and allID: 432 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 71<->91 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 91->71 INF|LocalMapper.cpp[marginalizeFrame,772]: 80<->91 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 91->80 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->91 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 91->89 INF|LocalMapper.cpp[marginalizeFrame,801]: 91 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 91 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 14557 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2bb262e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 94 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 66 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 34 with distance 0.206Found rest min at: 65 with distance 0.07 overall min: 0.07 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 34 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 701 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 94 into DB 0.206 34 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 34 and real id(62) current kf: 94(443) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.5714 0.315647 -0.757541 -1.58842 -0.122962 0.945584 0.301251 0.2023 0.811408 -0.0789861 0.579119 -0.0269071 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 62 currFrame: 94 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000526683 edge: 94 to 62 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 94 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 443(1311875587.997540) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 18,0.999964 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:5040/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 94 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 443(1311875587.997540) on lvl: 1 Input.cpp[readImages,206]: Got image from sensor!447 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.962209 -0.0654133 -0.264338 0.848228 0.0174441 0.983532 -0.179888 0.47882 0.271752 0.168479 0.947505 -0.263549 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999076 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1050/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 94 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 443(1311875587.997540) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.962217 -0.0655107 -0.264285 0.848351 0.0175378 0.983521 -0.179942 0.478934 0.271718 0.168508 0.94751 -0.264222 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999988 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1583/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.96166 -0.0650204 -0.266424 0.857607 0.0164348 0.983405 -0.180677 0.481204 0.27375 0.169372 0.94677 -0.262166 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 61 end 64 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 448 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 12290 o[1]: 1275 o[2]: 516 o[3]: 118 histWeights: 1 1 1.25 1.5overlap: 2097 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7493 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 62 and 94 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 94 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 94 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 11389 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 444 keyframes 95 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 523 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.029723 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!448 INF|Input.cpp[getImages,132]: mNbReceivedImages!449 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999904 -0.00390605 0.0133255 0.00972792 0.00389388 0.999992 0.000939325 0.00128492 -0.0133291 -0.000887347 0.999911 -0.00367554 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 94 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.029723) and 443(1311875587.997540) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999904 -0.00390605 0.0133255 0.00972792 0.00389388 0.999992 0.000939325 0.00128492 -0.0133291 -0.000887347 0.999911 -0.00367554 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999776 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2263/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 94 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.029723) and 443(1311875587.997540) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99991 -0.00510932 0.012385 0.00673286 0.00510655 0.999987 0.000255533 0.000321877 -0.0123861 -0.000192266 0.999923 -0.00986553 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999027 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2549/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 94 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.029723) and 443(1311875587.997540) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999865 -0.00508144 0.015642 0.00187311 0.00509505 0.999987 -0.000830422 0.0105311 -0.0156376 0.000910007 0.999877 -0.00645823 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999056 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1113/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.613946 resInfo good: 7493, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7626/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999859 -0.00533949 0.015899 0.00442862 0.00533006 0.999986 0.000635553 0.00905811 -0.0159021 -0.000550721 0.999873 -0.00683353 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!444 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!448 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.061660 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 449 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999684 -0.00801231 0.0238459 0.0065839 0.00799109 0.999968 0.000985086 0.0135944 -0.023853 -0.00079422 0.999715 -0.0102784 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 94 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.061660) and 443(1311875587.997540) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999684 -0.00801231 0.0238459 0.0065839 0.00799109 0.999968 0.000985086 0.0135944 -0.023853 -0.00079422 0.999715 -0.0102784 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!449 INF|Input.cpp[getImages,132]: mNbReceivedImages!450 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999657 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4049/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 94 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.061660) and 443(1311875587.997540) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999613 -0.00992556 0.0259692 0.011588 0.00981706 0.999943 0.00430212 0.00910025 -0.0260104 -0.00404551 0.999653 -0.0162546 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.99998 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2117/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 94 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.061660) and 443(1311875587.997540) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999533 -0.00983454 0.028924 0.0103733 0.00966977 0.999936 0.0058309 0.011946 -0.0289795 -0.00554849 0.999565 -0.0161055 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2302/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.833844 resInfo good: 7456, 37 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10275/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999525 -0.00990653 0.0291866 0.0100388 0.00973984 0.999935 0.0058478 0.0120882 -0.0292426 -0.00556074 0.999557 -0.0151678 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!445 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.097928 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998993 -0.0145395 0.0424449 0.0155238 0.0140794 0.999839 0.011118 0.0151005 -0.0425997 -0.0105092 0.999037 -0.0235913 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 94 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.097928) and 443(1311875587.997540) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998993 -0.0145395 0.0424449 0.0155238 0.0140794 0.999839 0.011118 0.0151005 -0.0425997 -0.0105092 0.999037 -0.0235913 Input.cpp[readImages,206]: Got image from sensor!449 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999416 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2961/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 94 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.097928) and 443(1311875587.997540) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999245 -0.0123948 0.0368291 0.0259173 0.012059 0.999884 0.0093255 0.0195769 -0.0369404 -0.00887433 0.999278 -0.0205798 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999032 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1196/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 94 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.097928) and 443(1311875587.997540) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999091 -0.0123876 0.0407788 0.0207143 0.0118399 0.999837 0.013645 0.0141374 -0.0409412 -0.0131498 0.999075 -0.0210219 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 450 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999958 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1169/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.02781 resInfo good: 7326, 167 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6809/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999056 -0.013107 0.0414193 0.0198675 0.0125826 0.999838 0.0128968 0.01794 -0.0415816 -0.0123634 0.999059 -0.0196335 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875588.097928 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875588.097928 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875588.097928 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 975 size: 6828 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875588.097928 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -7.60401 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -8.96142 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -11.6952 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 426 keyframeId: 90 score: -12.6034 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 436 keyframeId: 92 score: -13.1983 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 440 keyframeId: 93 score: -11.1041 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 95 = 95 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2cacf500 fh1 0x591ac00fh->id: 71 95 446goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2cacf500 fh1 0x20ce020fh->id: 80 95 446goodE: 196 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2cacf500 fh1 0x185b3f60fh->id: 89 95 446goodE: 147 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2cacf500 fh1 0x278b0740fh->id: 90 95 446goodE: 36 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2cacf500 fh1 0x29720800fh->id: 92 95 446goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2cacf500 fh1 0x2bb43700fh->id: 93 95 446goodE: 38 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2cacf500 fh1 0x2bb262e0fh->id: 94 95 446goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew95 Input.cpp[readImages,192]: readImages loop! INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 94 out of 98 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 98 newEdgePixels: 98 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2615 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 410 lastEnergy: 727.006 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 84 INF|LocalMapper.cpp[optimize,276]: Start Energy: 727.006 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.27713e-11 2.01392e-12 -2.13848e-11 -5.40481e-12 0.00337716 0.00466413 -0.00199193 0.000847375 -0.000452251 -0.00152513 -0.00177906 0.00313526 -0.00104758 0.000258432 0.000373113 -0.00117948 -0.00357836 -0.00101415 0.0104527 -0.000456926 0.000898174 -0.00106893 -0.000652427 -0.00718794 0.00434393 -0.00136391 0.000252378 -0.00093191 -0.0036062 -0.00159018 0.00210593 -0.000723556 0.000624085 -0.000907773 0.012407 -0.00397108 -0.00316823 -0.00132333 -0.00167322 -0.000351623 0.00965709 -0.0111214 -0.00201051 -0.00227836 -0.001223 -0.00106683 -0.00152759 -0.00120394 0.00350122 -0.00091716 0.000577193 -0.000842535 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2615 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 679.994 0 0 newEnergyL 0 lastEnergy: 727.006 0 0 lastEnergyL: 0mActiveResiduals: 2615 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -3.34539e-12 8.83984e-13 1.63815e-12 -3.8356e-12 -0.00167842 -0.00223483 0.000133606 -0.00027843 0.000208836 0.00010013 0.000285579 -0.00146024 0.000179396 -0.000196003 -2.24051e-05 5.55806e-06 0.00489389 8.38334e-05 -0.00274118 -0.000159933 -0.000660845 3.62229e-05 0.00163127 0.00552623 0.00247173 0.000698949 -0.000117981 -0.000298134 0.0029603 0.0026799 0.00267178 0.000306626 -0.000215119 -0.000176744 -0.00463426 0.00360555 0.0061495 0.000469151 0.000940392 -0.000567503 -0.00653616 0.0127976 0.0086025 0.0017239 0.00117273 -6.0849e-05 -0.00151709 0.00529647 0.00276028 0.000644782 0.00041624 -0.000263869 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2615 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 651.628 0 0 newEnergyL 0 lastEnergy: 679.994 0 0 lastEnergyL: 0mActiveResiduals: 2615 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -8.88473e-13 2.03802e-12 -8.23323e-12 9.15133e-13 0.0022672 0.00171908 -0.000943939 0.000394305 -0.000189516 -0.00129653 0.000503995 0.00175723 -0.000609576 -1.75155e-05 0.000221641 -0.00114405 -0.00334522 0.00210843 0.00395038 -0.000284095 0.000811204 -0.000840719 -0.00333301 -0.00410886 0.000790986 -0.00117468 0.000654961 -0.000715909 -0.00601013 0.0043351 0.00251241 -0.000135015 0.000859245 -0.00095932 0.00253176 -0.000638241 -0.00259648 -0.000987908 -0.000361226 -0.000454892 0.00690269 -0.00713789 -0.00381132 -0.00191255 -0.00102136 -0.00104484 0.000957416 0.000822281 -0.000825575 -0.000754042 -0.000187245 -0.000653997 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2615 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 634.448 0 0 newEnergyL 0 lastEnergy: 651.628 0 0 lastEnergyL: 0mActiveResiduals: 2615 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 4.55849e-12 -4.34037e-12 1.05524e-11 1.58985e-12 -0.00306651 -0.000134047 0.00176872 -0.000231058 0.000418696 0.00108941 0.000786582 -0.00150903 0.00120316 -1.70893e-05 -3.46812e-05 0.0010113 0.00308144 -0.00367791 -0.00600408 -0.000157449 -0.000296225 0.00105076 0.00756791 0.00212741 -0.00052291 0.000719024 -0.000740628 0.00096696 0.00185465 -0.00294963 -0.00134244 0.000166103 0.000256569 0.000871487 -0.00334566 0.00062454 0.00198861 0.000791384 0.000979273 0.000506458 -0.00646907 0.00689092 0.00357456 0.00166389 0.00149093 0.000992417 -0.00155777 0.000635646 0.000550304 0.000780577 0.000779147 0.000592873 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2615 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 625.967 0 0 newEnergyL 0 lastEnergy: 634.448 0 0 lastEnergyL: 0mActiveResiduals: 2615 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -3.65864e-12 3.38345e-12 -1.29963e-11 -4.46145e-12 0.00255565 0.0012543 -0.0015721 0.000277758 -6.02682e-05 -0.000922824 -0.000712792 0.00069258 -0.00120385 -0.000195669 0.000272218 -0.000816186 -0.00264885 0.00251159 0.0055096 -3.89216e-05 0.000480127 -0.000835662 -0.00430221 -0.00417678 0.000241259 -0.00108183 0.00048884 -0.000606562 -0.000670989 0.00263692 0.00252882 -0.000199537 -0.000172432 -0.00080145 0.00153124 -0.000389398 -0.00186785 -0.000741672 -0.000574471 -0.00056488 0.00496609 -0.00617838 -0.00341497 -0.00153421 -0.00109262 -0.00100228 0.00010821 0.00195592 -0.00156373 -0.000294294 -0.000462451 -0.000548284 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2615 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 620.032 0 0 newEnergyL 0 lastEnergy: 625.967 0 0 lastEnergyL: 0mActiveResiduals: 2615 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 8.59642e-12 -5.22047e-12 1.49784e-11 3.08934e-12 -0.00195514 -0.00141565 0.00136454 -0.000404508 4.70282e-05 0.001157 -0.000152345 -0.00139693 0.00111407 7.76092e-05 -0.000272332 0.0010883 0.00116869 -0.0037815 -0.00625981 2.77584e-05 -0.000545101 0.00126495 0.00507649 0.0023758 -0.00101357 0.00100248 -0.000859691 0.0010664 0.0017116 -0.00236535 -0.00107914 0.000477929 -0.000182866 0.000920281 -0.000273221 0.000560195 0.00163754 0.00102902 0.000126151 0.000845974 -0.00541011 0.00746959 0.00384868 0.00192443 0.000900252 0.00115922 -0.000676772 -2.32094e-05 0.00170973 0.000920918 0.000168388 0.000692102 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2615 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 612.428 0 0 newEnergyL 0 lastEnergy: 620.032 0 0 lastEnergyL: 0mActiveResiduals: 2615 Input.cpp[readImages,206]: Got image from sensor!450 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 612.428 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2615 INF|LocalMapper.cpp[optimize,345]: End Energy: 612.428 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.4921 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.4921 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 92 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 92 with idx: 4 and allID: 436 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 71<->92 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 92->71 INF|LocalMapper.cpp[marginalizeFrame,772]: 80<->92 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 92->80 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->92 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 92->89 INF|LocalMapper.cpp[marginalizeFrame,801]: 92 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 92 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 14651 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2cacf500 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 95 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 67 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 2 with distance 0.212Found rest min at: 66 with distance 0.096 overall min: 0.096 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 2 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 716 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 95 into DB 0.212 2 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 2 and real id(17) current kf: 95(446) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.199445 0.375268 -0.905205 -1.81315 -0.15888 0.923925 0.348023 1.31227 0.966943 0.0744077 0.243895 -0.480538 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 17 currFrame: 95 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 451 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000762792 edge: 95 to 17 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 0 < 6828 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 95 and 17 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 95 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 95 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1387 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 447 keyframes 96 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.131855 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!451 INF|Input.cpp[getImages,132]: mNbReceivedImages!452 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999933 -0.0031409 0.0111756 0.0138264 0.00305381 0.999965 0.00780147 0.00363798 -0.0111997 -0.00776682 0.999907 -0.00399509 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 95 to 753251200 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.131855) and 446(1311875588.097928) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999933 -0.0031409 0.0111756 0.0138264 0.00305381 0.999965 0.00780147 0.00363798 -0.0111997 -0.00776682 0.999907 -0.00399509 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999955 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:665/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 95 to 753251200 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.131855) and 446(1311875588.097928) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999943 -0.00366906 0.0100614 0.0102609 0.00362521 0.999984 0.00437318 -0.00735656 -0.0100773 -0.00433645 0.99994 -0.00559256 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999935 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1956/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 95 to 753251200 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.131855) and 446(1311875588.097928) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999903 -0.00432867 0.0132641 0.00714307 0.00423534 0.999966 0.00705671 0.00169933 -0.0132942 -0.00699985 0.999887 -0.00615555 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999824 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1689/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.603212 resInfo good: 6828, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5856/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999891 -0.00474866 0.0140111 0.00730829 0.00463999 0.999959 0.0077787 0.00237621 -0.0140475 -0.00771284 0.999872 -0.00530959 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!447 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.162202 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999754 -0.00716333 0.0210018 0.0109301 0.00691882 0.999908 0.0116921 0.00356159 -0.0210836 -0.0115439 0.999711 -0.00800958 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 95 to 753251200 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.162202) and 446(1311875588.097928) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999754 -0.00716333 0.0210018 0.0109301 0.00691882 0.999908 0.0116921 0.00356159 -0.0210836 -0.0115439 0.999711 -0.00800958 Input.cpp[readImages,206]: Got image from sensor!451 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999413 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2393/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 95 to 753251200 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.162202) and 446(1311875588.097928) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999797 -0.00699158 0.018913 0.0282931 0.00675696 0.9999 0.0124408 0.00552014 -0.0189981 -0.0123105 0.999744 -0.0131061 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999197 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2470/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 95 to 753251200 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.162202) and 446(1311875588.097928) on lvl: 0 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 452 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999679 -0.00667905 0.0244549 0.019692 0.00634039 0.999883 0.0138998 0.00268048 -0.0245449 -0.0137403 0.999604 -0.0116904 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999194 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:874/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.835293 resInfo good: 6812, 16 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6998/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999624 -0.00685632 0.0265437 0.0152004 0.00647035 0.999872 0.0145994 0.00359408 -0.0266404 -0.0144221 0.999541 -0.0104703 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!448 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.197634 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99943 -0.00794162 0.0328031 0.0191211 0.00735326 0.999811 0.0180179 0.00419561 -0.0329399 -0.0177665 0.999299 -0.0130908 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 95 to 753251200 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.197634) and 446(1311875588.097928) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99943 -0.00794162 0.0328031 0.0191211 0.00735326 0.999811 0.0180179 0.00419561 -0.0329399 -0.0177665 0.999299 -0.0130908 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!452 INF|Input.cpp[getImages,132]: mNbReceivedImages!453 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999373 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:686/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 95 to 753251200 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.197634) and 446(1311875588.097928) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999549 -0.00855707 0.0288008 0.0359634 0.00806364 0.999819 0.0172053 0.00494734 -0.0289428 -0.0169653 0.999437 -0.0198615 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.99971 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1763/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 95 to 753251200 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.197634) and 446(1311875588.097928) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999424 -0.00804527 0.0329726 0.0369489 0.00747849 0.999823 0.0172769 0.00508867 -0.0331058 -0.0170203 0.999307 -0.017277 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999947 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1739/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.99473 resInfo good: 6730, 98 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5469/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999247 -0.00772133 0.0380242 0.0224389 0.0070296 0.999808 0.0182922 0.00636172 -0.0381582 -0.0180112 0.999109 -0.0140348 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!449 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.229341 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998737 -0.00862751 0.0494965 0.0296341 0.00754623 0.99973 0.0219911 0.009121 -0.0496728 -0.0215898 0.998532 -0.0176925 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 95 to 753251200 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.229341) and 446(1311875588.097928) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998737 -0.00862751 0.0494965 0.0296341 0.00754623 0.99973 0.0219911 0.009121 -0.0496728 -0.0215898 0.998532 -0.0176925 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999689 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1652/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 95 to 753251200 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.229341) and 446(1311875588.097928) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99879 -0.0100811 0.0481298 0.0280816 0.0090144 0.99971 0.0223291 0.0096244 -0.048341 -0.0218683 0.998591 -0.0251013 Input.cpp[readImages,206]: Got image from sensor!452 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999138 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3449/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 95 to 753251200 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.229341) and 446(1311875588.097928) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998659 -0.00993049 0.0508183 0.0264484 0.0087563 0.999691 0.0232764 0.0113891 -0.0510337 -0.0228002 0.998437 -0.022273 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 453 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2600/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.14418 resInfo good: 6510, 318 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8949/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998612 -0.010085 0.0516871 0.0266983 0.00884948 0.999671 0.0240773 0.0117891 -0.0519129 -0.0235865 0.998373 -0.0216954 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875588.229341 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875588.229341 to keyframe with id: 753251200 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875588.229341 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 983 size: 6907 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId753251200 timestamp: 1311875588.229341 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 314 keyframeId: 71 score: -7.61301 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -8.96608 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -11.6089 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 426 keyframeId: 90 score: -11.7883 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 440 keyframeId: 93 score: -13.5366 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -11.9644 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 96 = 96 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce5b3a0 fh1 0x591ac00fh->id: 71 96 450goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce5b3a0 fh1 0x20ce020fh->id: 80 96 450goodE: 189 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce5b3a0 fh1 0x185b3f60fh->id: 89 96 450goodE: 156 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce5b3a0 fh1 0x278b0740fh->id: 90 96 450goodE: 39 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce5b3a0 fh1 0x2bb43700fh->id: 93 96 450goodE: 38 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce5b3a0 fh1 0x2bb262e0fh->id: 94 96 450goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce5b3a0 fh1 0x2cacf500fh->id: 95 96 450goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew96 Input.cpp[readImages,192]: readImages loop! INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 101 out of 106 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 106 newEdgePixels: 106 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2604 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 429 lastEnergy: 723.665 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 93 INF|LocalMapper.cpp[optimize,276]: Start Energy: 723.665 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.3886e-11 1.02888e-12 -9.56084e-12 -5.66507e-12 0.000919544 -0.000977604 -5.01565e-05 1.23961e-05 -0.000293337 -0.00014068 -0.000835942 0.00141512 -0.000446298 0.000292411 -0.000143138 -6.43457e-05 -0.00309945 0.0054059 0.00637894 0.00101036 0.000227608 -0.000717329 -0.00743667 -0.00479581 -0.00210678 -0.000552376 0.000750887 -0.000472707 -0.00383771 0.00534062 -0.00572542 0.000563045 -1.8256e-05 -0.000448065 -0.000651233 0.00174581 -0.00559869 0.000160327 -0.000733119 -0.000265394 0.000433968 0.00423992 -0.00562565 0.000569541 -0.000803713 -0.00095518 0.000615416 0.00250036 -0.00359274 0.000459821 -0.000847454 0.000597794 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2604 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 675.951 0 0 newEnergyL 0 lastEnergy: 723.665 0 0 lastEnergyL: 0mActiveResiduals: 2604 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -4.33735e-12 3.83292e-12 2.11101e-12 -7.50107e-12 0.000759092 -0.000356227 -0.000356904 -5.48054e-05 -0.000100205 -3.4655e-05 -0.000149848 0.00136248 0.000102819 0.000192752 8.99087e-06 3.50993e-06 0.000691059 -0.00370709 -0.000511066 -0.000526847 -0.000130993 0.00016778 0.0021594 -0.00163895 0.000432347 -0.000191469 -0.000272063 4.99664e-05 -0.00361694 0.0031216 0.0034572 0.000517757 0.000685279 -0.000207513 -0.00460006 0.00225436 0.00321633 0.000294387 0.000976547 5.86004e-05 -0.000167105 0.00242999 0.00498657 0.000184699 0.000360309 0.000161201 -0.00194726 0.0033183 0.00346069 0.00046383 0.000404775 0.000157818 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2604 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 654.762 0 0 newEnergyL 0 lastEnergy: 675.951 0 0 lastEnergyL: 0mActiveResiduals: 2604 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 9.26189e-13 -7.97111e-13 -1.30531e-11 5.8831e-12 0.00079669 -0.000471721 2.18406e-06 0.000275464 0.000457925 -0.000519075 0.000259293 0.000611903 0.000891384 0.00016297 0.000633097 -0.00047678 -0.000782558 0.0022128 0.00301909 0.000214361 0.000933056 -0.000545804 -0.00178573 0.00121801 0.0025582 4.39293e-05 0.000958572 -0.000429876 0.00139748 -0.00171669 -0.00168517 -0.000477293 0.000165267 0.000193495 0.0014279 -0.000578956 -0.00085843 -0.000272512 5.94851e-05 -3.51657e-05 -0.00109306 -0.00303396 -0.00250656 -0.000592971 0.000363244 -0.000282531 -0.00138013 0.00121005 -0.000574823 -7.9486e-05 0.000475604 0.000126684 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2604 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 636.056 0 0 newEnergyL 0 lastEnergy: 654.762 0 0 lastEnergyL: 0mActiveResiduals: 2604 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 2.65557e-12 -1.69875e-13 9.33195e-12 -4.3674e-12 -0.0028543 0.0012398 0.00145651 -0.000315509 9.11221e-05 0.000744979 0.000685505 -0.00094022 0.000529672 -0.00015941 -0.000219301 0.000964287 0.00447054 -0.00518683 -0.00449596 -0.0004785 -0.000717063 0.0011615 0.00636023 -0.00367964 -0.00453241 -0.000184812 -0.000807522 0.00100112 -0.0048132 0.00279374 0.00135631 0.000914269 0.0011558 0.000403692 -0.00424978 0.00331923 0.00102582 0.00104205 0.00119387 0.00069272 0.00107027 0.00626476 0.00246517 0.0014325 0.000403537 0.000946791 -0.000752029 -0.00156137 0.00191755 0.000214145 0.000788401 0.000423977 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2604 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 630.113 0 0 newEnergyL 0 lastEnergy: 636.056 0 0 lastEnergyL: 0mActiveResiduals: 2604 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -3.0925e-13 -1.21857e-12 -1.01026e-11 5.10968e-12 0.00269128 -0.000503018 -0.00117283 0.000474217 -8.28817e-05 -0.0012155 -0.000129782 0.00230695 -0.000804417 0.000249781 0.000238128 -0.0013678 -0.00464526 0.00504716 0.00475999 0.000178191 0.00105051 -0.00148764 -0.00450039 0.00310141 0.0055674 -0.000144868 0.000816123 -0.00122481 0.00176143 -0.00141245 -0.001386 -0.00119451 -0.000474607 -0.000686574 0.00101154 -0.001713 -0.00128843 -0.00122676 -0.000463478 -0.00110327 -0.000460289 -0.00774493 -0.00212646 -0.00209418 -0.000339654 -0.00133975 0.00408915 -0.00116286 -0.00378414 -0.00104676 -0.000993888 -0.000787401 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2604 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 618.04 0 0 newEnergyL 0 lastEnergy: 630.113 0 0 lastEnergyL: 0mActiveResiduals: 2604 Input.cpp[readImages,206]: Got image from sensor!453 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.77769e-13 3.65105e-12 7.42101e-12 -9.03369e-12 -0.0026537 0.000557941 -0.000400325 -0.000424987 -0.000639318 0.00103238 -0.000501365 -0.00145819 -0.00124129 -0.000132355 -0.000950888 0.0010032 0.00394925 -0.00675255 -0.00499956 -0.000492561 -0.00173693 0.00113132 0.00668781 -0.00221862 -0.00351348 0.000169729 -0.00188971 0.000829796 -0.00255838 0.00182258 0.00152334 0.00103884 -0.00021373 0.000363325 -0.00354237 0.0029394 0.0020845 0.0012059 2.11704e-06 0.000780232 -0.000797844 0.00704114 0.00243181 0.00172949 -0.000310327 0.00101669 0.00127615 -0.000780498 0.00293966 0.000546395 -0.000610615 0.000520398 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2604 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 616.91 0 0 newEnergyL 0 lastEnergy: 618.04 0 0 lastEnergyL: 0mActiveResiduals: 2604 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 616.91 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2604 INF|LocalMapper.cpp[optimize,345]: End Energy: 616.91 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.494093 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.494093 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 93 data: 0 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 454 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 93 with idx: 4 and allID: 440 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 71<->93 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 93->71 INF|LocalMapper.cpp[marginalizeFrame,772]: 80<->93 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 93->80 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->93 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 93->89 INF|LocalMapper.cpp[marginalizeFrame,801]: 93 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 93 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 14479 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2ce5b3a0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 96 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 68 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 10 with distance 0.22Found rest min at: 67 with distance 0.092 overall min: 0.092 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 10 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 712 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 96 into DB 0.22 10 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 10 and real id(25) current kf: 96(450) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: -0.231632 0.454787 -0.859951 -1.43282 -0.0251112 0.880902 0.472632 1.35108 0.972479 0.131071 -0.192625 -1.46271 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 25 currFrame: 96 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000968711 edge: 96 to 25 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 0 < 6907 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 96 and 25 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 96 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 96 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1382 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 451 keyframes 97 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.261482 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!454 INF|Input.cpp[getImages,132]: mNbReceivedImages!455 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999975 -0.000277284 0.00709137 0.00149002 0.000259417 0.999997 0.00252036 0.00414186 -0.00709204 -0.00251846 0.999972 -0.00388477 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 96 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.261482) and 450(1311875588.229341) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999975 -0.000277284 0.00709137 0.00149002 0.000259417 0.999997 0.00252036 0.00414186 -0.00709204 -0.00251846 0.999972 -0.00388477 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999766 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4460/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 96 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.261482) and 450(1311875588.229341) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999973 -0.00427582 0.00589983 0.0152596 0.00423346 0.999965 0.0071744 -0.0147985 -0.0059303 -0.00714923 0.999957 -0.0101971 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999683 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1994/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 96 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.261482) and 450(1311875588.229341) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999921 -0.00378785 0.0119732 -0.00109523 0.00373674 0.999984 0.00428836 0.00367953 -0.0119892 -0.00424328 0.999919 -0.000885771 Input.cpp[readImages,206]: Got image from sensor!454 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999475 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1341/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.54648 resInfo good: 6907, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9298/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999926 -0.00426085 0.0113719 0.0058387 0.00418517 0.999969 0.00666993 -0.00262122 -0.0114 -0.00662185 0.999913 -0.00547187 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!451 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.297434 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 455 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999834 -0.00641939 0.0170467 0.00873878 0.00624913 0.99993 0.0100225 -0.00393629 -0.0171099 -0.00991434 0.999804 -0.00822612 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 96 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.297434) and 450(1311875588.229341) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999834 -0.00641939 0.0170467 0.00873878 0.00624913 0.99993 0.0100225 -0.00393629 -0.0171099 -0.00991434 0.999804 -0.00822612 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!455 INF|Input.cpp[getImages,132]: mNbReceivedImages!456 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999853 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3812/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 96 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.297434) and 450(1311875588.229341) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99984 -0.00586622 0.0168894 0.0156949 0.00573273 0.999952 0.00794182 -0.00403434 -0.0169352 -0.00784373 0.999826 -0.0130224 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999955 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3676/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 96 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.297434) and 450(1311875588.229341) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999744 -0.00551231 0.0219261 0.00442143 0.00534716 0.999957 0.00758383 0.00486293 -0.021967 -0.00746465 0.999731 -0.00826181 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2392/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.735132 resInfo good: 6907, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11396/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999764 -0.00610351 0.0208613 0.0112686 0.0059171 0.999942 0.00898578 0.0024608 -0.020915 -0.00886022 0.999742 -0.00986562 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!452 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.329466 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,206]: Got image from sensor!455 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999508 -0.00796732 0.0303445 0.0166474 0.00762689 0.999907 0.0113179 0.00754225 -0.0304319 -0.0110809 0.999475 -0.0143224 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 96 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.329466) and 450(1311875588.229341) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999508 -0.00796732 0.0303445 0.0166474 0.00762689 0.999907 0.0113179 0.00754225 -0.0304319 -0.0110809 0.999475 -0.0143224 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 456 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 7): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4797/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 96 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.329466) and 450(1311875588.229341) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999558 -0.00985551 0.0280581 0.0181407 0.00957117 0.999902 0.0102501 0.00325764 -0.0281564 -0.00997702 0.999554 -0.0181302 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!456 INF|Input.cpp[getImages,132]: mNbReceivedImages!457 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999612 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2858/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 96 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.329466) and 450(1311875588.229341) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999468 -0.0100941 0.0310252 0.0140585 0.00972453 0.99988 0.0120409 0.00482316 -0.0311431 -0.0117327 0.999446 -0.0165726 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2197/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.897382 resInfo good: 6754, 153 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11539/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999448 -0.0103572 0.0315582 0.0152953 0.00996942 0.999873 0.012421 0.00621082 -0.0316828 -0.0120996 0.999425 -0.0161344 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!453 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 471 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.361432 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999241 -0.0124969 0.0368998 0.0172775 0.0119816 0.999828 0.0141548 0.0080842 -0.0370703 -0.013702 0.999219 -0.0192896 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 96 to 749529888 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.361432) and 450(1311875588.229341) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999241 -0.0124969 0.0368998 0.0172775 0.0119816 0.999828 0.0141548 0.0080842 -0.0370703 -0.013702 0.999219 -0.0192896 Input.cpp[readImages,206]: Got image from sensor!456 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.99992 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3932/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 96 to 749529888 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.361432) and 450(1311875588.229341) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999337 -0.0145872 0.0333704 0.0372615 0.0140233 0.999756 0.0170706 -0.000274728 -0.0336113 -0.0165913 0.999297 -0.0298548 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 457 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999013 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3231/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 96 to 749529888 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.361432) and 450(1311875588.229341) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999111 -0.0138176 0.0398223 0.0206571 0.0132274 0.999799 0.0150452 0.0153862 -0.0400222 -0.0145051 0.999094 -0.0227089 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2326/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.04208 resInfo good: 6473, 434 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10941/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999088 -0.0140667 0.0403197 0.0224725 0.01339 0.999766 0.0170041 0.0115726 -0.0405494 -0.0164488 0.999042 -0.023245 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875588.361432 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875588.361432 to keyframe with id: 749529888 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875588.361432 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 997 size: 6859 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId749529888 timestamp: 1311875588.361432 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 97 = 97 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd0b4c0 fh1 0x591ac00fh->id: 71 97 454goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd0b4c0 fh1 0x20ce020fh->id: 80 97 454goodE: 167 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd0b4c0 fh1 0x185b3f60fh->id: 89 97 454goodE: 162 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd0b4c0 fh1 0x278b0740fh->id: 90 97 454goodE: 43 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd0b4c0 fh1 0x2bb262e0fh->id: 94 97 454goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd0b4c0 fh1 0x2cacf500fh->id: 95 97 454goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd0b4c0 fh1 0x2ce5b3a0fh->id: 96 97 454goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew97 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!457 INF|Input.cpp[getImages,132]: mNbReceivedImages!458 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 115 out of 123 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 123 newEdgePixels: 123 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2461 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 429 lastEnergy: 650.541 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 113 INF|LocalMapper.cpp[optimize,276]: Start Energy: 650.541 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 9.48523e-12 -6.76212e-12 1.15681e-11 7.38079e-12 0.000836511 -0.00191457 -4.63548e-05 -0.000136108 0.000313493 0.000106514 0.00101838 -0.000246294 -3.19498e-05 -0.000114338 0.000142627 -0.000252451 -0.00586089 0.00314787 0.00366328 0.000289037 0.000979763 0.000142394 -0.00961348 -0.000605055 0.000296128 -0.000265425 0.00128797 0.000506677 0.00542873 0.00177961 -0.00586394 -3.79377e-05 -0.000825073 0.000261971 -0.00263881 -0.004548 -0.00585115 -0.000876356 -0.000122701 0.000817945 0.000380255 -0.0050799 -0.00802338 -0.00101319 -0.000327783 0.000500766 -0.00812756 0.00450449 -0.00474196 0.000854803 0.000814671 0.00111623 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2461 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 595.657 0 0 newEnergyL 0 lastEnergy: 650.541 0 0 lastEnergyL: 0mActiveResiduals: 2461 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.99606e-12 -6.28493e-13 8.93323e-13 -2.51813e-12 -0.000730569 -0.000623231 7.36774e-06 -8.12177e-05 9.19938e-05 -8.57266e-06 0.000515305 -0.000679404 -8.19317e-05 -6.45233e-05 -7.32411e-05 2.63015e-05 0.00113046 0.00146331 -0.00225831 6.1175e-05 -0.000224492 0.000240942 0.00267694 0.00175716 0.000958425 0.000332811 -0.000365262 -3.29487e-05 -0.00994747 0.0035969 0.00624761 0.000567678 0.00147333 0.000137568 -0.00198047 0.007465 0.00516576 0.00106922 0.000539495 -0.000240371 -0.00787084 0.00697384 0.00722241 0.00086222 0.00131186 -0.000144886 -0.00650545 0.00485114 0.00386556 0.000694037 0.000972991 0.000336597 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2461 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 582.442 0 0 newEnergyL 0 lastEnergy: 595.657 0 0 lastEnergyL: 0mActiveResiduals: 2461 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.87019e-12 1.81815e-12 -1.72829e-11 4.72861e-12 0.00375576 -0.000683237 -0.00231297 0.000355293 -0.000456634 -0.00104705 -0.00106904 0.00145202 -0.00148509 0.000138222 -9.24061e-05 -0.00120448 -0.00628082 0.0024187 0.0025967 -6.72174e-05 0.000299714 -0.00126073 -0.00593044 0.00319169 0.00453907 -2.0126e-05 6.83882e-06 -0.00117533 0.00241808 0.00119672 -0.000812215 -0.00065065 -0.00159028 -0.00108868 -0.000646896 -0.00385014 -0.000290597 -0.00134828 -0.00135947 -0.000749821 0.00360005 -0.00337021 -0.00191457 -0.0012303 -0.00194366 -0.000928552 0.00575629 -0.00292309 -0.00175955 -0.00111615 -0.00234497 -0.000941009 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2461 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 568.879 0 0 newEnergyL 0 lastEnergy: 582.442 0 0 lastEnergyL: 0mActiveResiduals: 2461 Input.cpp[readImages,206]: Got image from sensor!457 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.30358e-12 -1.48526e-12 1.73237e-11 -3.88468e-12 -0.00358279 0.0010353 0.00201888 -0.000252265 0.000163436 0.000854319 0.00164646 -0.00028931 0.00164623 3.0878e-05 -0.000136222 0.000910639 0.00480224 -0.00310506 -0.00552154 -0.000299918 -0.000320467 0.000710268 0.00452413 -0.000794061 -0.00497858 6.83141e-05 -9.16925e-05 0.000636494 -0.00437754 -0.00224982 0.00178462 0.00015409 0.00132969 0.000840429 0.00138751 0.00370918 0.000993444 0.00102541 0.000710257 0.000584676 -0.00292036 0.00126918 0.00138676 0.000637691 0.00137281 0.000403684 -0.00211832 0.00320782 0.00310667 0.000791545 0.00117044 0.00068512 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2461 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 564.284 0 0 newEnergyL 0 lastEnergy: 568.879 0 0 lastEnergyL: 0mActiveResiduals: 2461 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.43278e-12 2.42309e-12 -2.36884e-11 -1.08082e-12 0.0032949 -0.00120802 -0.00264645 0.000506852 -3.70136e-05 -0.00123671 -0.00187806 0.000792612 -0.00164202 0.000201283 0.000424046 -0.00129625 -0.00389258 0.00351013 0.00670871 0.000247635 0.000479091 -0.000901775 -0.00333946 0.000836382 0.00627709 -0.000108345 0.000153858 -0.00095923 0.00516741 0.00262847 -0.00176668 -0.000339378 -0.0015971 -0.000808424 -0.000788895 -0.00384522 -0.00264374 -0.00113977 -0.000963752 -0.000664108 -0.00156862 0.0015096 -0.0010934 -0.000395777 -0.000981907 -0.000610166 0.00360074 -0.00733585 -0.00344365 -0.00158497 -0.00161039 -0.00047087 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2461 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 564.168 0 0 newEnergyL 0 lastEnergy: 564.284 0 0 lastEnergyL: 0mActiveResiduals: 2461 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 6.69579e-12 -3.25802e-12 1.81944e-11 4.7868e-13 -0.00196606 5.08325e-05 0.00119652 -0.000657721 -0.000442294 0.00170396 0.00103361 -0.00156294 -0.0001527 -0.000150325 -0.000983684 0.00167396 0.00201491 -0.00469005 -0.00724952 -0.000140471 -0.00117455 0.00100933 0.00085411 -0.000823636 -0.00485401 0.000390774 -0.00092642 0.00108661 -0.0047046 -0.00364285 0.00268121 0.00046954 0.000206682 0.000943744 -0.00420987 0.00660156 0.00340843 0.00192832 0.000242014 0.000688335 0.00269039 -0.00343978 0.000385124 0.000544227 -0.000474149 0.000450124 0.00548611 0.0094747 0.00335126 0.00225148 -0.000954839 0.000641283 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2461 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 557.227 0 0 newEnergyL 0 lastEnergy: 564.168 0 0 lastEnergyL: 0mActiveResiduals: 2461 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 557.227 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2461 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 458 INF|LocalMapper.cpp[optimize,345]: End Energy: 557.227 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.482351 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.482351 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 71 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 71 with idx: 0 and allID: 314 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 71<->71 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 80<->71 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 71->80 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->71 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 71->89 INF|LocalMapper.cpp[marginalizeFrame,772]: 90<->71 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 71->90 INF|LocalMapper.cpp[marginalizeFrame,801]: 71 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 71 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 14496 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2dd0b4c0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 97 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 69 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 54 with distance 0.22Found rest min at: 68 with distance 0.104 overall min: 0.104 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 54 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 697 INF|LoopCloser.cpp[loopCloserLinear,145]: No loop because too close!97 with: 0.22 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 704 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 455 keyframes 98 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.397184 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!458 INF|Input.cpp[getImages,132]: mNbReceivedImages!459 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999988 -0.000969426 0.00486086 0.00270746 0.000952569 0.999994 0.00346916 -0.000815054 -0.00486419 -0.00346448 0.999982 -0.00401891 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 97 to 753300096 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.397184) and 454(1311875588.361432) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999988 -0.000969426 0.00486086 0.00270746 0.000952569 0.999994 0.00346916 -0.000815054 -0.00486419 -0.00346448 0.999982 -0.00401891 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999019 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2222/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 97 to 753300096 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.397184) and 454(1311875588.361432) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999995 -0.00313375 0.000757673 0.0193661 0.00313296 0.999995 0.00103604 0.00601951 -0.000760916 -0.00103366 0.999999 -0.0104427 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3986/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 97 to 753300096 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.397184) and 454(1311875588.361432) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99997 -0.00262222 0.00731501 0.00733806 0.00261004 0.999995 0.00167462 0.00330922 -0.00731936 -0.00165548 0.999972 -0.0060818 Input.cpp[readImages,206]: Got image from sensor!458 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3206/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.48933 resInfo good: 6856, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11142/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999958 -0.00261606 0.00877577 0.00520802 0.00259402 0.999993 0.00252259 0.00413812 -0.00878231 -0.00249971 0.999958 -0.00456513 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!455 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 478 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 459 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.429295 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999906 -0.00393229 0.013161 0.0077929 0.00388269 0.999985 0.00379238 0.00620793 -0.0131757 -0.00374093 0.999906 -0.00686868 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 97 to 753300096 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.429295) and 454(1311875588.361432) on lvl: 2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!459 INF|Input.cpp[getImages,132]: mNbReceivedImages!460 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999906 -0.00393229 0.013161 0.0077929 0.00388269 0.999985 0.00379238 0.00620793 -0.0131757 -0.00374093 0.999906 -0.00686868 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999546 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2624/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 97 to 753300096 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.429295) and 454(1311875588.361432) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999895 -0.00386009 0.0139694 0.0117013 0.0038186 0.999988 0.00299559 0.00330647 -0.0139808 -0.00294193 0.999898 -0.0139381 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 9): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5611/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 97 to 753300096 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.429295) and 454(1311875588.361432) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999851 -0.00465034 0.0166146 0.00749172 0.00456054 0.999975 0.00543833 0.00525521 -0.0166395 -0.00536174 0.999847 -0.0112209 Input.cpp[readImages,206]: Got image from sensor!459 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3212/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.674584 resInfo good: 6859, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 13032/13 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999842 -0.00485948 0.0170791 0.00890137 0.00475454 0.99997 0.00617972 0.00606747 -0.0171086 -0.00609754 0.999835 -0.0111235 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!456 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 460 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.461264 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999757 -0.00599236 0.0212273 0.010726 0.00582335 0.999951 0.00801495 0.00702625 -0.0212743 -0.00788938 0.999743 -0.0144167 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 97 to 753300096 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.461264) and 454(1311875588.361432) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999757 -0.00599236 0.0212273 0.010726 0.00582335 0.999951 0.00801495 0.00702625 -0.0212743 -0.00788938 0.999743 -0.0144167 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!460 INF|Input.cpp[getImages,132]: mNbReceivedImages!461 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3575/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 97 to 753300096 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.461264) and 454(1311875588.361432) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999757 -0.00389151 0.0217165 0.0140427 0.00374317 0.999969 0.00686725 0.00832415 -0.0217426 -0.00678429 0.999741 -0.0208211 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999918 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3574/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 97 to 753300096 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.461264) and 454(1311875588.361432) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999712 -0.0046463 0.0235577 0.013893 0.0044761 0.999964 0.00727208 0.013143 -0.0235906 -0.00716453 0.999696 -0.0186029 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999554 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1067/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.825775 resInfo good: 6843, 16 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9789/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999671 -0.00484586 0.025196 0.0111601 0.0046605 0.999962 0.00741018 0.015471 -0.0252309 -0.00729031 0.999655 -0.017327 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!457 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.497148 Input.cpp[readImages,206]: Got image from sensor!460 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999433 -0.00484192 0.0333112 0.013369 0.00455647 0.999952 0.00863983 0.0248668 -0.0333514 -0.00848315 0.999408 -0.0235603 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 97 to 753300096 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.497148) and 454(1311875588.361432) on lvl: 2 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 461 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999433 -0.00484192 0.0333112 0.013369 0.00455647 0.999952 0.00863983 0.0248668 -0.0333514 -0.00848315 0.999408 -0.0235603 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999677 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3129/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 97 to 753300096 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.497148) and 454(1311875588.361432) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999494 -0.00641799 0.0311671 0.0156056 0.00612361 0.999936 0.00953164 0.0191096 -0.0312263 -0.00933596 0.999469 -0.0243164 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!461 INF|Input.cpp[getImages,132]: mNbReceivedImages!462 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999092 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2685/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 97 to 753300096 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.497148) and 454(1311875588.361432) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999481 -0.00728219 0.0313847 0.0206681 0.00688975 0.999897 0.0125941 0.0151192 -0.0314731 -0.0123714 0.999428 -0.024852 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999435 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1120/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.95646 resInfo good: 6579, 280 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8418/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999424 -0.0067697 0.0332579 0.0179135 0.0063265 0.99989 0.0134135 0.0155799 -0.033345 -0.0131954 0.999357 -0.0234063 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!458 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.529633 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999275 -0.00774946 0.0372837 0.0212717 0.00714119 0.99984 0.0164201 0.0156254 -0.037405 -0.0161419 0.99917 -0.0264666 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 97 to 753300096 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.529633) and 454(1311875588.361432) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999275 -0.00774946 0.0372837 0.0212717 0.00714119 0.99984 0.0164201 0.0156254 -0.037405 -0.0161419 0.99917 -0.0264666 Input.cpp[readImages,206]: Got image from sensor!461 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.99981 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4073/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 97 to 753300096 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.529633) and 454(1311875588.361432) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999195 -0.0076607 0.0393887 0.0188166 0.00718709 0.9999 0.0121516 0.0224957 -0.0394779 -0.0118588 0.99915 -0.0325673 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 462 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999983 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4207/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 97 to 753300096 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.529633) and 454(1311875588.361432) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999119 -0.0079841 0.0412116 0.0186012 0.00738488 0.999865 0.0146719 0.0207847 -0.0413231 -0.0143547 0.999043 -0.0309542 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999979 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1682/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.06305 resInfo good: 6310, 549 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11245/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999117 -0.00789807 0.0412709 0.0214751 0.00728037 0.99986 0.0150961 0.0218289 -0.0413843 -0.0147823 0.999034 -0.0309255 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875588.529633 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875588.529633 to keyframe with id: 753300096 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875588.529633 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 889 size: 5582 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId753300096 timestamp: 1311875588.529633 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -8.02863 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -12.7116 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 426 keyframeId: 90 score: -13.2805 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -20.6391 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 446 keyframeId: 95 score: -21.3856 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 450 keyframeId: 96 score: -14.4536 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 98 = 98 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce672a0 fh1 0x20ce020fh->id: 80 98 459goodE: 151 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce672a0 fh1 0x185b3f60fh->id: 89 98 459goodE: 158 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce672a0 fh1 0x278b0740fh->id: 90 98 459goodE: 42 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce672a0 fh1 0x2bb262e0fh->id: 94 98 459goodE: 53 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce672a0 fh1 0x2cacf500fh->id: 95 98 459goodE: 16 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce672a0 fh1 0x2ce5b3a0fh->id: 96 98 459goodE: 16 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce672a0 fh1 0x2dd0b4c0fh->id: 97 98 459goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew98 Input.cpp[readImages,192]: readImages loop! INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 70 out of 75 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 75 newEdgePixels: 75 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2823 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 494 lastEnergy: 732.195 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 110 INF|LocalMapper.cpp[optimize,276]: Start Energy: 732.195 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -2.49998e-12 3.80095e-12 -1.62461e-12 -8.48592e-12 -0.00191078 0.00080702 0.00244662 -4.24165e-05 0.00112194 -0.000161443 2.64009e-07 0.00359875 0.00600167 0.000436179 0.00110598 0.000291839 0.00151844 -0.000598253 0.00214284 -9.52873e-05 0.000840835 0.000215939 0.00935379 0.00289438 -0.00584582 7.34941e-05 -0.00035667 0.000526708 0.00371414 -0.00720852 -0.00778876 -0.00127874 0.000330184 0.000387239 0.000888175 0.00202742 -0.00394009 2.6602e-05 0.000459437 0.000777402 -0.00124671 -0.00971946 -0.00735245 -0.00140195 0.000792542 0.000483224 -0.00709132 0.00460937 -0.00534829 0.000780689 0.00171382 0.00106835 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2823 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 689.161 0 0 newEnergyL 0 lastEnergy: 732.195 0 0 lastEnergyL: 0mActiveResiduals: 2823 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.05763e-11 -5.44274e-12 1.85968e-11 8.49625e-12 -0.000282007 -0.000409869 0.00012775 -4.29941e-05 1.50767e-05 6.31545e-05 -0.000264736 -0.000585746 -0.00158294 -0.000164225 0.000117414 0.000114338 -0.000158491 0.00357474 0.00122524 0.000457059 0.000160901 1.78907e-05 -0.00558584 -0.00493599 0.00501039 -0.000575552 0.00114737 0.000153249 -0.000770911 -0.000249352 0.0056755 -4.33959e-05 0.000590042 -4.81977e-05 0.00243977 0.000974694 0.00415778 0.000187289 0.000395926 -7.36439e-05 0.00106329 0.00429045 0.00545263 0.000436087 0.000362812 0.000170063 0.00285086 0.00840951 0.0075207 0.00087577 0.000288154 -0.000914146 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2823 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 677.784 0 0 newEnergyL 0 lastEnergy: 689.161 0 0 lastEnergyL: 0mActiveResiduals: 2823 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.54877e-11 5.766e-12 -2.43385e-11 -7.84012e-12 0.00138927 -0.000293612 0.000670354 -3.25515e-05 0.00118787 -0.000620223 -0.00127174 0.00280759 0.00521758 0.000227319 0.00149159 -0.000359295 -0.000346364 -0.00193086 0.0033312 -0.000421633 0.00130626 -0.0003276 0.00460925 0.00574698 -0.00154049 0.000385828 0.000343525 -0.000413076 3.22928e-05 0.0029991 -0.00168582 -1.49139e-06 0.000796777 -0.000216738 -0.000707783 0.00131845 0.00069433 -0.000304265 0.000725212 -0.000183753 -0.00215777 -0.00697626 -0.00160152 -0.00128183 0.0010317 -0.000145651 -0.00357109 -0.00471827 -0.00287128 -0.000901912 0.00110904 0.000376616 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2823 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 663.503 0 0 newEnergyL 0 lastEnergy: 677.784 0 0 lastEnergyL: 0mActiveResiduals: 2823 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.65157e-11 -6.58726e-12 1.9818e-11 9.40655e-12 -0.000872471 0.000562284 -0.000809813 7.82966e-05 -0.00123553 0.000409674 -0.000133116 -0.000405418 -0.00444362 -1.81927e-05 -0.00128286 -5.60569e-05 -0.000109522 0.00322128 -0.00314047 0.000400303 -0.00119128 -1.45421e-05 -0.00248485 -0.00615777 0.00122005 -0.00071808 -0.000581157 6.0784e-05 0.000358729 -0.00345523 0.00124889 -0.000340766 -0.000851743 -0.000152745 0.00026981 -0.00375733 -0.000795599 -0.000275711 -0.000685333 -3.33023e-05 0.00149231 0.00712849 0.00216126 0.00095669 -0.00087217 -0.000104039 0.00352653 0.00373462 0.00270448 0.000371372 -0.0011065 -0.000806588 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2823 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 661.185 0 0 newEnergyL 0 lastEnergy: 663.503 0 0 lastEnergyL: 0mActiveResiduals: 2823 Input.cpp[readImages,206]: Got image from sensor!462 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.91155e-11 7.9257e-12 -1.94351e-11 -7.87649e-12 0.00199809 0.000500523 0.00045207 6.99872e-05 0.00157983 -0.000635402 -0.000181838 -8.51253e-06 0.00594783 -0.000109521 0.00165663 -0.000105463 -0.00254652 -0.00295945 0.00369738 -0.000417793 0.00178738 -3.54957e-05 0.00493843 0.00389554 -0.00224665 0.000199911 0.000350393 -0.000215528 0.000220301 0.00271682 -0.00136686 4.47291e-05 0.000799926 2.59635e-05 0.000244752 0.00354888 0.00058921 0.000127643 0.000650129 7.52755e-05 -0.00357046 -0.00537065 -0.00246319 -0.000866595 0.00116049 -7.13228e-05 -0.00333553 -0.00352648 -0.00288386 -0.000456431 0.00108004 0.00081266 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2823 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 655.206 0 0 newEnergyL 0 lastEnergy: 661.185 0 0 lastEnergyL: 0mActiveResiduals: 2823 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.4309e-11 -6.12707e-12 1.79296e-11 7.14631e-12 -0.000756178 -0.00127916 -0.000125111 -0.000111922 -0.00125176 0.000636625 -0.000691958 -1.60882e-06 -0.00479688 0.000159379 -0.00115522 0.000120048 0.000690145 0.00402906 -0.003018 0.00064386 -0.00120346 1.92346e-05 -0.00297214 -0.00492245 0.00160016 -0.00029341 -0.000496091 0.000382507 5.62754e-05 -0.00246436 0.00147709 7.17593e-05 -0.000750713 0.000146742 -0.00149397 -0.0013828 -0.000920735 0.000192638 -0.00037763 -0.000140318 0.00315389 0.00396943 0.00216975 0.000781457 -0.000978959 0.000159591 0.00379154 0.00298347 0.00240091 0.000411336 -0.00109861 -0.000711213 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2823 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 463 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 652.161 0 0 newEnergyL 0 lastEnergy: 655.206 0 0 lastEnergyL: 0mActiveResiduals: 2823 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 652.161 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2823 INF|LocalMapper.cpp[optimize,345]: End Energy: 652.161 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.490018 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.490018 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 95 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 95 with idx: 4 and allID: 446 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 80<->95 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 95->80 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->95 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 95->89 INF|LocalMapper.cpp[marginalizeFrame,772]: 90<->95 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 95->90 INF|LocalMapper.cpp[marginalizeFrame,801]: 95 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 95 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 16007 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2ce672a0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 98 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 69 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 55 with distance 0.212Found rest min at: 68 with distance 0.148 overall min: 0.148 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 55 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 706 INF|LoopCloser.cpp[loopCloserLinear,145]: No loop because too close!98 with: 0.212 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 715 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 460 keyframes 99 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.561478 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!463 INF|Input.cpp[getImages,132]: mNbReceivedImages!464 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99997 -0.00171967 0.0075388 0.00510159 0.00168877 0.99999 0.00410334 -0.00281821 -0.00754579 -0.00409049 0.999963 -0.00879365 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 98 to 768586144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.561478) and 459(1311875588.529633) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99997 -0.00171967 0.0075388 0.00510159 0.00168877 0.99999 0.00410334 -0.00281821 -0.00754579 -0.00409049 0.999963 -0.00879365 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 6): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2967/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 98 to 768586144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.561478) and 459(1311875588.529633) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999979 -0.000933986 0.00636364 0.0018245 0.000905287 0.999989 0.00451129 -0.00285869 -0.00636779 -0.00450543 0.99997 -0.00782546 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3106/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 98 to 768586144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.561478) and 459(1311875588.529633) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999951 -0.00161241 0.00974812 -0.00241764 0.00154978 0.999978 0.00642912 -0.002172 -0.00975828 -0.0064137 0.999932 -0.00715127 Input.cpp[readImages,206]: Got image from sensor!463 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2135/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.482391 resInfo good: 5582, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9223/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999954 -0.00241283 0.00932723 0.00230241 0.0023549 0.999978 0.00621761 0.00184187 -0.00934203 -0.00619536 0.999937 -0.00780988 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!460 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.600034 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 464 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999896 -0.00364088 0.0139849 0.00342461 0.00351052 0.99995 0.00933451 0.00274663 -0.0140182 -0.00928444 0.999859 -0.011727 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 98 to 768586144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.600034) and 459(1311875588.529633) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999896 -0.00364088 0.0139849 0.00342461 0.00351052 0.99995 0.00933451 0.00274663 -0.0140182 -0.00928444 0.999859 -0.011727 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!464 INF|Input.cpp[getImages,132]: mNbReceivedImages!465 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 6): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2936/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 98 to 768586144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.600034) and 459(1311875588.529633) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999903 -0.00408972 0.0133253 0.00351103 0.00398573 0.999961 0.00782123 -0.00294535 -0.0133568 -0.00776736 0.999881 -0.0148797 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 5): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2731/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 98 to 768586144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.600034) and 459(1311875588.529633) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999853 -0.00458188 0.0165001 0.000220503 0.00440702 0.999934 0.010618 -0.00533941 -0.0165476 -0.0105437 0.999807 -0.014527 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999811 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1258/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.613815 resInfo good: 5582, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7914/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999844 -0.00508742 0.0169094 0.00170266 0.00493015 0.999944 0.00932954 0.00231734 -0.0169559 -0.00924472 0.999813 -0.0129127 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!461 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.631364 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,206]: Got image from sensor!464 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999844 -0.00508742 0.0169094 0.00170266 0.00493015 0.999944 0.00932954 0.00231734 -0.0169559 -0.00924472 0.999813 -0.0129127 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 98 to 768586144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.631364) and 459(1311875588.529633) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999844 -0.00508742 0.0169094 0.00170266 0.00493015 0.999944 0.00932954 0.00231734 -0.0169559 -0.00924472 0.999813 -0.0129127 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999594 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1906/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 98 to 768586144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.631364) and 459(1311875588.529633) on lvl: 1 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 465 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999842 -0.00412248 0.0173049 0.0024745 0.00394052 0.999937 0.0105359 -0.00488069 -0.0173472 -0.010466 0.999795 -0.0279511 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999846 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3160/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 98 to 768586144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.631364) and 459(1311875588.529633) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999804 -0.00519759 0.0190874 0.00444743 0.00504521 0.999955 0.0080229 0.00890998 -0.0191283 -0.00792503 0.999786 -0.026178 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.99941 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:811/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.72491 resInfo good: 5558, 24 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7156/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999774 -0.00486905 0.0207181 0.00200906 0.00468765 0.99995 0.00879542 0.0100779 -0.0207599 -0.00869631 0.999747 -0.0267979 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!462 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!465 INF|Input.cpp[getImages,132]: mNbReceivedImages!466 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.663889 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999733 -0.00475909 0.0226223 0.00214317 0.00456716 0.999953 0.00852801 0.0139609 -0.0226618 -0.00842241 0.999708 -0.0337394 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 98 to 768586144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.663889) and 459(1311875588.529633) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999733 -0.00475909 0.0226223 0.00214317 0.00456716 0.999953 0.00852801 0.0139609 -0.0226618 -0.00842241 0.999708 -0.0337394 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999715 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1728/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 98 to 768586144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.663889) and 459(1311875588.529633) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999825 -0.00712648 0.0173144 0.0201879 0.00672087 0.999704 0.0233724 -0.0145182 -0.0174759 -0.023252 0.999577 -0.0467445 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.9994 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1047/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 98 to 768586144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.663889) and 459(1311875588.529633) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999613 -0.00685014 0.0269583 -0.00397259 0.00645728 0.999872 0.0146329 0.0248753 -0.0270551 -0.0144532 0.999529 -0.0305601 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1664/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.860402 resInfo good: 5507, 75 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5336/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999629 -0.00724578 0.0262416 -0.000670082 0.00681509 0.999841 0.0164646 0.0200359 -0.0263567 -0.0162796 0.99952 -0.0336765 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!463 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!465 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.697064 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 466 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999629 -0.00724578 0.0262416 -0.000670082 0.00681509 0.999841 0.0164646 0.0200359 -0.0263567 -0.0162796 0.99952 -0.0336765 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 98 to 768586144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.697064) and 459(1311875588.529633) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999629 -0.00724578 0.0262416 -0.000670082 0.00681509 0.999841 0.0164646 0.0200359 -0.0263567 -0.0162796 0.99952 -0.0336765 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999862 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2001/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 98 to 768586144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.697064) and 459(1311875588.529633) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999628 -0.00890179 0.0257686 0.00406696 0.00843424 0.999799 0.0181964 0.0190308 -0.0259254 -0.0179723 0.999502 -0.0400577 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!466 INF|Input.cpp[getImages,132]: mNbReceivedImages!467 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999253 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1082/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 98 to 768586144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.697064) and 459(1311875588.529633) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999589 -0.0100908 0.0268434 0.00643779 0.00956575 0.999762 0.0196171 0.0207705 -0.0270349 -0.0193523 0.999447 -0.0381607 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999553 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1029/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.928226 resInfo good: 5379, 203 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5080/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999585 -0.00938687 0.0272274 0.00849685 0.00879377 0.999723 0.0218218 0.0167873 -0.0274247 -0.0215733 0.999391 -0.0415683 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!464 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.730185 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999585 -0.00938687 0.0272274 0.00849685 0.00879377 0.999723 0.0218218 0.0167873 -0.0274247 -0.0215733 0.999391 -0.0415683 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 98 to 768586144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.730185) and 459(1311875588.529633) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999585 -0.00938687 0.0272274 0.00849685 0.00879377 0.999723 0.0218218 0.0167873 -0.0274247 -0.0215733 0.999391 -0.0415683 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999953 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1813/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 98 to 768586144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.730185) and 459(1311875588.529633) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999819 -0.00455157 0.0184679 0.0408729 0.00410814 0.999704 0.023978 0.0178589 -0.0185716 -0.0238978 0.999542 -0.0710028 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999302 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:797/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 98 to 768586144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.730185) and 459(1311875588.529633) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99959 -0.00790374 0.027516 0.0149492 0.00725547 0.999696 0.0235803 0.0224917 -0.027694 -0.023371 0.999343 -0.050837 Input.cpp[readImages,206]: Got image from sensor!466 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999411 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:972/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.01112 resInfo good: 5270, 312 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4574/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999529 -0.00707165 0.0298661 0.0090693 0.00639796 0.999724 0.0225927 0.0306865 -0.0300176 -0.022391 0.999299 -0.050825 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875588.730185 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875588.730185 to keyframe with id: 768586144 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875588.730185 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 888 size: 4321 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId768586144 timestamp: 1311875588.730185 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -8.07554 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -12.9454 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 426 keyframeId: 90 score: -13.501 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -15.1739 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 450 keyframeId: 96 score: -17.7596 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 454 keyframeId: 97 score: -14.3061 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 99 = 99 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dcfb1c0 fh1 0x20ce020fh->id: 80 99 465goodE: 99 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dcfb1c0 fh1 0x185b3f60fh->id: 89 99 465goodE: 156 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dcfb1c0 fh1 0x278b0740fh->id: 90 99 465goodE: 44 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dcfb1c0 fh1 0x2bb262e0fh->id: 94 99 465goodE: 51 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dcfb1c0 fh1 0x2ce5b3a0fh->id: 96 99 465goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dcfb1c0 fh1 0x2dd0b4c0fh->id: 97 99 465goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dcfb1c0 fh1 0x2ce672a0fh->id: 98 99 465goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew99 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 467 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 76 out of 83 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 83 newEdgePixels: 83 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2509 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 416 lastEnergy: 687.582 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 109 INF|LocalMapper.cpp[optimize,276]: Start Energy: 687.582 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -2.46448e-11 6.02386e-12 -2.91539e-11 -5.93204e-12 -0.00206984 0.000758609 0.000805742 2.87055e-05 -0.000161267 0.000142879 -0.000386151 0.00149132 0.00453216 0.000401797 -0.000386704 0.000211981 0.000263781 -0.00248751 0.000390399 -0.00018391 -0.000541886 0.000413568 0.00575224 -0.000102882 -0.00641704 5.1184e-05 -0.00145164 -1.0341e-05 -0.00375561 0.00396973 -0.00400628 0.000676544 -0.000531269 0.000717396 -0.00542242 -0.00439072 -0.00690926 -0.000325938 -0.000267187 0.000678174 -0.00441518 -0.00531499 -0.0084593 -0.000185273 -0.000457822 0.00122225 -0.00697466 0.00357947 -0.00923507 0.00107619 7.93578e-05 0.000351572 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2509 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 634.245 0 0 newEnergyL 0 lastEnergy: 687.582 0 0 lastEnergyL: 0mActiveResiduals: 2509 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!467 INF|Input.cpp[getImages,132]: mNbReceivedImages!468 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 9.57913e-12 -2.60206e-12 2.53333e-11 -1.26476e-13 6.42393e-05 0.000605099 -0.000233767 7.96511e-05 -2.73992e-05 -4.1028e-05 0.0020014 -0.00256452 -0.00416244 -0.000381414 -0.00035356 0.000170954 0.00310313 0.000129902 -0.00234537 2.35833e-05 -0.000464193 8.04441e-05 -0.00151559 -0.00339861 0.00359058 -0.000311387 0.000267227 0.000425968 -0.000997705 -0.00426305 0.00159316 -0.000428152 0.000447538 -0.00014887 0.001706 -2.31723e-05 0.00318402 -6.7406e-05 0.000221293 -2.18549e-06 -0.00243922 0.00216128 0.00383658 0.000112798 0.000665373 -0.000972118 -0.0118174 0.00244396 0.00535629 0.000491127 0.00160379 -0.000308661 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2509 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 616.169 0 0 newEnergyL 0 lastEnergy: 634.245 0 0 lastEnergyL: 0mActiveResiduals: 2509 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -5.01956e-12 2.33935e-12 -3.20055e-11 7.94125e-13 0.000866645 -0.00076034 0.00156303 -7.76638e-05 0.00115679 -0.00063995 -0.000608071 0.0034668 0.00396964 0.000255724 0.00141243 -0.000327685 0.00131886 -0.00148956 0.00274147 -0.000328052 0.00106297 -0.000169237 0.00373096 0.00152729 -0.00235121 -0.000135115 0.000496956 -0.000321857 -0.00253519 0.00434838 0.000887233 0.000189796 0.00109148 -5.65204e-05 -0.00298081 0.000317462 -2.42213e-05 -0.00032266 0.00111191 -0.000226069 -0.00268066 -0.00587702 -0.00138254 -0.000981013 0.00114768 0.000501914 0.000532548 -0.00234173 -0.00302606 -0.000609384 0.000777584 -0.000188338 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2509 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 596.752 0 0 newEnergyL 0 lastEnergy: 616.169 0 0 lastEnergyL: 0mActiveResiduals: 2509 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 7.45642e-12 -4.44805e-12 2.45479e-11 2.1633e-12 -0.00207831 -0.000206953 -0.000963142 3.8514e-05 -0.00111829 0.00120438 0.00107163 -0.00531072 -0.00587266 -0.000171731 -0.00164199 0.000940121 0.00062676 -0.000335016 -0.0038528 0.000513061 -0.00154125 0.000849151 -0.00182673 -0.00215062 0.00117699 0.000622771 -0.000905406 0.00105723 0.00191176 -0.00305042 0.000229664 0.00058628 -0.00122981 0.000718908 0.0017479 -0.00168499 -0.000593461 0.00072043 -0.00105048 0.000719494 0.00266785 0.00663516 0.00208907 0.00170349 -0.0012058 5.90912e-05 -0.00133544 0.00743481 0.00521768 0.00197604 -0.000733231 0.000240915 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2509 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 590.817 0 0 newEnergyL 0 lastEnergy: 596.752 0 0 lastEnergyL: 0mActiveResiduals: 2509 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -7.37052e-12 2.79012e-12 -2.10121e-11 -3.00936e-13 0.00135322 0.000761634 0.0026945 -5.67539e-06 0.00158914 -0.00109962 0.000971841 0.00402733 0.00608702 -2.85028e-05 0.00185815 -0.000686962 -2.29053e-05 0.000530185 0.00361257 -0.000461061 0.00190923 -0.000438204 0.00513623 -0.000122365 -0.00287465 -0.000832614 0.00101478 -0.000954305 -0.00191669 0.00261861 -9.73013e-05 -0.000601602 0.00178038 -0.00063061 -0.00513666 0.00257925 0.00125855 -0.0005767 0.00199653 -0.000664854 -0.00658046 -0.00481763 2.10988e-05 -0.00147534 0.00226322 6.41386e-06 0.00247816 -0.00671247 -0.00736315 -0.00171056 0.00101786 5.63411e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2509 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 584.249 0 0 newEnergyL 0 lastEnergy: 590.817 0 0 lastEnergyL: 0mActiveResiduals: 2509 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.35913e-11 -4.95215e-12 1.79344e-11 4.58348e-12 -0.000869776 -0.000114612 -0.00286273 3.34864e-05 -0.00156525 0.00101846 -0.000981877 -0.00305749 -0.00502543 1.62788e-05 -0.00178694 0.000543728 -5.91348e-05 0.000259365 -0.0033303 0.000455582 -0.00182081 0.000380542 -0.00445635 -0.000844801 0.0019927 0.000538922 -0.000994542 0.000754418 -0.0015206 -0.00339446 0.000960642 0.000271935 -0.00131683 0.000298265 0.00423665 -0.0045235 -0.000957111 7.78853e-05 -0.0017611 0.000231188 0.00856335 0.00317153 -0.000897917 0.00103745 -0.0024384 -0.00025566 -0.00135929 0.0094981 0.00677135 0.00189085 -0.00117219 -0.000365845 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2509 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 584.798 0 0 newEnergyL 0 lastEnergy: 584.249 0 0 lastEnergyL: 0mActiveResiduals: 2509 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 584.798 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2509 INF|LocalMapper.cpp[optimize,345]: End Energy: 584.798 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.492498 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.492498 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 96 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 96 with idx: 4 and allID: 450 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 80<->96 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 96->80 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->96 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 96->89 INF|LocalMapper.cpp[marginalizeFrame,772]: 90<->96 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 96->90 INF|LocalMapper.cpp[marginalizeFrame,801]: 96 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 96 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 13558 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2dcfb1c0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 99 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 69 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 54 with distance 0.214Found rest min at: 68 with distance 0.158 overall min: 0.158 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 54 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 701 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 99 into DB 0.214 54 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 54 and real id(82) current kf: 99(465) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.819739 0.0618679 -0.569387 -0.830833 -0.0517189 0.998083 0.0339897 -0.0647389 0.570398 0.00158538 0.821367 0.338954 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 82 currFrame: 99 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.819739 0.0618679 -0.569387 -0.830833 -0.0517189 0.998083 0.0339897 -0.0647389 0.570398 0.00158538 0.821367 0.338954 avg 0.000463028 eye: 0.000991645 edge: 99 to 82 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 2354 < 1967 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 99 and 82 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 99 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 99 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1189 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 466 keyframes 100 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 559 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!467 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.761103 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 468 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999998 0.00160537 0.00100298 0.00740487 -0.00160909 0.999992 0.00372321 0.00486493 -0.000996995 -0.00372482 0.999993 -0.0103834 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.761103) and 465(1311875588.730185) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999998 0.00160537 0.00100298 0.00740487 -0.00160909 0.999992 0.00372321 0.00486493 -0.000996995 -0.00372482 0.999993 -0.0103834 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.99962 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2231/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.761103) and 465(1311875588.730185) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999999 0.00130587 0.000154939 0.000950388 -0.00130673 0.999983 0.00566483 0.00683279 -0.000147539 -0.00566503 0.999984 -0.00963906 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!468 INF|Input.cpp[getImages,132]: mNbReceivedImages!469 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999922 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2461/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.761103) and 465(1311875588.730185) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999992 0.00173311 0.0037164 -0.00107833 -0.00177071 0.999947 0.0101396 -0.00389361 -0.00369863 -0.0101461 0.999942 -0.00794949 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999608 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1766/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.421747 resInfo good: 4321, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7513/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999991 0.00121687 0.0040309 0.000924087 -0.0012565 0.999951 0.00984492 0.000386917 -0.00401873 -0.00984989 0.999943 -0.00623561 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!466 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.797024 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999991 0.00121687 0.0040309 0.000924087 -0.0012565 0.999951 0.00984492 0.000386917 -0.00401873 -0.00984989 0.999943 -0.00623561 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.797024) and 465(1311875588.730185) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999991 0.00121687 0.0040309 0.000924087 -0.0012565 0.999951 0.00984492 0.000386917 -0.00401873 -0.00984989 0.999943 -0.00623561 Input.cpp[readImages,206]: Got image from sensor!468 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999757 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1948/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.797024) and 465(1311875588.730185) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999987 0.00208506 0.00470145 0.00175891 -0.00213232 0.999947 0.0100689 0.00213154 -0.00468021 -0.0100788 0.999938 -0.0163541 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 469 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999707 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2493/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.797024) and 465(1311875588.730185) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999972 0.00199108 0.00727456 -3.01789e-05 -0.0020845 0.999915 0.0128578 -0.000316223 -0.00724834 -0.0128726 0.999891 -0.0131962 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999037 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:726/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.530583 resInfo good: 4311, 10 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6154/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999967 0.00158841 0.00797793 0.00184017 -0.00169059 0.999916 0.0128176 0.00293584 -0.00795691 -0.0128307 0.999886 -0.0111007 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!467 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.829714 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!469 INF|Input.cpp[getImages,132]: mNbReceivedImages!470 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999967 0.00158841 0.00797793 0.00184017 -0.00169059 0.999916 0.0128176 0.00293584 -0.00795691 -0.0128307 0.999886 -0.0111007 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.829714) and 465(1311875588.730185) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999967 0.00158841 0.00797793 0.00184017 -0.00169059 0.999916 0.0128176 0.00293584 -0.00795691 -0.0128307 0.999886 -0.0111007 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 5): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2460/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.829714) and 465(1311875588.730185) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999951 0.00401389 0.00900414 -0.00519953 -0.00413997 0.999893 0.0140282 0.00845994 -0.00894686 -0.0140648 0.999861 -0.026874 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999834 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2449/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.829714) and 465(1311875588.730185) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999943 0.00323808 0.0101715 -0.00204661 -0.00339978 0.999867 0.0159209 0.00837297 -0.0101186 -0.0159546 0.999822 -0.0251378 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999042 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1438/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.654966 resInfo good: 4291, 30 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7199/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999949 0.00238141 0.00985544 0.00292321 -0.00254443 0.99986 0.016562 0.00905171 -0.00981461 -0.0165863 0.999814 -0.0249028 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!468 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!469 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 470 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.861073 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!470 INF|Input.cpp[getImages,132]: mNbReceivedImages!471 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999938 0.00277526 0.0107953 0.00345695 -0.00297396 0.999826 0.0184335 0.0120899 -0.0107422 -0.0184645 0.999772 -0.0318132 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.861073) and 465(1311875588.730185) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999938 0.00277526 0.0107953 0.00345695 -0.00297396 0.999826 0.0184335 0.0120899 -0.0107422 -0.0184645 0.999772 -0.0318132 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999852 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1537/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.861073) and 465(1311875588.730185) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999939 0.00377011 0.0103603 0.00158279 -0.00396311 0.999818 0.0186722 0.0128775 -0.010288 -0.0187121 0.999772 -0.0333357 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999286 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2437/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.861073) and 465(1311875588.730185) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999937 0.00316506 0.0107922 0.00747182 -0.00336826 0.999816 0.0188634 0.0186044 -0.0107305 -0.0188985 0.999764 -0.0319425 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999854 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1475/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.75603 resInfo good: 4264, 57 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6554/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999923 0.00265633 0.0120896 0.00590247 -0.00291299 0.99977 0.021262 0.0134981 -0.0120304 -0.0212955 0.999701 -0.0307056 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!469 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 451 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!470 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 471 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.897025 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999909 0.00278984 0.0132072 0.00738776 -0.00310117 0.999716 0.0236114 0.0157107 -0.0131375 -0.0236502 0.999634 -0.0336173 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.897025) and 465(1311875588.730185) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999909 0.00278984 0.0132072 0.00738776 -0.00310117 0.999716 0.0236114 0.0157107 -0.0131375 -0.0236502 0.999634 -0.0336173 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!471 INF|Input.cpp[getImages,132]: mNbReceivedImages!472 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999277 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1403/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.897025) and 465(1311875588.730185) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.9999 0.00400259 0.0135813 0.00744895 -0.00432581 0.999706 0.0238539 0.01768 -0.0134819 -0.0239102 0.999623 -0.0435131 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.99953 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2556/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.897025) and 465(1311875588.730185) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999867 0.00390334 0.0158424 0.00622048 -0.00430314 0.999671 0.025281 0.0203785 -0.0157385 -0.0253458 0.999555 -0.0394506 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999536 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:826/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.868783 resInfo good: 4234, 87 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5809/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999862 0.00362665 0.0162316 0.00848164 -0.00404429 0.99966 0.0257719 0.0215035 -0.0161326 -0.0258339 0.999536 -0.0382296 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!470 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!471 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 472 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!472 INF|Input.cpp[getImages,132]: mNbReceivedImages!473 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.929806 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999824 0.00410475 0.0183041 0.00976279 -0.00461688 0.999597 0.0280249 0.0254924 -0.0181817 -0.0281044 0.99944 -0.0420092 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.929806) and 465(1311875588.730185) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999824 0.00410475 0.0183041 0.00976279 -0.00461688 0.999597 0.0280249 0.0254924 -0.0181817 -0.0281044 0.99944 -0.0420092 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999641 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1133/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.929806) and 465(1311875588.730185) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999819 0.00546159 0.0181993 0.00805642 -0.00595408 0.999615 0.0271173 0.0227344 -0.0180442 -0.0272208 0.999467 -0.0520188 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999902 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1632/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.929806) and 465(1311875588.730185) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999784 0.00458916 0.0202942 0.00683031 -0.005194 0.999541 0.0298516 0.0223585 -0.0201479 -0.0299506 0.999348 -0.0462162 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999266 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1000/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.944157 resInfo good: 4222, 99 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4825/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999795 0.00386265 0.019857 0.0118919 -0.00447713 0.99951 0.0309947 0.0212907 -0.0197276 -0.0310773 0.999322 -0.0462638 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!471 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!472 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 473 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.962380 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999795 0.00386265 0.019857 0.0118919 -0.00447713 0.99951 0.0309947 0.0212907 -0.0197276 -0.0310773 0.999322 -0.0462638 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.962380) and 465(1311875588.730185) on lvl: 2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!473 INF|Input.cpp[getImages,132]: mNbReceivedImages!474 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999795 0.00386265 0.019857 0.0118919 -0.00447713 0.99951 0.0309947 0.0212907 -0.0197276 -0.0310773 0.999322 -0.0462638 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999797 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1127/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.962380) and 465(1311875588.730185) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999719 0.00637999 0.0228276 0.00129409 -0.00709052 0.999489 0.0311816 0.0228597 -0.022617 -0.0313347 0.999253 -0.0572151 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999967 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:743/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.962380) and 465(1311875588.730185) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999718 0.00650754 0.0228591 0.0161306 -0.0072235 0.999481 0.0313787 0.02336 -0.022643 -0.031535 0.999246 -0.0561623 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999895 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1253/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.989811 resInfo good: 4190, 131 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4144/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999669 0.00603327 0.0250296 0.00820379 -0.00682251 0.999478 0.0315677 0.0277293 -0.0248261 -0.031728 0.999188 -0.0525584 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!472 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 932 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!473 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 474 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875588.998421 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!474 INF|Input.cpp[getImages,132]: mNbReceivedImages!475 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99951 0.00820047 0.0302027 0.00449859 -0.00917076 0.999442 0.0321286 0.0341725 -0.0299224 -0.0323899 0.999027 -0.0588381 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.998421) and 465(1311875588.730185) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99951 0.00820047 0.0302027 0.00449859 -0.00917076 0.999442 0.0321286 0.0341725 -0.0299224 -0.0323899 0.999027 -0.0588381 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999566 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2466/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.998421) and 465(1311875588.730185) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999445 0.00860706 0.0321916 -0.00785577 -0.00993677 0.999094 0.0413771 0.0142824 -0.0318063 -0.041674 0.998625 -0.069941 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999154 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:471/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 99 to 13971707284527513600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875588.998421) and 465(1311875588.730185) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999525 0.00715798 0.0299854 0.00569087 -0.00828026 0.999263 0.0374721 0.0356726 -0.0296951 -0.0377026 0.998848 -0.0678967 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999364 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:683/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.09614 resInfo good: 4051, 270 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4653/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999494 0.00679298 0.0310628 0.00718848 -0.00799064 0.999223 0.0385959 0.0361068 -0.0307765 -0.0388246 0.998772 -0.0657963 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875588.998421 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875588.998421 to keyframe with id: 13971707284527513600 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875588.998421 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 808 size: 4006 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId13971707284527513600 timestamp: 1311875588.998421 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -8.18289 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -13.291 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 426 keyframeId: 90 score: -13.8186 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -13.4373 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 454 keyframeId: 97 score: -15.9053 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 459 keyframeId: 98 score: -13.2082 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 100 = 100 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce6d5e0 fh1 0x20ce020fh->id: 80 100 473goodE: 55 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce6d5e0 fh1 0x185b3f60fh->id: 89 100 473goodE: 156 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce6d5e0 fh1 0x278b0740fh->id: 90 100 473goodE: 49 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce6d5e0 fh1 0x2bb262e0fh->id: 94 100 473goodE: 48 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce6d5e0 fh1 0x2dd0b4c0fh->id: 97 100 473goodE: 23 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce6d5e0 fh1 0x2ce672a0fh->id: 98 100 473goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce6d5e0 fh1 0x2dcfb1c0fh->id: 99 100 473goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew100 Input.cpp[readImages,206]: Got image from sensor!474 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 86 out of 92 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 92 newEdgePixels: 92 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2254 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 395 lastEnergy: 606.732 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 106 INF|LocalMapper.cpp[optimize,276]: Start Energy: 606.732 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -7.29364e-12 1.71036e-12 -8.51305e-12 -1.57853e-12 0.000397593 -0.000179903 -0.000186307 -6.51529e-05 -8.79361e-06 -0.000510099 0.00176729 0.00111482 0.00010522 1.08868e-05 -7.80281e-05 -0.00049518 -0.00192627 0.00359932 -4.6543e-05 0.000269597 0.00035852 -0.000531493 0.00199055 -0.000511862 -0.00618165 -0.000507743 -0.00036726 -0.000857845 -0.0126813 0.0121717 -0.00430717 0.00118414 0.000954795 -0.000215803 -0.017111 -0.000563095 -0.00505249 -0.000376086 0.00158108 -0.000238584 -0.00411811 -0.00629409 -0.00790265 -0.00105636 3.62704e-05 6.95316e-05 -0.00160129 -0.0102474 -0.00745688 -0.00134658 -0.000704066 -0.000325824 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2254 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 567.118 0 0 newEnergyL 0 lastEnergy: 606.732 0 0 lastEnergyL: 0mActiveResiduals: 2254 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 475 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.5876e-12 1.43672e-12 6.74487e-12 -1.15702e-12 -4.33943e-05 0.000207579 -0.000258307 2.47177e-05 -1.13391e-06 7.56265e-06 0.00193587 -0.00148816 -0.000423092 -0.000226348 -0.00026874 -6.06906e-05 6.7965e-05 0.00032319 0.000237993 2.03324e-05 -3.7664e-05 -0.000266213 -0.00382762 0.00126583 0.00694157 0.000174471 0.000688253 0.000140387 -0.000164242 -0.00176108 0.00294255 -0.000285381 0.000478875 -0.000675723 0.00402745 0.00373339 0.00368979 0.000343923 -2.29542e-05 -0.000606305 0.00194557 0.00454249 0.00774414 0.00041169 0.000145979 -0.000518362 -0.00315492 -0.00967876 0.00353715 -0.00137994 0.000693574 -0.000217553 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2254 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 548.78 0 0 newEnergyL 0 lastEnergy: 567.118 0 0 lastEnergyL: 0mActiveResiduals: 2254 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -9.3897e-12 5.12891e-12 -1.90576e-11 -7.27639e-12 0.000234394 0.00124864 0.00142609 6.59933e-05 0.00115911 -0.00099406 -0.000462162 0.00237879 0.00271997 -0.000197198 0.00146705 -0.000551996 0.00246559 0.00069181 0.00402146 -0.000399767 0.0010011 -0.000585642 0.00252816 -0.000235886 -0.00276472 -0.000773812 0.000791966 -0.000617075 -0.000181076 0.00306434 0.00130807 -0.000423852 0.00093897 -0.000308162 -0.00328693 -0.000814726 0.0014986 -0.000851943 0.00126827 -0.000290714 -0.00355774 -0.00556634 -0.00457368 -0.00156309 0.00123444 2.54052e-05 -8.27384e-05 -0.00169434 -0.00119199 -0.000845697 0.000831363 -0.000429431 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2254 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 538.8 0 0 newEnergyL 0 lastEnergy: 548.78 0 0 lastEnergyL: 0mActiveResiduals: 2254 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 5.92689e-13 9.35152e-13 1.28571e-11 5.37238e-13 -0.000774795 -0.0011575 -0.00134179 7.11872e-05 -0.000828132 0.000495003 0.000759654 -0.00117523 -0.00241468 0.000288687 -0.00123289 0.000137784 -0.000528749 -5.19626e-05 -0.00243127 0.000418374 -0.00104973 0.000170048 -0.00142822 -0.000793563 0.00203685 0.000558836 -0.000830235 0.000579157 -0.00091676 -0.00220601 -0.00100779 0.000381969 -0.000681253 0.000151746 -0.000370055 -0.0005635 -0.00111573 0.000594859 -0.000713796 0.000283309 0.00155381 0.0033883 0.0044609 0.00118155 -0.000960874 0.000385688 0.00353643 0.00319027 -1.02616e-05 0.000856839 -0.00124047 8.75519e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2254 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 531.359 0 0 newEnergyL 0 lastEnergy: 538.8 0 0 lastEnergyL: 0mActiveResiduals: 2254 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -4.01984e-12 -1.68276e-12 -1.99628e-11 3.11484e-12 0.00113323 0.00067307 0.000554433 -4.10371e-05 0.000999963 -0.000514829 -0.000797994 0.00100381 0.00311715 -0.000162937 0.00129514 -9.12995e-05 -8.4505e-05 -0.000605982 0.00284909 -0.000359645 0.00105813 1.05177e-05 0.00183437 0.00102919 -0.00243037 -0.000416196 0.000621302 -0.00051545 0.000973763 0.00227295 0.000974668 -0.000223865 0.000493214 -0.000138498 -0.00302187 0.00102026 0.00208087 -0.000401533 0.000937065 -0.000430251 0.000814852 -0.00570376 -0.00635889 -0.00118524 0.000329312 -0.000105455 -0.00248751 -0.00052703 0.000755831 -0.000228376 0.000841254 0.000149147 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2254 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 530.212 0 0 newEnergyL 0 lastEnergy: 531.359 0 0 lastEnergyL: 0mActiveResiduals: 2254 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!475 INF|Input.cpp[getImages,132]: mNbReceivedImages!476 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 4.3002e-12 2.20838e-12 1.47574e-11 -2.65266e-12 -0.00113175 4.25581e-05 -0.000354692 0.000167938 -0.000732768 0.000416986 0.00102757 -0.00104287 -0.00311458 0.000116392 -0.00103764 -9.42615e-05 -0.000198677 -3.07457e-05 -0.00237485 0.000205788 -0.000806159 -0.000166037 -0.00190432 -0.00141875 0.00226547 0.000256122 -0.000490258 0.000532172 -0.000379915 -5.33324e-05 -0.00134339 0.000346809 -0.000444472 3.69537e-05 0.00229728 -0.00343028 -0.00254789 -5.11025e-05 -0.000733029 0.000336853 0.00136395 0.00629119 0.00541573 0.00120925 -0.000640252 0.000289818 0.000342499 0.00052569 0.00045876 0.000245568 -0.000574618 2.49553e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2254 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 527 0 0 newEnergyL 0 lastEnergy: 530.212 0 0 lastEnergyL: 0mActiveResiduals: 2254 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 527 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2254 INF|LocalMapper.cpp[optimize,345]: End Energy: 527 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.494747 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.494747 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 97 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 97 with idx: 4 and allID: 454 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 80<->97 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->97 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 90<->97 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->97 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 97<->97 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 98<->97 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 99<->97 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 100<->97 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 97 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 454: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 96/450: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 96 allId: 450 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.99914 0.0128881 -0.039412 -0.0281013 -0.0135813 0.999757 -0.0173739 -0.00638108 0.0391785 0.0178942 0.999072 0.0197325 worldPose: 0.801417 0.291334 -0.522356 -1.68603 -0.309484 0.949333 0.0546521 1.99312 0.511811 0.117861 0.850975 2.07699 after: 0.801417 0.291334 -0.522356 -1.68603 -0.309484 0.949333 0.0546521 1.99312 0.511811 0.117861 0.850975 2.07699 worldPose of new: 0.825069 0.289454 -0.485259 -1.65142 -0.299136 0.952356 0.0594638 1.98962 0.479352 0.0960969 0.872346 2.07386 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.99914 0.0128881 -0.039412 -0.0281013 -0.0135813 0.999757 -0.0173739 -0.00638108 0.0391785 0.0178942 0.999072 0.0197325 INF|Mapper.cpp[changeRefFrame,578]: Updating: 455 from old kf id: 97/454 with new ref frame: 450/96 INF|Mapper.cpp[changeRefFrame,578]: Updating: 456 from old kf id: 97/454 with new ref frame: 450/96 INF|Mapper.cpp[changeRefFrame,578]: Updating: 457 from old kf id: 97/454 with new ref frame: 450/96 INF|Mapper.cpp[changeRefFrame,578]: Updating: 458 from old kf id: 97/454 with new ref frame: 450/96 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 454 after changeRefFrame: 0.99914 0.0128881 -0.039412 -0.0281013 -0.0135813 0.999757 -0.0173739 -0.00638108 0.0391785 0.0178942 0.999072 0.0197325 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 97 to normal frame with refFrame: 96 frame id kf: 454 newref id: 450 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 97 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 13516 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2ce6d5e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 100 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 70 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 57 with distance 0.232Found rest min at: 69 with distance 0.11 overall min: 0.11 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 57 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 698 INF|LoopCloser.cpp[loopCloserLinear,145]: No loop because too close!100 with: 0.232 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 705 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 474 keyframes 101 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 523 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.029052 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999995 3.71974e-05 0.00315691 -4.9032e-06 -4.56632e-05 0.999996 0.00268164 0.00819366 -0.0031568 -0.00268177 0.999991 -0.00573451 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 100 to 647862080 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.029052) and 473(1311875588.998421) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999995 3.71974e-05 0.00315691 -4.9032e-06 -4.56632e-05 0.999996 0.00268164 0.00819366 -0.0031568 -0.00268177 0.999991 -0.00573451 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.99934 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1051/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 100 to 647862080 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.029052) and 473(1311875588.998421) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999996 -0.000527146 0.00286199 -0.00106036 0.000517717 0.999994 0.00329456 0.010183 -0.00286371 -0.00329307 0.99999 -0.00513385 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999749 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:716/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 100 to 647862080 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.029052) and 473(1311875588.998421) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999991 -0.00104645 0.00406999 -0.000345755 0.00100272 0.999942 0.0107334 -0.0096931 -0.00408098 -0.0107292 0.999934 -0.00554488 Input.cpp[readImages,206]: Got image from sensor!475 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999993 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1596/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.468513 resInfo good: 4006, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4395/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999979 -0.00112744 0.00645763 -0.0033262 0.00105607 0.999938 0.0110446 -0.00632108 -0.00646968 -0.0110375 0.999918 -0.00673698 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!474 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 476 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!476 INF|Input.cpp[getImages,132]: mNbReceivedImages!477 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.060893 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999952 -0.00171787 0.00968159 -0.00500295 0.00155729 0.999862 0.016569 -0.00951075 -0.00970871 -0.0165531 0.999816 -0.0100711 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 100 to 647862080 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.060893) and 473(1311875588.998421) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999952 -0.00171787 0.00968159 -0.00500295 0.00155729 0.999862 0.016569 -0.00951075 -0.00970871 -0.0165531 0.999816 -0.0100711 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999645 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2547/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 100 to 647862080 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.060893) and 473(1311875588.998421) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999971 -6.86837e-05 0.00756831 -0.000345179 -3.10423e-05 0.999913 0.0131759 -0.00668854 -0.00756855 -0.0131757 0.999885 -0.0218327 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999096 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1463/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 100 to 647862080 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.060893) and 473(1311875588.998421) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999962 -0.00111363 0.00869469 0.00454722 0.00100625 0.999923 0.0123448 0.00510231 -0.00870777 -0.0123356 0.999886 -0.0160876 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999205 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:643/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.632174 resInfo good: 3997, 9 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5586/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999964 -0.00176026 0.00833315 0.0102158 0.00164516 0.999903 0.0137997 0.00375011 -0.00835664 -0.0137855 0.99987 -0.0154353 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!475 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!476 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 477 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.099314 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!477 INF|Input.cpp[getImages,132]: mNbReceivedImages!478 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999945 -0.00239823 0.0102069 0.0237352 0.00222903 0.99986 0.0165558 0.0138055 -0.0102452 -0.0165322 0.999811 -0.0241867 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 100 to 647862080 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.099314) and 473(1311875588.998421) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999945 -0.00239823 0.0102069 0.0237352 0.00222903 0.99986 0.0165558 0.0138055 -0.0102452 -0.0165322 0.999811 -0.0241867 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999379 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1138/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 100 to 647862080 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.099314) and 473(1311875588.998421) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999888 0.00275435 0.0146868 0.00468101 -0.00301906 0.999833 0.0180319 0.00802579 -0.0146347 -0.0180742 0.99973 -0.0312952 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999598 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1165/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 100 to 647862080 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.099314) and 473(1311875588.998421) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999833 0.00186532 0.0181864 -0.00137627 -0.00220997 0.999818 0.0189493 0.0148865 -0.0181478 -0.0189863 0.999655 -0.0249307 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999132 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:766/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.772373 resInfo good: 3964, 42 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4037/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999852 0.000474749 0.0172246 0.00646368 -0.000852879 0.999759 0.0219523 0.00808676 -0.01721 -0.0219637 0.999611 -0.0241453 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!476 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 485 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!477 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 478 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.129525 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!478 INF|Input.cpp[getImages,132]: mNbReceivedImages!479 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999764 0.00156494 0.0216765 0.00456258 -0.00212892 0.999659 0.0260196 0.0102317 -0.0216284 -0.0260596 0.999426 -0.0285011 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 100 to 647862080 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.129525) and 473(1311875588.998421) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999764 0.00156494 0.0216765 0.00456258 -0.00212892 0.999659 0.0260196 0.0102317 -0.0216284 -0.0260596 0.999426 -0.0285011 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999467 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1745/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 100 to 647862080 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.129525) and 473(1311875588.998421) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999799 0.0021428 0.0199265 0.0189704 -0.00262958 0.999698 0.0244345 0.0186845 -0.0198682 -0.024482 0.999503 -0.0325297 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999356 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:784/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 100 to 647862080 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.129525) and 473(1311875588.998421) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999709 0.00206831 0.0240206 0.0146209 -0.00269754 0.999653 0.0261927 0.0217668 -0.0239581 -0.0262499 0.999368 -0.0290469 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999186 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:605/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.910768 resInfo good: 3929, 77 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4049/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999678 0.000928748 0.0253477 0.0102959 -0.00169919 0.999537 0.0303905 0.0104646 -0.0253078 -0.0304238 0.999217 -0.0268588 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!477 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 466 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!478 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 479 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!479 INF|Input.cpp[getImages,132]: mNbReceivedImages!480 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.164868 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999567 0.00112995 0.0294101 0.0122043 -0.00214798 0.999399 0.0346062 0.0116439 -0.0293533 -0.0346543 0.998968 -0.0282347 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 100 to 647862080 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.164868) and 473(1311875588.998421) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999567 0.00112995 0.0294101 0.0122043 -0.00214798 0.999399 0.0346062 0.0116439 -0.0293533 -0.0346543 0.998968 -0.0282347 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999977 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1602/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 100 to 647862080 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.164868) and 473(1311875588.998421) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999531 0.00363612 0.0303941 0.015014 -0.00454163 0.999546 0.0297765 0.0117337 -0.0302721 -0.0299006 0.999094 -0.0456404 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999458 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1165/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 100 to 647862080 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.164868) and 473(1311875588.998421) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999365 0.00332764 0.0354682 0.00431519 -0.00441307 0.999523 0.0305686 0.0207526 -0.0353496 -0.0307057 0.998903 -0.0397025 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999833 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:772/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.0011 resInfo good: 3775, 231 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4559/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999412 0.00123957 0.0342516 0.00942041 -0.0023861 0.999437 0.0334532 0.0123874 -0.0341909 -0.0335153 0.998853 -0.0399448 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875589.164868 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875589.164868 to keyframe with id: 647862080 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875589.164868 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 839 size: 3617 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId647862080 timestamp: 1311875589.164868 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -8.27093 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -13.4865 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 426 keyframeId: 90 score: -14.0308 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -12.5263 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 459 keyframeId: 98 score: -13.6953 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 465 keyframeId: 99 score: -11.3235 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 101 = 101 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb236e0 fh1 0x20ce020fh->id: 80 101 478goodE: 28 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb236e0 fh1 0x185b3f60fh->id: 89 101 478goodE: 155 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb236e0 fh1 0x278b0740fh->id: 90 101 478goodE: 40 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb236e0 fh1 0x2bb262e0fh->id: 94 101 478goodE: 33 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb236e0 fh1 0x2ce672a0fh->id: 98 101 478goodE: 16 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb236e0 fh1 0x2dcfb1c0fh->id: 99 101 478goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb236e0 fh1 0x2ce6d5e0fh->id: 100 101 478goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew101 Input.cpp[readImages,206]: Got image from sensor!479 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 88 out of 94 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 94 newEdgePixels: 94 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1927 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 377 lastEnergy: 539.359 0 0 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 480 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 97 INF|LocalMapper.cpp[optimize,276]: Start Energy: 539.359 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 9.74858e-12 -5.33256e-12 -5.91266e-12 -3.29929e-12 -0.000775294 -0.000974305 0.000196675 -0.000289884 -0.000406052 0.000572089 0.00223287 0.000415613 0.00151555 0.00025474 -0.00069008 0.000610499 0.00190112 0.00108438 -0.00105481 0.000281863 -0.000736999 0.000687299 0.00570665 -0.00144174 -0.00360362 5.89215e-06 -0.00121911 -0.000245791 0.00151393 0.00274768 0.00100934 0.000759039 -0.000697158 0.000197903 0.00112624 -0.00568955 -0.0103737 -0.000235926 -0.00128058 0.000263257 0.00493508 0.00531397 -0.00876633 0.0011248 -0.0014715 0.000117765 -0.00950849 0.00835397 -0.0023 0.00140704 0.000685217 -0.000989011 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1927 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 502.165 0 0 newEnergyL 0 lastEnergy: 539.359 0 0 lastEnergyL: 0mActiveResiduals: 1927 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.20905e-12 2.1946e-12 5.18749e-12 -3.99838e-12 0.000723946 0.000122963 -0.000412759 2.22278e-05 -0.000104236 -6.40852e-08 0.000660267 0.000173954 -0.00138727 -2.5399e-05 -0.000152305 -0.000122896 -0.000665961 0.000247842 -0.000402977 7.25242e-06 2.82762e-05 -5.96845e-05 0.000948126 0.00105493 -0.000296429 0.000178113 -0.000184827 0.000197865 -0.00388375 -0.00113178 -0.000490994 -0.000455191 0.000687938 -0.000327122 0.00100246 -0.00161382 0.0027603 -0.000499385 0.000204718 -0.000646535 -0.00785294 -0.00047584 0.00457643 -0.000487265 0.00126446 -0.000640195 -0.00723469 -0.00479722 -0.00194439 -0.00074653 0.000798228 -0.000513956 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1927 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 482.182 0 0 newEnergyL 0 lastEnergy: 502.165 0 0 lastEnergyL: 0mActiveResiduals: 1927 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -8.88614e-12 1.5016e-12 -9.75507e-12 -2.49506e-12 0.00142527 -0.00343791 1.64295e-06 -0.000126797 0.000699989 0.00133246 -0.000280566 -0.00225508 0.00148987 0.000673689 0.000652207 0.00163672 0.00083036 -0.0023303 0.00156392 0.000752358 0.000339849 0.00171324 0.00154819 -0.00402939 -0.00132634 0.000652283 0.000289468 0.00115928 0.0018291 -0.000430302 -3.16147e-05 0.00151705 0.000286569 0.00117346 -0.00230788 -0.000897744 -0.00124983 0.00157211 0.000657837 0.0010529 0.0011717 0.00135991 -0.00241131 0.00190099 0.000289511 0.000834057 -0.00504071 0.0114884 0.00240463 0.00334243 0.00141571 0.00101854 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1927 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 472.131 0 0 newEnergyL 0 lastEnergy: 482.182 0 0 lastEnergyL: 0mActiveResiduals: 1927 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 4.34151e-12 3.30495e-13 1.24464e-11 8.36703e-13 -0.00174836 0.00206099 0.00145965 -0.000161474 -0.000254747 -0.000358923 0.000825695 0.00108887 -0.000626842 -0.000540912 -0.00010351 -0.000514703 0.00103049 0.000934562 -0.000147396 -0.000554839 6.05023e-05 -0.000359744 0.00311194 0.00198182 0.000498129 -0.000396461 -3.18316e-05 -0.000119454 -0.00255704 0.000651832 -0.00125597 -0.000913159 0.000907159 -0.000480589 0.00167315 0.0025051 0.00164979 -0.000836593 0.000625468 -0.00069476 -0.00192629 0.00153764 0.00293776 -0.00117153 0.00112257 -0.000770349 -0.00122475 -0.0105868 -0.00304832 -0.00248104 0.000622735 -0.000769674 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1927 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 470.307 0 0 newEnergyL 0 lastEnergy: 472.131 0 0 lastEnergyL: 0mActiveResiduals: 1927 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!480 INF|Input.cpp[getImages,132]: mNbReceivedImages!481 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -8.1636e-12 -1.22561e-12 -1.68367e-11 7.09163e-12 0.000330165 -0.0025261 0.000221325 -0.000194509 0.000687305 0.000517798 0.000404649 -0.000631459 0.00164697 0.000306876 0.000549866 0.000733949 0.000958489 -0.00049052 0.000801488 0.000385441 0.000383429 0.000698757 0.000800268 -0.00137787 -0.000572261 0.000262057 0.000474466 0.000474117 0.00344938 0.000307997 0.00062931 0.000715521 0.000131105 0.000630445 -0.00246291 -0.000525241 -0.00154226 0.000765235 0.000573989 0.000481594 -0.00130034 0.00327063 0.00160531 0.00134638 0.00060907 0.000332219 -0.00312586 0.00148904 -0.00161951 0.00129304 0.00103906 0.00130923 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1927 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 463.652 0 0 newEnergyL 0 lastEnergy: 470.307 0 0 lastEnergyL: 0mActiveResiduals: 1927 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 6.19243e-12 9.51366e-13 1.7952e-11 -5.24613e-12 0.000129502 0.00133914 0.00106234 -2.09757e-05 -0.000581184 0.00028881 0.000625883 0.000384845 -0.00127665 -0.000109699 -0.000477169 3.14388e-05 0.00036358 -0.000688513 -0.000440916 -0.00026489 -0.000261938 8.58913e-05 0.000900683 -0.000651057 0.00116433 -0.000110837 -9.30268e-05 0.000253587 -0.00418693 -0.000837171 -0.000443109 -0.000326021 0.000745429 -0.000150943 -0.00174371 0.00162428 0.00397654 -0.000208529 0.000870293 -0.00031721 -0.0019188 -0.00514498 -0.000348266 -0.00117747 0.000670737 -9.18678e-05 0.0053606 0.00388374 -0.00373166 -0.000153081 -0.000423856 -0.00145973 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1927 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 462.752 0 0 newEnergyL 0 lastEnergy: 463.652 0 0 lastEnergyL: 0mActiveResiduals: 1927 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 462.752 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1927 INF|LocalMapper.cpp[optimize,345]: End Energy: 462.752 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.501085 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.501085 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 90 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 90 with idx: 2 and allID: 426 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 80<->90 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 90->80 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->90 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 90->89 INF|LocalMapper.cpp[marginalizeFrame,772]: 90<->90 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->90 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 90->94 INF|LocalMapper.cpp[marginalizeFrame,801]: 90 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 90 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 11876 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2bb236e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 101 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 70 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 34 with distance 0.2Found rest min at: 69 with distance 0.166 overall min: 0.166 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 34 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 707 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 101 into DB 0.2 34 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 34 and real id(62) current kf: 101(478) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.336332 0.190498 -0.922275 -1.89813 -0.095163 0.981189 0.167963 0.157344 0.936923 0.0312751 0.348134 -0.0484371 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 62 currFrame: 101 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.0015903 edge: 101 to 62 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 101 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 478(1311875589.164868) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999918 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1516/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 101 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 478(1311875589.164868) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.988469 -0.0997187 0.113955 -0.264617 0.0923931 0.993407 0.0678653 -0.477888 -0.119972 -0.056554 0.991165 0.542936 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.99953 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:389/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 101 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 478(1311875589.164868) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.988109 -0.102613 0.1145 -0.262429 0.0952683 0.993134 0.0678824 -0.484265 -0.12068 -0.056167 0.991101 0.553328 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999618 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1155/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.982682 -0.120338 0.140908 -0.340497 0.103115 0.986941 0.123751 -0.719634 -0.15396 -0.107078 0.982258 0.626242 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 61 end 64 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!480 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 16085 o[1]: 2154 o[2]: 485 o[3]: 60 histWeights: 1 1 1.25 1.5overlap: 2850.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 3617 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 62 and 101 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 101 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 101 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 6573 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 479 keyframes 102 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 523 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.197008 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 6 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 481 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999974 -0.00046275 0.0072264 0.00636991 0.000432252 0.999991 0.0042214 -7.21611e-05 -0.00722829 -0.00421817 0.999965 -0.00901214 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 101 to 254903552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.197008) and 478(1311875589.164868) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999974 -0.00046275 0.0072264 0.00636991 0.000432252 0.999991 0.0042214 -7.21611e-05 -0.00722829 -0.00421817 0.999965 -0.00901214 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999733 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1322/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 101 to 254903552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.197008) and 478(1311875589.164868) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999979 0.00565735 0.00312968 0.00843231 -0.00567247 0.999972 0.00484434 0.00437564 -0.00310218 -0.00486199 0.999983 -0.0402649 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999386 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1736/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 101 to 254903552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.197008) and 478(1311875589.164868) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999992 0.00171154 0.00374892 0.0178459 -0.00171105 0.999999 -0.000136196 0.0282197 -0.00374915 0.00012978 0.999993 -0.030748 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999898 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:884/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.577926 resInfo good: 3602, 15 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4973/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999956 0.000983816 0.00928164 -0.000184351 -0.00102121 0.999991 0.00402494 0.0168652 -0.0092776 -0.00403424 0.999949 -0.0213068 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!479 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 466 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!481 INF|Input.cpp[getImages,132]: mNbReceivedImages!482 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.229109 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999826 0.00193014 0.0185664 -0.000549863 -0.00207971 0.999966 0.00804015 0.0336446 -0.0185502 -0.00807736 0.999795 -0.0426788 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 101 to 254903552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.229109) and 478(1311875589.164868) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999826 0.00193014 0.0185664 -0.000549863 -0.00207971 0.999966 0.00804015 0.0336446 -0.0185502 -0.00807736 0.999795 -0.0426788 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999546 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2156/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 101 to 254903552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.229109) and 478(1311875589.164868) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999913 -0.00474673 0.0123332 0.0136066 0.00454632 0.999858 0.0162275 -0.00449594 -0.0124085 -0.01617 0.999792 -0.0410906 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999694 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1937/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 101 to 254903552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.229109) and 478(1311875589.164868) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999808 -0.00493006 0.0189529 -0.00103578 0.00466462 0.999891 0.0140244 0.014041 -0.0190199 -0.0139333 0.999722 -0.0271039 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1726/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.710291 resInfo good: 3597, 20 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6747/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99977 -0.00594477 0.0205921 -0.00297532 0.00556337 0.999813 0.01853 0.00189479 -0.0206984 -0.0184112 0.999616 -0.0243471 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!480 Input.cpp[readImages,206]: Got image from sensor!481 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 532 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 482 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.264637 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!482 INF|Input.cpp[getImages,132]: mNbReceivedImages!483 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999612 -0.00946969 0.0262084 -0.0043452 0.00879317 0.999628 0.0258089 -0.00561344 -0.0264431 -0.0255684 0.999323 -0.0257745 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 101 to 254903552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.264637) and 478(1311875589.164868) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999612 -0.00946969 0.0262084 -0.0043452 0.00879317 0.999628 0.0258089 -0.00561344 -0.0264431 -0.0255684 0.999323 -0.0257745 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999881 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2249/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 101 to 254903552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.264637) and 478(1311875589.164868) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999724 -0.00898102 0.0217024 0.0179865 0.00852097 0.999739 0.0211987 -0.00437098 -0.0218871 -0.0210079 0.99954 -0.0288407 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999998 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1923/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 101 to 254903552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.264637) and 478(1311875589.164868) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99959 -0.009371 0.0270532 0.00791524 0.00885925 0.999781 0.0189745 0.0124227 -0.0272251 -0.0187271 0.999454 -0.0210493 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1809/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.843382 resInfo good: 3573, 44 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6864/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999538 -0.00982662 0.0287749 0.00495152 0.0092029 0.999722 0.0217284 0.0055912 -0.0289804 -0.0214536 0.99935 -0.0194523 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!481 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!482 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 483 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.296680 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!483 INF|Input.cpp[getImages,132]: mNbReceivedImages!484 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999223 -0.0137331 0.0369433 0.0129046 0.0128157 0.999606 0.0249563 0.00933222 -0.0372715 -0.0244635 0.999006 -0.0146346 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 101 to 254903552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.296680) and 478(1311875589.164868) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999223 -0.0137331 0.0369433 0.0129046 0.0128157 0.999606 0.0249563 0.00933222 -0.0372715 -0.0244635 0.999006 -0.0146346 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.9993 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:508/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 101 to 254903552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.296680) and 478(1311875589.164868) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999626 -0.0081361 0.0261177 0.0525345 0.00789958 0.999927 0.00914611 0.0625293 -0.0261902 -0.00893637 0.999617 -0.0327928 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999923 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:625/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 101 to 254903552 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.296680) and 478(1311875589.164868) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999308 -0.00857132 0.0362069 0.01519 0.00780155 0.999742 0.0213484 0.0262826 -0.0363805 -0.0210511 0.999116 -0.0389433 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999785 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:572/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.00877 resInfo good: 3449, 168 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2636/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999194 -0.00947048 0.0390058 0.00862067 0.0085057 0.999656 0.0248263 0.0170003 -0.0392275 -0.0244745 0.998931 -0.0309868 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875589.296680 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875589.296680 to keyframe with id: 254903552 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875589.296680 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 758 size: 2978 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId254903552 timestamp: 1311875589.296680 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -7.67383 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -9.66789 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -12.428 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 459 keyframeId: 98 score: -16.7507 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 465 keyframeId: 99 score: -16.0038 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 473 keyframeId: 100 score: -10.3599 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 102 = 102 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2cad6700 fh1 0x20ce020fh->id: 80 102 482goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2cad6700 fh1 0x185b3f60fh->id: 89 102 482goodE: 153 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2cad6700 fh1 0x2bb262e0fh->id: 94 102 482goodE: 28 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2cad6700 fh1 0x2ce672a0fh->id: 98 102 482goodE: 45 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2cad6700 fh1 0x2dcfb1c0fh->id: 99 102 482goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2cad6700 fh1 0x2ce6d5e0fh->id: 100 102 482goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2cad6700 fh1 0x2bb236e0fh->id: 101 102 482goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew102 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 53 out of 58 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 58 newEdgePixels: 58 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1647 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 277 lastEnergy: 491.16 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 75 INF|LocalMapper.cpp[optimize,276]: Start Energy: 491.16 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 8.2673e-12 -1.07247e-11 1.26429e-11 2.2763e-11 0.000858262 0.00174717 -0.00309241 0.000428029 -0.000701554 -0.00169237 -0.00733826 0.00153901 0.00314216 -0.000179823 0.000220864 -0.00170608 -0.00838905 -0.00073747 0.000939763 -0.00103245 -5.56227e-05 -0.00180438 -0.00596895 0.00566566 0.00591437 -0.000325242 -0.000578761 -0.00147265 -0.00995197 0.00198521 0.00234969 -0.000704799 -0.000424402 -0.00167454 -0.0102764 0.0107078 0.00948384 0.000475163 -0.000200529 -0.00148176 -0.0183635 0.0127622 0.00694366 0.000810168 0.00093894 -0.000930078 -0.0045825 0.0158321 -0.00989346 0.000779035 -0.000874575 -0.00251562 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1647 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 469.585 0 0 newEnergyL 0 lastEnergy: 491.16 0 0 lastEnergyL: 0mActiveResiduals: 1647 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -2.95616e-12 6.71557e-12 2.38885e-12 -1.85851e-12 -8.43096e-05 0.000715632 -0.000235406 7.27584e-05 -2.22873e-06 -3.03927e-05 0.00210507 0.000284792 -0.000547047 4.97467e-06 -0.00031836 -8.40731e-05 6.17659e-05 -0.000997183 0.000771148 -0.00020663 -7.74198e-05 0.000113644 -0.003542 -0.00186434 0.0012728 -0.00044598 0.000594637 -0.000179594 -0.00341113 -0.00158155 0.00394061 -0.000545662 0.000838748 -7.012e-05 -0.00334452 -0.00475365 0.00168162 -0.00125808 0.000768242 -0.000581326 -0.00539101 -0.0115654 -0.00163862 -0.00194556 0.000806946 -0.0010881 -0.00252572 0.00761906 0.00743005 0.000761919 0.000675052 0.00014492 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1647 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 454.466 0 0 newEnergyL 0 lastEnergy: 469.585 0 0 lastEnergyL: 0mActiveResiduals: 1647 Input.cpp[readImages,206]: Got image from sensor!483 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -5.70499e-12 -1.28594e-12 -1.44861e-11 2.05139e-12 0.0012746 -0.000259156 -0.000483115 -3.55743e-05 0.000389616 -0.000188624 -0.00231762 -0.000653798 0.00150886 -0.000204874 0.000733754 -5.11147e-05 -0.00131524 -0.000586534 -0.000747119 -0.000285264 0.000295288 -0.000442295 -0.00102583 0.00151087 0.000709239 5.24759e-05 4.08611e-05 -0.00029284 0.00442995 0.000597887 -0.00230546 -3.05715e-05 -0.0009314 -0.000173497 0.002217 0.00497667 0.00257085 0.00070516 -0.000453996 0.000189513 -0.00249204 0.00538735 5.2538e-05 0.000954828 0.000116175 0.000797502 -0.000766496 -0.011303 -0.00101882 -0.00143855 -1.99097e-05 -1.56749e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1647 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 446.919 0 0 newEnergyL 0 lastEnergy: 454.466 0 0 lastEnergyL: 0mActiveResiduals: 1647 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 8.28821e-12 -1.95386e-12 9.70528e-12 -3.7373e-13 -0.000878073 0.00054892 0.00109926 -0.000122925 0.000105332 0.000290016 0.00215363 0.0010621 -0.000304265 4.52766e-05 -0.000132106 0.0002151 0.00290995 -0.000467434 0.000406187 -5.5449e-05 -7.97764e-05 0.000575708 0.000801065 -0.000647446 1.53598e-05 -0.000162317 0.000427798 0.000235139 -0.00208011 0.000778885 0.00201426 -1.68744e-06 0.00105261 0.000286075 -0.00489037 -0.00663234 0.00155798 -0.00114747 0.00141416 -2.4789e-05 0.00337057 -0.00304758 -0.00322383 -0.000845621 0.000191808 -0.00109791 -0.00229524 0.00825119 -0.000684602 0.000749483 0.000827741 -0.000193577 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1647 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 441.942 0 0 newEnergyL 0 lastEnergy: 446.919 0 0 lastEnergyL: 0mActiveResiduals: 1647 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.11967e-11 1.67101e-12 -2.21121e-11 5.38708e-13 -0.000249116 6.99369e-05 0.000629555 -0.000101974 0.000479499 -0.000338355 -0.00143327 -0.0010404 0.00114044 -0.0004094 0.000722377 -0.00012052 0.000873469 0.00132667 -0.00157107 -0.000229464 0.00031921 -0.000535182 0.00114612 0.00466344 3.09493e-05 0.000230546 3.84588e-05 -0.000535089 -0.00182642 0.00149987 -0.00124336 -0.000323232 0.00030847 -0.000931217 0.00880911 0.00394776 -0.0015546 0.000305907 -0.00116044 0.000157937 -0.00485517 3.8711e-05 0.00103769 0.000106284 0.000700501 0.0011564 -0.00273324 -0.0103297 0.00254592 -0.00131492 0.000677297 0.00050252 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 484 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1647 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 435.649 0 0 newEnergyL 0 lastEnergy: 441.942 0 0 lastEnergyL: 0mActiveResiduals: 1647 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 8.33693e-12 -2.23092e-12 2.05969e-11 4.5331e-12 2.69564e-05 -0.000489656 -0.000246568 -0.000179836 -0.000242673 0.000765784 0.00189803 -7.44931e-05 -0.000687246 0.000216191 -0.000585961 0.000696584 -0.0003115 -0.000783106 0.00197939 0.000332201 -8.15491e-05 0.000921984 -0.00119655 -0.00360945 0.00014313 7.76628e-05 0.00031387 0.000884971 0.00313395 -0.0016632 0.000529212 0.000396267 -0.000157817 0.00115667 -0.00590208 -0.00279614 0.00170784 -0.000255803 0.00127698 9.56604e-05 0.00746784 0.00588986 -9.28399e-05 0.000633348 -0.000573111 -0.0014897 -0.0053657 0.00314245 -0.00334006 0.000397062 0.000708124 -0.000764521 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1647 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 432.334 0 0 newEnergyL 0 lastEnergy: 435.649 0 0 lastEnergyL: 0mActiveResiduals: 1647 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 432.334 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1647 INF|LocalMapper.cpp[optimize,345]: End Energy: 432.334 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.525094 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.525094 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 98 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 98 with idx: 3 and allID: 459 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 80<->98 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->98 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->98 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 98<->98 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 99<->98 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 100<->98 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 101<->98 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 102<->98 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 98 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 459: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 97/454: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 96/450: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 96 allId: 450 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.996803 0.0203193 -0.0772754 -0.0622599 -0.0229913 0.999163 -0.0338466 -0.0211311 0.0765229 0.035515 0.996435 0.0520128 worldPose: 0.778643 0.288743 -0.557084 -1.73414 -0.315525 0.947592 0.0501337 1.99121 0.542364 0.136738 0.828942 2.08736 after: 0.778643 0.288743 -0.557084 -1.73414 -0.315525 0.947592 0.0501337 1.99121 0.542364 0.136738 0.828942 2.08736 worldPose of new: 0.825069 0.289454 -0.485259 -1.65142 -0.299136 0.952356 0.0594638 1.98962 0.479352 0.0960969 0.872346 2.07386 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.996803 0.0203193 -0.0772754 -0.0622599 -0.0229913 0.999163 -0.0338466 -0.0211311 0.0765229 0.035515 0.996435 0.0520128 INF|Mapper.cpp[changeRefFrame,578]: Updating: 460 from old kf id: 98/459 with new ref frame: 450/96 INF|Mapper.cpp[changeRefFrame,578]: Updating: 461 from old kf id: 98/459 with new ref frame: 450/96 INF|Mapper.cpp[changeRefFrame,578]: Updating: 462 from old kf id: 98/459 with new ref frame: 450/96 INF|Mapper.cpp[changeRefFrame,578]: Updating: 463 from old kf id: 98/459 with new ref frame: 450/96 INF|Mapper.cpp[changeRefFrame,578]: Updating: 464 from old kf id: 98/459 with new ref frame: 450/96 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 459 after changeRefFrame: 0.996803 0.0203193 -0.0772754 -0.0622599 -0.0229913 0.999163 -0.0338466 -0.0211311 0.0765229 0.035515 0.996435 0.0520128 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 98 to normal frame with refFrame: 96 frame id kf: 459 newref id: 450 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 98 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 10632 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2cad6700 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 102 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 71 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 59 with distance 0.198Found rest min at: 70 with distance 0.096 overall min: 0.096 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 59 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 704 INF|LoopCloser.cpp[loopCloserLinear,145]: No loop because too close!102 with: 0.198 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 712 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 483 keyframes 103 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!484 INF|Input.cpp[getImages,132]: mNbReceivedImages!485 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.330239 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999946 0.000424367 0.010344 0.00290606 -0.000460218 0.999994 0.00346378 0.00958031 -0.0103425 -0.00346835 0.99994 -0.00714823 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 102 to 749771344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.330239) and 482(1311875589.296680) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999946 0.000424367 0.010344 0.00290606 -0.000460218 0.999994 0.00346378 0.00958031 -0.0103425 -0.00346835 0.99994 -0.00714823 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999342 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:518/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 102 to 749771344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.330239) and 482(1311875589.296680) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999948 0.000846971 0.0102016 0.00248473 -0.000880946 0.999994 0.00332633 0.0088704 -0.0101988 -0.00333514 0.999942 -0.004638 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999993 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1024/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 102 to 749771344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.330239) and 482(1311875589.296680) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999928 -0.00249647 0.0117051 0.00548761 0.00235976 0.999929 0.0116788 -0.0170907 -0.0117335 -0.0116504 0.999863 -0.00495407 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999985 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:721/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.546558 resInfo good: 2978, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3020/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999903 -0.00208568 0.013742 0.000971696 0.00195446 0.999952 0.00955493 -0.00536674 -0.0137613 -0.00952715 0.99986 -0.00179265 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!483 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!484 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 485 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!485 INF|Input.cpp[getImages,132]: mNbReceivedImages!486 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.364619 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999783 -0.00317754 0.0206046 0.00145243 0.00288232 0.999893 0.014342 -0.00805575 -0.020648 -0.0142795 0.999685 -0.00267474 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 102 to 749771344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.364619) and 482(1311875589.296680) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999783 -0.00317754 0.0206046 0.00145243 0.00288232 0.999893 0.014342 -0.00805575 -0.020648 -0.0142795 0.999685 -0.00267474 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999948 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1735/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 102 to 749771344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.364619) and 482(1311875589.296680) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999862 -0.00340913 0.0162831 0.0285864 0.00330193 0.999973 0.00660553 0.00174176 -0.0163052 -0.00655085 0.999846 -0.00526343 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1326/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 102 to 749771344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.364619) and 482(1311875589.296680) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99969 -0.00393112 0.024584 0.00628053 0.00366565 0.999935 0.0108342 -0.00688432 -0.024625 -0.0107407 0.999639 -0.000131863 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999994 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:909/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.733252 resInfo good: 2978, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4738/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999658 -0.00479665 0.0256902 0.00530907 0.00449185 0.999919 0.0119091 -0.00876296 -0.0257452 -0.0117896 0.999599 -0.000646118 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!484 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!485 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 486 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.396632 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!486 INF|Input.cpp[getImages,132]: mNbReceivedImages!487 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999263 -0.00753443 0.0376282 0.00966868 0.0070008 0.999873 0.0142934 -0.0121454 -0.0377312 -0.0140194 0.99919 0.000456129 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 102 to 749771344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.396632) and 482(1311875589.296680) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999263 -0.00753443 0.0376282 0.00966868 0.0070008 0.999873 0.0142934 -0.0121454 -0.0377312 -0.0140194 0.99919 0.000456129 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999817 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1792/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 102 to 749771344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.396632) and 482(1311875589.296680) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999367 -0.0021107 0.0355213 0.00249975 0.00165004 0.999914 0.012993 -0.00764959 -0.0355457 -0.0129261 0.999284 -0.0131161 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999054 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1056/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 102 to 749771344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.396632) and 482(1311875589.296680) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999292 -0.00390575 0.0374136 0.00361761 0.00347436 0.999927 0.0115884 0.00541347 -0.0374561 -0.0114503 0.999233 -0.0137438 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1319/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.883308 resInfo good: 2928, 50 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4935/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999286 -0.00480481 0.0374673 0.00718622 0.00433321 0.99991 0.0126581 0.00443505 -0.0375247 -0.0124868 0.999218 -0.0145972 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!485 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!486 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 487 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.428912 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!487 INF|Input.cpp[getImages,132]: mNbReceivedImages!488 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998775 -0.00482118 0.0492391 0.00890059 0.00416575 0.999901 0.0134052 0.0176223 -0.0492989 -0.0131837 0.998697 -0.0285794 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 102 to 749771344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.428912) and 482(1311875589.296680) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998775 -0.00482118 0.0492391 0.00890059 0.00416575 0.999901 0.0134052 0.0176223 -0.0492989 -0.0131837 0.998697 -0.0285794 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999941 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1851/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 102 to 749771344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.428912) and 482(1311875589.296680) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998887 -0.00948722 0.0462113 0.00840907 0.00820339 0.999577 0.0278926 -0.0327355 -0.0464564 -0.0274825 0.998542 -0.0340405 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.99999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1022/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 102 to 749771344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.428912) and 482(1311875589.296680) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998499 -0.00892354 0.0540404 -0.0104534 0.00768939 0.999706 0.0230026 -0.00397037 -0.0542298 -0.0225526 0.998274 -0.0230367 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999729 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:472/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.996408 resInfo good: 2849, 129 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4088/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998608 -0.0100528 0.0517879 0.00160957 0.00882302 0.999675 0.0239209 -0.00499715 -0.0520115 -0.0234307 0.998372 -0.0218895 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!486 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!487 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 488 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!488 INF|Input.cpp[getImages,132]: mNbReceivedImages!489 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.464475 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998181 -0.0127354 0.0589219 -0.00120016 0.0110064 0.999502 0.0295751 -0.00975368 -0.0592692 -0.0288728 0.997824 -0.0254661 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 102 to 749771344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.464475) and 482(1311875589.296680) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998181 -0.0127354 0.0589219 -0.00120016 0.0110064 0.999502 0.0295751 -0.00975368 -0.0592692 -0.0288728 0.997824 -0.0254661 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999297 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:784/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 102 to 749771344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.464475) and 482(1311875589.296680) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99814 -0.014358 0.0592427 0.00429807 0.0126283 0.999486 0.0294688 -0.0111185 -0.0596354 -0.0286659 0.997809 -0.0236129 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999955 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:509/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 102 to 749771344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.464475) and 482(1311875589.296680) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998154 -0.0145429 0.0589655 0.0127063 0.0128313 0.999488 0.0293022 -0.00617324 -0.0593614 -0.0284915 0.99783 -0.0274366 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.99967 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:663/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.11967 resInfo good: 2793, 185 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2717/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.997967 -0.0160367 0.0616836 0.00631321 0.0142282 0.999459 0.0296482 -0.00304701 -0.0621257 -0.0287103 0.997655 -0.0261272 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875589.464475 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875589.464475 to keyframe with id: 749771344 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875589.464475 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 851 size: 3170 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId749771344 timestamp: 1311875589.464475 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 362 keyframeId: 80 score: -7.56205 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -9.43167 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -10.9001 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 465 keyframeId: 99 score: -13.6241 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 473 keyframeId: 100 score: -15.6944 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 478 keyframeId: 101 score: -12.9844 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 103 = 103 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xf318520 fh1 0x20ce020fh->id: 80 103 487goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xf318520 fh1 0x185b3f60fh->id: 89 103 487goodE: 136 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xf318520 fh1 0x2bb262e0fh->id: 94 103 487goodE: 29 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xf318520 fh1 0x2dcfb1c0fh->id: 99 103 487goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xf318520 fh1 0x2ce6d5e0fh->id: 100 103 487goodE: 14 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xf318520 fh1 0x2bb236e0fh->id: 101 103 487goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xf318520 fh1 0x2cad6700fh->id: 102 103 487goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew103 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 75 out of 80 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 80 newEdgePixels: 80 Input.cpp[readImages,206]: Got image from sensor!488 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1503 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 280 lastEnergy: 471.563 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 84 INF|LocalMapper.cpp[optimize,276]: Start Energy: 471.563 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -4.18015e-12 9.40997e-13 -1.14064e-12 4.21409e-12 -0.000812404 0.000692482 -0.000300213 0.000514769 -0.000646081 -0.000510252 -0.00155865 -0.00126403 -0.00263027 2.58877e-05 -0.000492167 -0.000538945 0.00349271 -0.00725685 -0.00567513 -0.00113654 -0.00123001 -0.000920007 -0.00585173 0.00181185 0.00138693 -2.47908e-05 -0.000131078 -0.000909454 0.00376472 -0.000676424 -0.00437222 0.000187949 -0.00194106 0.000983762 -0.0145994 -0.00808676 0.000163194 -0.000792202 0.000618637 0.00126539 0.00308397 -0.000269603 0.00274287 0.000140734 -0.00136574 0.000609358 -0.000290671 -0.0158658 0.0010943 -0.00157979 -0.00102386 0.00158904 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1503 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 432.284 0 0 newEnergyL 0 lastEnergy: 471.563 0 0 lastEnergyL: 0mActiveResiduals: 1503 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.12727e-11 -3.80331e-12 3.39458e-12 -1.07109e-12 0.000248476 -0.000367568 -0.000370533 -4.16872e-05 -3.92423e-05 -1.07359e-05 0.00118298 0.00181824 -0.000646218 0.000268074 -0.000230646 1.76487e-05 0.00235276 0.000704609 0.0022708 0.000329745 -0.000330788 0.000448457 -0.00255075 -0.00754037 0.00181919 -0.00101674 0.000507829 -0.000222076 0.000983065 -0.00126427 -0.000153775 -0.000188123 5.62223e-05 -0.00044422 0.00154071 -0.00910326 -0.00371096 -0.00120152 -0.000206501 -0.000443095 -0.00817542 -0.0037296 -0.0028068 -0.000433689 0.000864393 -0.000641073 -0.0116256 0.00584586 0.00403231 0.000622314 0.00137197 -0.000372826 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1503 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 408.771 0 0 newEnergyL 0 lastEnergy: 432.284 0 0 lastEnergyL: 0mActiveResiduals: 1503 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 489 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.0763e-11 3.48863e-12 -9.01334e-12 7.7665e-13 -0.00116512 0.00097905 0.000750025 0.000375239 -0.000115546 -0.000595019 0.00103203 0.00138563 0.000381255 0.000250602 -0.000148232 -0.000555108 0.000376023 -0.00108887 -0.00393204 -0.000444693 5.0035e-05 -0.000884796 -0.00238206 0.000294215 -0.000866961 -0.000336485 0.000251819 -0.000598444 -0.0041896 0.000378961 -0.000555643 -0.000238166 0.000349926 -0.000480865 0.000760928 0.000424967 -0.0018209 5.17791e-05 -0.000381377 0.000446917 0.000886851 -0.00229853 0.00466995 -0.000300576 -0.000108702 0.000382286 0.00518202 0.000983113 0.000449849 -5.11374e-05 -0.000853344 0.000206358 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1503 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 396.939 0 0 newEnergyL 0 lastEnergy: 408.771 0 0 lastEnergyL: 0mActiveResiduals: 1503 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.06492e-11 -3.64129e-12 5.29084e-12 1.63207e-12 0.000367422 0.000143795 0.000232919 -0.000401334 0.000290965 -3.63101e-05 0.000592705 0.00128213 0.000224549 -0.000280337 0.0001566 7.54402e-05 0.00105616 0.00140213 0.00390469 -6.00081e-05 0.000111677 0.000438398 -0.000277352 0.000468195 0.00191602 -0.00048617 0.000467009 0.000220276 -0.000702367 -0.00157367 0.000445205 -0.00073624 0.000568192 -3.58994e-05 -0.00123825 0.00089942 0.000487484 -0.000523532 0.000663506 -0.000938087 -0.00591934 -0.00330668 -0.00440991 -0.00106965 0.000866053 -0.000913095 0.00481117 -0.000251879 -0.00150124 -0.000666615 -0.000239726 -0.000146745 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1503 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 391.564 0 0 newEnergyL 0 lastEnergy: 396.939 0 0 lastEnergyL: 0mActiveResiduals: 1503 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -3.85758e-12 2.73111e-12 -1.43168e-12 1.08918e-12 -0.00121033 0.000980597 0.000962473 0.000256788 -8.56408e-05 -0.000569784 0.00127787 -8.74044e-06 0.000528517 -0.000108734 -3.71944e-06 -0.000485644 -0.00024296 0.00170028 -0.00201244 -0.000256775 0.000489118 -0.00099105 0.000657865 -0.000480454 -0.00290242 -0.000469406 0.000158643 -0.000680945 0.000451122 0.00399795 -0.000229833 1.39975e-06 0.000191751 -0.000788938 -0.00269797 -0.00207025 -0.000780524 -0.00055504 0.000451693 0.000700153 0.0022998 0.00913777 0.00491274 0.000908626 0.000214623 0.000481373 -0.000374886 -0.0125331 0.000158964 -0.00177147 0.000289294 0.000562667 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1503 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 385.44 0 0 newEnergyL 0 lastEnergy: 391.564 0 0 lastEnergyL: 0mActiveResiduals: 1503 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 8.78684e-12 -4.28907e-12 -1.97098e-12 2.64911e-12 -8.54608e-05 0.000236551 0.0001471 -0.000361445 0.000432995 0.000100429 2.90472e-05 0.00176402 9.8723e-05 -0.000117767 0.000219166 0.000208024 0.00192319 -0.00146575 0.00267336 -0.000310579 -0.000102692 0.000702435 0.00166453 0.00364551 0.00206589 0.000160567 0.000197878 0.000348126 0.00202455 -0.00360919 0.000217187 -0.000635174 0.000180186 0.000654221 0.0013473 0.00310115 0.00158855 -0.00023602 0.000557517 -0.00133609 -0.00345901 -0.0144147 -0.00711715 -0.00242876 0.000615336 -0.000603854 -0.00455542 0.00989267 0.00179372 0.000524754 0.00106486 -0.000812551 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1503 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 382.381 0 0 newEnergyL 0 lastEnergy: 385.44 0 0 lastEnergyL: 0mActiveResiduals: 1503 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 382.381 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1503 INF|LocalMapper.cpp[optimize,345]: End Energy: 382.381 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.512117 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.512117 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 100 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 100 with idx: 4 and allID: 473 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 80<->100 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->100 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->100 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 99<->100 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 100<->100 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 101<->100 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 102<->100 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 103<->100 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 100 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 473: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 99/465: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 99 allId: 465 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.999477 -0.00829134 -0.0312461 -0.00818668 0.00707702 0.999223 -0.038775 -0.0399732 0.0315434 0.0385337 0.998759 0.0642594 worldPose: 0.742256 0.254242 -0.620014 -1.83593 -0.314722 0.949103 0.0124144 1.93705 0.591613 0.185918 0.784493 2.15722 after: 0.742256 0.254242 -0.620014 -1.83593 -0.314722 0.949103 0.0124144 1.93705 0.591613 0.185918 0.784493 2.15722 worldPose of new: 0.759133 0.283338 -0.586035 -1.78073 -0.322815 0.945656 0.039044 1.9697 0.56525 0.159541 0.809345 2.11621 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.999477 -0.00829134 -0.0312461 -0.00818668 0.00707702 0.999223 -0.038775 -0.0399732 0.0315434 0.0385337 0.998759 0.0642594 INF|Mapper.cpp[changeRefFrame,578]: Updating: 474 from old kf id: 100/473 with new ref frame: 465/99 INF|Mapper.cpp[changeRefFrame,578]: Updating: 475 from old kf id: 100/473 with new ref frame: 465/99 INF|Mapper.cpp[changeRefFrame,578]: Updating: 476 from old kf id: 100/473 with new ref frame: 465/99 INF|Mapper.cpp[changeRefFrame,578]: Updating: 477 from old kf id: 100/473 with new ref frame: 465/99 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 473 after changeRefFrame: 0.999477 -0.00829134 -0.0312461 -0.00818668 0.00707702 0.999223 -0.038775 -0.0399732 0.0315434 0.0385337 0.998759 0.0642594 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 100 to normal frame with refFrame: 99 frame id kf: 473 newref id: 465 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 100 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 11158 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0xf318520 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 103 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!489 INF|Input.cpp[getImages,132]: mNbReceivedImages!490 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 71 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 10 with distance 0.23Found rest min at: 70 with distance 0.152 overall min: 0.152 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 10 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 700 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 103 into DB 0.23 10 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 10 and real id(25) current kf: 103(487) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: -0.478639 0.281902 -0.831526 -1.6542 0.0381292 0.952836 0.301081 1.34821 0.877183 0.112404 -0.466813 -1.67988 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 25 currFrame: 103 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00210808 edge: 103 to 25 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 0 < 3170 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 103 and 25 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 103 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 103 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 977 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 488 keyframes 104 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 526 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.496830 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999984 -0.00209805 0.00524047 0.00139696 0.00208306 0.999994 0.00286457 0.00028763 -0.00524645 -0.0028536 0.999982 -0.00384997 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 103 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.496830) and 487(1311875589.464475) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999984 -0.00209805 0.00524047 0.00139696 0.00208306 0.999994 0.00286457 0.00028763 -0.00524645 -0.0028536 0.999982 -0.00384997 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999613 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1037/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 103 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.496830) and 487(1311875589.464475) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999874 -0.0018577 0.0157674 -0.0354078 0.00166034 0.99992 0.0125203 -0.0255711 -0.0157894 -0.0124925 0.999797 -0.00962267 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999518 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1228/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 103 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.496830) and 487(1311875589.464475) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999875 -0.00303887 0.0155177 -0.025798 0.00285824 0.999928 0.0116491 -0.0163881 -0.015552 -0.0116033 0.999812 -0.00816267 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999759 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:467/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.549777 resInfo good: 3091, 79 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3350/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999912 -0.00303733 0.012947 -0.010709 0.00291441 0.999951 0.00950228 -0.00385216 -0.0129753 -0.00946371 0.999871 -0.007422 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!488 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 451 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!489 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 490 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.528682 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!490 INF|Input.cpp[getImages,132]: mNbReceivedImages!491 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999646 -0.00619677 0.0258624 -0.0215015 0.00570513 0.999802 0.0190406 -0.00780587 -0.0259753 -0.0188863 0.999484 -0.0146676 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 103 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.528682) and 487(1311875589.464475) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999646 -0.00619677 0.0258624 -0.0215015 0.00570513 0.999802 0.0190406 -0.00780587 -0.0259753 -0.0188863 0.999484 -0.0146676 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1329/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 103 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.528682) and 487(1311875589.464475) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999826 0.00502068 0.0179502 -0.000310741 -0.00550246 0.999623 0.026892 -0.0215189 -0.0178084 -0.0269861 0.999477 -0.036637 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999716 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:826/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 103 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.528682) and 487(1311875589.464475) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999818 0.000250329 0.0190599 0.00859127 -0.000666704 0.999761 0.0218424 0.00356761 -0.0190499 -0.0218512 0.99958 -0.026571 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999314 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:468/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.840883 resInfo good: 2896, 274 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3284/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999785 -0.000362321 0.0207199 0.00653983 -5.36125e-05 0.999799 0.0200701 0.0151436 -0.020723 -0.0200669 0.999584 -0.018343 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!489 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 470 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!490 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 491 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.564976 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!491 INF|Input.cpp[getImages,132]: mNbReceivedImages!492 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999591 0.00223002 0.0285192 0.0237557 -0.00310328 0.999527 0.0306122 0.0339736 -0.0284375 -0.0306882 0.999124 -0.029598 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 103 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.564976) and 487(1311875589.464475) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999591 0.00223002 0.0285192 0.0237557 -0.00310328 0.999527 0.0306122 0.0339736 -0.0284375 -0.0306882 0.999124 -0.029598 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999948 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:854/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 103 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.564976) and 487(1311875589.464475) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999496 0.00224431 0.031675 0.0426751 -0.003337 0.9994 0.0344866 -0.0109378 -0.0315786 -0.0345749 0.998903 0.0249701 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999103 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:644/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 103 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.564976) and 487(1311875589.464475) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99924 0.00164609 0.0389325 0.0143325 -0.00290591 0.999473 0.0323245 0.0102894 -0.0388588 -0.0324131 0.998719 0.017473 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999492 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:424/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.975107 resInfo good: 2789, 381 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2548/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999204 0.000127678 0.0398833 0.0100216 -0.00146309 0.999439 0.0334557 0.0107154 -0.0398566 -0.0334874 0.998644 0.0115677 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!490 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!491 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 492 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.597273 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!492 INF|Input.cpp[getImages,132]: mNbReceivedImages!493 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998776 0.000276122 0.049462 0.0119756 -0.00226385 0.999192 0.0401356 0.00865055 -0.0494109 -0.0401984 0.997969 0.0265183 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 103 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.597273) and 487(1311875589.464475) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998776 0.000276122 0.049462 0.0119756 -0.00226385 0.999192 0.0401356 0.00865055 -0.0494109 -0.0401984 0.997969 0.0265183 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999679 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1291/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 103 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.597273) and 487(1311875589.464475) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999215 -0.000137581 0.039619 0.0587329 -0.00122304 0.99941 0.0343163 0.00853155 -0.0396004 -0.0343378 0.998625 -0.00101146 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.99973 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:619/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 103 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.597273) and 487(1311875589.464475) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998646 0.00177559 0.0519847 0.0157508 -0.00368666 0.99932 0.0366892 0.0100621 -0.0518842 -0.0368312 0.997974 0.00832116 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:916/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.12359 resInfo good: 2612, 558 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3444/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998697 0.000616575 0.0510225 0.020985 -0.00260912 0.999236 0.0389949 0.00561763 -0.0509595 -0.0390772 0.997936 0.00279549 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875589.597273 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875589.597273 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875589.597273 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 750 size: 2120 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875589.597273 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 104 = 104 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2a5cb1e0 fh1 0x20ce020fh->id: 80 104 491goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2a5cb1e0 fh1 0x185b3f60fh->id: 89 104 491goodE: 133 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2a5cb1e0 fh1 0x2bb262e0fh->id: 94 104 491goodE: 35 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2a5cb1e0 fh1 0x2dcfb1c0fh->id: 99 104 491goodE: 32 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2a5cb1e0 fh1 0x2bb236e0fh->id: 101 104 491goodE: 14 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2a5cb1e0 fh1 0x2cad6700fh->id: 102 104 491goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2a5cb1e0 fh1 0xf318520fh->id: 103 104 491goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew104 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 44 out of 51 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 51 newEdgePixels: 51 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1399 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 229 lastEnergy: 394.632 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 69 INF|LocalMapper.cpp[optimize,276]: Start Energy: 394.632 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -5.44077e-12 -3.57997e-13 3.71247e-12 -3.63365e-12 0.00189707 -0.00181872 -0.00181343 0.00018082 -0.000479525 0.00104712 4.66476e-05 -0.00467653 -0.00201164 0.000177784 -0.000673596 0.000849782 -0.00779045 0.000518644 0.0012139 0.00103842 0.000259681 0.000227576 -0.00404041 -0.0058698 0.000368766 0.00064457 -0.000416165 0.000396916 -0.00931157 -0.00786678 0.00681253 0.000529599 0.000448427 0.00278545 0.00606023 0.0147188 0.013946 0.003235 -0.00113475 0.00108057 -0.0113445 -0.0233281 0.00766594 -0.00116949 0.00108986 0.00210626 -0.0100215 -0.0238803 0.00769814 -0.000999757 0.000865622 0.00179223 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1399 Input.cpp[readImages,206]: Got image from sensor!492 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 361.749 0 0 newEnergyL 0 lastEnergy: 394.632 0 0 lastEnergyL: 0mActiveResiduals: 1399 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 9.79687e-12 -3.40759e-12 -5.45603e-12 3.09128e-12 -0.000371741 -0.000310146 0.000132639 -2.06229e-05 3.80367e-05 2.93453e-05 -0.000322526 0.00197298 -0.00100177 0.000274261 6.35889e-06 -0.000116182 0.00403792 -0.00256264 -0.00156924 -0.000174336 -0.000741825 0.000519843 -0.00169969 -0.00388978 -0.00121382 -0.000506124 0.000128332 8.31167e-05 0.00812253 -0.00749849 -0.00377156 -0.00114887 -0.000918556 -0.000885186 -0.00437819 -0.0103755 -0.00626349 -0.00170872 0.000337674 -0.000756524 -0.00821612 -0.00438393 -0.00306475 -0.000814205 0.000613563 -0.0010136 -0.013067 0.00697264 0.000866257 0.000908223 0.00128883 -0.000390973 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1399 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 350.091 0 0 newEnergyL 0 lastEnergy: 361.749 0 0 lastEnergyL: 0mActiveResiduals: 1399 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -8.02981e-12 7.04364e-13 -1.2207e-13 -1.23761e-12 -0.00130956 -0.00154135 0.00216088 0.000230042 0.000292731 0.000195329 0.00298351 -0.0021123 0.000190075 0.000200786 0.000202101 0.000241174 0.00236976 0.000479 -0.00143891 0.000571302 0.000666718 -0.000196087 0.000935695 -0.00128317 -0.00234873 0.000377996 0.000846384 -4.88838e-05 -0.00793322 0.00535467 0.000315553 0.00145418 0.00190466 0.00109076 0.00530296 0.00694386 0.00676181 0.00184745 0.000649087 0.00107252 -0.000451597 0.000501657 -0.00277985 0.00115451 0.00117694 0.00113045 -0.00316681 -0.00796826 -0.000956059 -0.000113445 0.00149503 0.000802782 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1399 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 336.649 0 0 newEnergyL 0 lastEnergy: 350.091 0 0 lastEnergyL: 0mActiveResiduals: 1399 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 6.02754e-12 1.65988e-12 -1.93796e-12 7.07679e-12 0.000630191 0.000254104 -0.000381962 -0.00032229 -2.42391e-05 0.000863039 -0.000131947 -0.000525161 -0.000255993 -4.11403e-05 -0.000223582 0.000906434 0.000335792 -0.00104444 0.0019951 0.000100175 -0.000233387 0.00101878 -0.000523269 0.000486047 0.00213086 0.000380831 9.95591e-05 0.000801473 0.00253833 -0.0109379 -0.00136409 -0.00136685 -4.33279e-05 -0.000381434 -0.00211097 -0.00163172 -0.00703705 -0.000522265 0.000134206 -0.000803702 -0.000372296 0.00601385 0.00340822 0.000398428 0.000200379 -0.000741859 -0.000607173 0.00694142 0.000995086 0.000962828 0.000148535 -0.000242401 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1399 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 493 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 326.405 0 0 newEnergyL 0 lastEnergy: 336.649 0 0 lastEnergyL: 0mActiveResiduals: 1399 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -5.71336e-12 -1.22789e-12 6.2035e-12 -5.56684e-12 -0.00115944 -0.000839625 0.00122243 0.000222641 -0.000121604 -0.000267915 0.00181519 -0.00132785 -0.00058659 1.54767e-05 -0.000128805 -0.000356794 0.000288666 0.00319168 -0.000773419 0.000578664 0.000313362 -0.000626133 0.000136507 -0.00010856 -0.0020817 -7.19335e-06 0.000296168 -0.000511302 -0.00698354 0.00311646 3.23099e-05 0.000595751 0.00103329 0.00077533 0.00466272 0.00563774 0.00782262 0.00123233 9.08568e-05 0.000883283 -0.000150523 0.00152654 -0.00135417 0.000581936 0.00048838 0.000355845 0.000842553 -0.0107735 -0.00336879 -0.000965298 0.000311096 0.00065375 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1399 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 323.263 0 0 newEnergyL 0 lastEnergy: 326.405 0 0 lastEnergyL: 0mActiveResiduals: 1399 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 5.84574e-12 1.74467e-13 -1.81991e-12 4.02972e-12 0.00130933 0.000838329 -0.00233992 3.52489e-05 -0.000433114 0.000362089 -0.00151569 0.000155126 -0.00121049 0.000131448 -0.00059673 0.000185173 -0.00135372 -0.0026884 0.00163827 -0.000130969 -0.000908425 0.000539051 -0.00290507 0.000785548 0.00213531 0.000364621 -0.000661158 0.000717037 0.00206512 -0.00549284 0.00278306 -0.000746294 -0.000970798 -0.000560802 -0.00698327 -0.00837245 -0.00663503 -0.00150806 -0.000286895 -0.000913943 0.000489662 0.00401632 0.00169494 0.000163042 -0.00115664 -0.000556057 0.0100231 0.0104591 -0.00158269 0.00127823 -0.00249848 -0.000352559 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1399 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 323.868 0 0 newEnergyL 0 lastEnergy: 323.263 0 0 lastEnergyL: 0mActiveResiduals: 1399 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 323.868 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1399 INF|LocalMapper.cpp[optimize,345]: End Energy: 323.868 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.493281 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.493281 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 80 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 80 with idx: 0 and allID: 362 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 80<->80 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->80 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 80->89 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->80 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 80->94 INF|LocalMapper.cpp[marginalizeFrame,772]: 99<->80 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 80->99 INF|LocalMapper.cpp[marginalizeFrame,801]: 80 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 80 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 9847 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2a5cb1e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 104 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 72 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 10 with distance 0.236Found rest min at: 71 with distance 0.134 overall min: 0.134 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 10 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 699 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 104 into DB 0.236 10 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 10 and real id(25) current kf: 104(491) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: -0.518385 0.250811 -0.817539 -1.64203 0.0557898 0.963904 0.260339 1.33218 0.853325 0.0893454 -0.513667 -1.70543 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 25 currFrame: 104 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00364384 edge: 104 to 25 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 0 < 2120 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 104 and 25 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 104 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 104 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 924 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 492 keyframes 105 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!493 INF|Input.cpp[getImages,132]: mNbReceivedImages!494 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.628668 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999926 0.00195269 0.0119837 0.0089364 -0.00202781 0.999978 0.00625974 -0.00374607 -0.0119712 -0.00628358 0.999909 -0.00678146 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 104 to 4415282690445869312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.628668) and 491(1311875589.597273) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999926 0.00195269 0.0119837 0.0089364 -0.00202781 0.999978 0.00625974 -0.00374607 -0.0119712 -0.00628358 0.999909 -0.00678146 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999403 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:769/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 104 to 4415282690445869312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.628668) and 491(1311875589.597273) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999905 0.00680139 0.0119695 -0.00157069 -0.00690625 0.999938 0.00874041 0.0014677 -0.0119093 -0.00882224 0.99989 -0.0153888 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.99975 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1077/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 104 to 4415282690445869312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.628668) and 491(1311875589.597273) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999865 0.00580918 0.0153907 -0.00482859 -0.00596459 0.999931 0.0100711 0.00168338 -0.0153311 -0.0101615 0.999831 -0.00739776 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 1): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:687/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.626951 resInfo good: 2113, 7 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3053/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999821 0.00593939 0.0179719 -0.0124709 -0.0061322 0.999924 0.0106924 0.00299213 -0.017907 -0.0108007 0.999781 -0.00725599 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!492 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 452 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!493 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 494 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.664775 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!494 INF|Input.cpp[getImages,132]: mNbReceivedImages!495 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999597 0.0088359 0.0269795 -0.018748 -0.00926971 0.999829 0.0159964 0.00448753 -0.0268336 -0.0162401 0.999508 -0.0108119 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 104 to 4415282690445869312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.664775) and 491(1311875589.597273) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999597 0.0088359 0.0269795 -0.018748 -0.00926971 0.999829 0.0159964 0.00448753 -0.0268336 -0.0162401 0.999508 -0.0108119 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999965 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:820/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 104 to 4415282690445869312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.664775) and 491(1311875589.597273) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999389 0.0066194 0.0343289 -0.0269455 -0.00767831 0.999496 0.0308064 -0.0482731 -0.0341077 -0.0310512 0.998936 0.0022234 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999993 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:719/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 104 to 4415282690445869312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.664775) and 491(1311875589.597273) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999455 0.0063136 0.0324042 -0.0122232 -0.00695828 0.999779 0.0198208 -0.000478342 -0.0322719 -0.0200355 0.999278 -0.00299623 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:760/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.746347 resInfo good: 2084, 36 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2828/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999501 0.00621354 0.0309595 -0.0017881 -0.00685941 0.99976 0.0207994 -2.13231e-05 -0.0308228 -0.0210014 0.999304 -0.00125579 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!493 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!494 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 495 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.696456 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999279 0.0063009 0.0374523 0.00358181 -0.00727195 0.999639 0.0258484 -0.00150734 -0.0372759 -0.0261021 0.998964 0.00170353 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 104 to 4415282690445869312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.696456) and 491(1311875589.597273) on lvl: 2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!495 INF|Input.cpp[getImages,132]: mNbReceivedImages!496 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999279 0.0063009 0.0374523 0.00358181 -0.00727195 0.999639 0.0258484 -0.00150734 -0.0372759 -0.0261021 0.998964 0.00170353 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999968 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1191/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 104 to 4415282690445869312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.696456) and 491(1311875589.597273) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999376 0.0070893 0.0346101 0.0248007 -0.00790533 0.999693 0.023498 -0.00762531 -0.0344329 -0.023757 0.999125 -0.00307037 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999943 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1233/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 104 to 4415282690445869312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.696456) and 491(1311875589.597273) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999052 0.00975842 0.0424295 0.00317935 -0.0106636 0.999719 0.0211589 0.0116627 -0.0422111 -0.0215913 0.998875 0.00510805 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.99932 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:334/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.927442 resInfo good: 2051, 69 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3297/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999098 0.00832878 0.0416449 0.00930583 -0.00934686 0.999661 0.0243121 0.00265235 -0.0414282 -0.0246794 0.998837 0.00477784 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!494 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!495 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 496 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.728523 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!496 INF|Input.cpp[getImages,132]: mNbReceivedImages!497 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998575 0.0104045 0.0523329 0.0204696 -0.0118714 0.999543 0.0277977 0.00532127 -0.0520197 -0.0283793 0.998243 0.0106834 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 104 to 4415282690445869312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.728523) and 491(1311875589.597273) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998575 0.0104045 0.0523329 0.0204696 -0.0118714 0.999543 0.0277977 0.00532127 -0.0520197 -0.0283793 0.998243 0.0106834 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999462 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:536/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 104 to 4415282690445869312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.728523) and 491(1311875589.597273) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998571 0.0115089 0.0521821 0.0198612 -0.0129349 0.99955 0.0270725 0.0027914 -0.051847 -0.0277088 0.998271 0.0130615 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999756 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:826/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 104 to 4415282690445869312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.728523) and 491(1311875589.597273) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998335 0.0115482 0.0565081 0.00404114 -0.0131425 0.999524 0.0279243 0.00358002 -0.0561587 -0.0286205 0.998012 0.00690658 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.99997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:397/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.05778 resInfo good: 2001, 119 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2279/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998373 0.0103121 0.0560762 0.0114383 -0.0119314 0.999519 0.0286176 0.00251335 -0.0557541 -0.0292401 0.998016 0.00672016 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875589.728523 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875589.728523 to keyframe with id: 4415282690445869312 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875589.728523 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 856 size: 2012 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId4415282690445869312 timestamp: 1311875589.728523 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -8.81829 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -11.5139 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 465 keyframeId: 99 score: -13.8978 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 478 keyframeId: 101 score: -20.124 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 482 keyframeId: 102 score: -20.7143 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 487 keyframeId: 103 score: -15.1495 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 105 = 105 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c29f220 fh1 0x185b3f60fh->id: 89 105 495goodE: 128 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c29f220 fh1 0x2bb262e0fh->id: 94 105 495goodE: 27 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c29f220 fh1 0x2dcfb1c0fh->id: 99 105 495goodE: 27 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c29f220 fh1 0x2bb236e0fh->id: 101 105 495goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c29f220 fh1 0x2cad6700fh->id: 102 105 495goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c29f220 fh1 0xf318520fh->id: 103 105 495goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c29f220 fh1 0x2a5cb1e0fh->id: 104 105 495goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew105 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 23 out of 25 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 25 newEdgePixels: 25 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1420 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 252 lastEnergy: 350.31 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 73 INF|LocalMapper.cpp[optimize,276]: Start Energy: 350.31 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -2.43771e-12 5.75712e-12 9.86469e-13 -6.66175e-13 0.00163281 0.00153554 -0.000408731 -0.000631423 3.83348e-05 -0.000863787 -0.00403995 0.00778119 0.00315442 7.53077e-05 0.000629631 -0.00143477 -0.00161255 0.00231389 0.0023104 -0.000927031 0.000186169 -0.0010157 -0.0081807 0.00192495 0.00218215 -0.000639711 0.000642144 0.00034509 -0.000971949 0.00963313 0.0138538 0.000245639 0.000261586 -7.23046e-06 -0.00311151 -0.00212732 0.000303253 -0.0008457 0.000339385 -0.000135615 -0.0108601 -0.00903919 0.00435646 -0.00224709 0.00145621 4.2943e-05 -0.00145659 -0.000198128 0.00734351 -0.0016423 8.58273e-05 -0.000965249 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1420 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 329.118 0 0 newEnergyL 0 lastEnergy: 350.31 0 0 lastEnergyL: 0mActiveResiduals: 1420 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.5429e-12 1.98039e-13 -1.06217e-11 4.25116e-12 -0.0013886 0.00191465 0.000485943 0.00025897 0.000213156 -4.33034e-05 0.00335048 -0.00410902 -0.00150726 -0.000528862 -0.000560329 0.000367599 -0.00217757 -0.000724661 0.000729919 -9.97127e-05 0.000249922 -1.6896e-05 0.00265056 -0.00338848 0.000805569 -0.000741417 -0.000131982 -0.000740875 0.00155548 -0.0101652 -0.00825517 -0.00157694 -0.000381033 -0.000561537 0.0049587 0.000469974 0.000552775 -0.00055938 -0.000787453 -0.000469216 0.00579422 0.00642898 -0.0014739 0.000308086 -0.00101614 -0.000759922 -0.00011251 0.0102468 0.0113566 0.000667434 0.0003262 -0.0007935 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1420 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 327.484 0 0 newEnergyL 0 lastEnergy: 329.118 0 0 lastEnergyL: 0mActiveResiduals: 1420 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -3.43286e-12 2.37376e-13 8.15768e-12 -3.88905e-13 0.000329259 -0.0017159 0.00101007 -0.00016024 0.000111988 -0.000168292 -0.00219743 2.59217e-05 0.000250563 -8.34076e-05 0.000624465 -0.000410732 0.00446188 -0.000367168 -0.00158745 -9.26394e-05 -0.00027559 -0.000351208 -0.000989573 0.00685758 -0.00168122 0.000913897 0.000164613 6.04527e-05 0.0039388 0.00798383 0.0037568 0.00140357 -0.000331927 0.000714695 0.00268704 -0.00357768 -0.0012477 -1.48289e-05 6.679e-05 0.000356841 -0.00482623 -0.000474259 0.00121267 0.000148537 0.00111511 7.8087e-05 -0.00382623 -0.0088584 -1.52516e-06 -0.0010935 0.000645263 8.48031e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1420 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 318.758 0 0 newEnergyL 0 lastEnergy: 327.484 0 0 lastEnergyL: 0mActiveResiduals: 1420 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.74547e-12 -8.38751e-13 -5.94413e-12 -2.13367e-12 -0.000615781 0.0030821 -0.000542305 0.000108674 5.73346e-05 1.81673e-06 0.00135602 0.00178108 3.24018e-05 4.15181e-06 -0.000561423 0.000281553 -0.00555582 -0.00172028 0.000896579 -0.000477448 0.000323068 0.000238945 0.00151648 -0.00888374 0.00230514 -0.00147434 -0.000337691 -0.00022377 -0.00242308 -0.00499936 -0.0043232 -0.00127718 -4.03235e-05 -0.000827414 0.000648137 0.00022832 0.00173924 -0.000596553 -0.000530704 -0.000458634 0.00912361 0.00111429 -0.00105759 -0.000264082 -0.00185154 0.000120252 -0.00376101 0.00953648 -0.000194698 0.000626454 -3.22715e-05 -0.00093432 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1420 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 320.432 0 0 newEnergyL 0 lastEnergy: 318.758 0 0 lastEnergyL: 0mActiveResiduals: 1420 Input.cpp[readImages,206]: Got image from sensor!496 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.37143e-12 -9.81304e-15 -2.49049e-14 3.93606e-12 -0.000206925 -0.00231043 0.00243478 -0.000114993 0.000360417 1.18386e-05 0.000811112 -0.00215327 0.000432373 -0.000247709 0.00066719 -0.000323076 0.00747246 0.00224441 -0.00199893 0.000318589 -0.000170963 -0.000399754 -0.00102893 0.00929257 -0.00342744 0.00133397 0.00065509 0.000258843 0.00396738 0.00759783 0.0037316 0.00134004 0.000347793 0.000540874 -0.00166465 -0.00181904 -0.0035724 0.000272181 0.00087952 0.000710299 -0.00973627 0.00220762 0.00124107 0.000723817 0.00221992 0.000267477 -0.000122144 -0.0153684 0.00445637 -0.00180759 0.000986993 0.000441449 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1420 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 316.365 0 0 newEnergyL 0 lastEnergy: 320.432 0 0 lastEnergyL: 0mActiveResiduals: 1420 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.75756e-12 1.31599e-12 -1.34152e-12 -6.23325e-12 -0.000434139 0.00264356 -0.00115266 0.000167989 -0.000146078 0.000151328 -0.000388836 0.00167697 -0.000602674 0.00012861 -0.000515757 0.000292011 -0.00563525 -0.00356823 0.00136412 -0.000508642 0.000192883 0.000394616 0.00506524 -0.00384739 0.00297704 -0.000760645 -0.000838059 -0.000517432 -0.00410309 -0.00625869 -0.00401117 -0.00116228 -0.000135011 -0.000430069 0.0033354 0.004554 0.00366216 -0.00019074 -0.000815097 -0.000904144 0.000530861 -0.00620943 0.00163798 -0.00118738 -0.000797329 -1.25295e-05 0.00178167 0.0110058 -0.00560985 0.000929094 -0.00096041 -0.000823276 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1420 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 318.548 0 0 newEnergyL 0 lastEnergy: 316.365 0 0 lastEnergyL: 0mActiveResiduals: 1420 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 318.548 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1420 INF|LocalMapper.cpp[optimize,345]: End Energy: 318.548 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.48522 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.48522 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 102 data: 0 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 497 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 102 with idx: 4 and allID: 482 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->102 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->102 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 99<->102 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 101<->102 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 102<->102 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 103<->102 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 104<->102 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 105<->102 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 102 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 482: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 101/478: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 101 allId: 478 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.999054 0.0110081 -0.0420808 0.00108928 -0.0122107 0.999521 -0.0284287 0.000102022 0.0417477 0.0289156 0.99871 0.0294422 worldPose: 0.694246 0.221971 -0.684654 -1.90742 -0.32483 0.945497 -0.0228424 1.92308 0.642268 0.238254 0.72851 2.17914 after: 0.694246 0.221971 -0.684654 -1.90742 -0.32483 0.945497 -0.0228424 1.92308 0.642268 0.238254 0.72851 2.17914 worldPose of new: 0.724843 0.232851 -0.648369 -1.88914 -0.313153 0.94966 -0.0090342 1.92359 0.613626 0.209587 0.761273 2.15604 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.999054 0.0110081 -0.0420808 0.00108928 -0.0122107 0.999521 -0.0284287 0.000102022 0.0417477 0.0289156 0.99871 0.0294422 INF|Mapper.cpp[changeRefFrame,578]: Updating: 483 from old kf id: 102/482 with new ref frame: 478/101 INF|Mapper.cpp[changeRefFrame,578]: Updating: 484 from old kf id: 102/482 with new ref frame: 478/101 INF|Mapper.cpp[changeRefFrame,578]: Updating: 485 from old kf id: 102/482 with new ref frame: 478/101 INF|Mapper.cpp[changeRefFrame,578]: Updating: 486 from old kf id: 102/482 with new ref frame: 478/101 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 482 after changeRefFrame: 0.999054 0.0110081 -0.0420808 0.00108928 -0.0122107 0.999521 -0.0284287 0.000102022 0.0417477 0.0289156 0.99871 0.0294422 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 102 to normal frame with refFrame: 101 frame id kf: 482 newref id: 478 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 102 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 10144 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2c29f220 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 105 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code:  INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 73 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 61 with distance 0.248Found rest min at: 72 with distance 0.12 overall min: 0.12 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 61 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 697 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 105 into DB 0.248 61 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 61 and real id(89) current kf: 105(495) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.819163 -0.0826928 -0.567568 -0.629505 -0.114328 0.946153 -0.30286 -0.223316 0.56205 0.312981 0.765599 0.313076 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 89 currFrame: 105 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.819163 -0.0826928 -0.567568 -0.629505 -0.114328 0.946153 -0.30286 -0.223316 0.56205 0.312981 0.765599 0.313076 avg 0.000441167 eye: 0.00514144 edge: 105 to 89 INF|Tracker.cpp[trackFrames,78]: initPose: 0.819163 -0.0826928 -0.567568 -0.629505 -0.114328 0.946153 -0.30286 -0.223316 0.56205 0.312981 0.765599 0.313076 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 105 to 89 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 412(1311875586.968467) and 495(1311875589.728523) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.819163 -0.0826928 -0.567568 -0.629505 -0.114328 0.946153 -0.30286 -0.223316 0.56205 0.312981 0.765599 0.313076 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999719 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:424/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 105 to 89 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 412(1311875586.968467) and 495(1311875589.728523) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.794596 -0.119393 -0.595283 -0.530787 -0.0915746 0.945689 -0.311907 -0.274982 0.600192 0.302353 0.740508 0.543189 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999157 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:318/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 105 to 89 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 412(1311875586.968467) and 495(1311875589.728523) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.796448 -0.114857 -0.593699 -0.532274 -0.0981185 0.94424 -0.314298 -0.238048 0.596694 0.308575 0.740769 0.528117 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999262 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:392/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.799361 -0.114022 -0.589933 -0.544982 -0.0989347 0.94345 -0.316407 -0.22218 0.59265 0.311288 0.742877 0.514309 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 88 end 91 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 19863 o[1]: 1205 o[2]: 297 o[3]: 29 histWeights: 1 1 1.25 1.5overlap: 1619.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 2012 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 89 and 105 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 105 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 105 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 4521 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 496 keyframes 106 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!497 INF|Input.cpp[getImages,132]: mNbReceivedImages!498 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 518 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.764190 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999974 -0.000238834 0.00723834 0.000491377 0.000222015 0.999997 0.00232439 -0.00308367 -0.00723887 -0.00232272 0.999971 -0.00163013 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 105 to 631632112 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.764190) and 495(1311875589.728523) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999974 -0.000238834 0.00723834 0.000491377 0.000222015 0.999997 0.00232439 -0.00308367 -0.00723887 -0.00232272 0.999971 -0.00163013 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999447 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1032/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 105 to 631632112 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.764190) and 495(1311875589.728523) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999987 -0.00162438 0.00489161 0.0186281 0.00162764 0.999998 -0.000661116 -0.010138 -0.00489053 0.000669069 0.999988 -0.00842139 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999673 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1116/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 105 to 631632112 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.764190) and 495(1311875589.728523) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999967 -0.000919142 0.00803151 0.0134467 0.000907506 0.999999 0.00145236 -0.00797059 -0.00803283 -0.00144503 0.999967 0.00046471 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999952 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:524/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.469039 resInfo good: 2012, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3165/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999924 0.00142321 0.0122116 -0.000297427 -0.00144046 0.999998 0.00140447 -0.000975895 -0.0122096 -0.00142196 0.999924 0.00308499 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!496 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 469 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!497 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 498 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.796317 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!498 INF|Input.cpp[getImages,132]: mNbReceivedImages!499 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99983 0.00212827 0.0183176 -0.00043253 -0.0021671 0.999995 0.00210008 -0.00146205 -0.018313 -0.00213942 0.99983 0.0046293 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 105 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.796317) and 495(1311875589.728523) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99983 0.00212827 0.0183176 -0.00043253 -0.0021671 0.999995 0.00210008 -0.00146205 -0.018313 -0.00213942 0.99983 0.0046293 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1141/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 105 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.796317) and 495(1311875589.728523) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999865 0.00182662 0.0163025 0.0249305 -0.00180127 0.999997 -0.00157 -0.00787089 -0.0163054 0.00154042 0.999866 0.0109829 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 11,0.99985 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1446/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 105 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.796317) and 495(1311875589.728523) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999813 0.0025363 0.0191971 0.0185218 -0.00252669 0.999997 -0.000524794 -0.00343563 -0.0191984 0.00047619 0.999816 0.0131436 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 1): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:673/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.635911 resInfo good: 2012, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3764/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999729 0.00410788 0.0228929 0.00670629 -0.0040929 0.999991 -0.000701421 0.00324311 -0.0228955 0.000607533 0.999738 0.0161344 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!497 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!498 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 499 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.828830 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!499 INF|Input.cpp[getImages,132]: mNbReceivedImages!500 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999413 0.00681405 0.0335658 0.0138603 -0.00672263 0.999973 -0.00283552 0.00741628 -0.0335842 0.0026082 0.999432 0.0291168 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 105 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.828830) and 495(1311875589.728523) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999413 0.00681405 0.0335658 0.0138603 -0.00672263 0.999973 -0.00283552 0.00741628 -0.0335842 0.0026082 0.999432 0.0291168 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999774 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:897/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 105 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.828830) and 495(1311875589.728523) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999422 0.00563 0.0335278 -0.0112683 -0.00562343 0.999984 -0.000290192 -0.0180664 -0.0335289 0.000101483 0.999438 0.000374905 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999778 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1148/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 105 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.828830) and 495(1311875589.728523) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999451 0.00655297 0.0324667 0.00260146 -0.00653665 0.999978 -0.000608918 -0.00451435 -0.03247 0.000396361 0.999473 0.00728793 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1184/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.775497 resInfo good: 1966, 46 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3755/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999454 0.00721179 0.0322324 0.00720628 -0.00716309 0.999973 -0.001626 0.00378395 -0.0322433 0.00139423 0.999479 0.00777917 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!498 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 471 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!499 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 500 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!500 INF|Input.cpp[getImages,132]: mNbReceivedImages!501 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.864648 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999082 0.0103228 0.0415662 0.00762985 -0.0102244 0.999944 -0.00257922 0.00433037 -0.0415905 0.00215186 0.999132 -0.000579875 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 105 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.864648) and 495(1311875589.728523) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999082 0.0103228 0.0415662 0.00762985 -0.0102244 0.999944 -0.00257922 0.00433037 -0.0415905 0.00215186 0.999132 -0.000579875 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999607 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:215/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 105 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.864648) and 495(1311875589.728523) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999095 0.00855879 0.0416678 0.00776864 -0.00836867 0.999954 -0.00473499 0.0103659 -0.0417064 0.004382 0.99912 0.00152176 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 4): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1030/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 105 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.864648) and 495(1311875589.728523) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999102 0.00640832 0.0418923 0.012211 -0.00621088 0.999969 -0.0048416 0.00823358 -0.041922 0.00457706 0.99911 0.0112957 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1004/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.919167 resInfo good: 1841, 171 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2729/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999102 0.00546969 0.0420264 0.0172239 -0.00537861 0.999983 -0.00227996 0.00216438 -0.0420382 0.00205187 0.999114 0.0168882 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!499 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!500 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 501 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.897285 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!501 INF|Input.cpp[getImages,132]: mNbReceivedImages!502 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99865 0.00373411 0.0518176 0.0273331 -0.0035878 0.999989 -0.0029164 0.000555999 -0.0518279 0.00272655 0.998652 0.0258975 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 105 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.897285) and 495(1311875589.728523) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99865 0.00373411 0.0518176 0.0273331 -0.0035878 0.999989 -0.0029164 0.000555999 -0.0518279 0.00272655 0.998652 0.0258975 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999339 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1674/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 105 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.897285) and 495(1311875589.728523) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999034 0.00269923 0.0438694 0.0314613 -0.00245392 0.999981 -0.00564467 -0.0134405 -0.0438838 0.00553157 0.999021 -0.0214875 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999195 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:910/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 105 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.897285) and 495(1311875589.728523) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998586 0.00714992 0.0526848 0.00406993 -0.00679083 0.999952 -0.0069916 0.00480066 -0.0527323 0.00662394 0.998587 -0.00607932 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999564 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:493/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.02063 resInfo good: 1737, 275 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3673/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998629 0.00635577 0.0519591 0.0136618 -0.00614468 0.999972 -0.00422129 -0.000884468 -0.0519844 0.00389623 0.99864 0.00142914 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875589.897285 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875589.897285 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875589.897285 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 723 size: 1552 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875589.897285 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -8.77199 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -11.3641 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 465 keyframeId: 99 score: -13.4177 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 478 keyframeId: 101 score: -15.8112 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 487 keyframeId: 103 score: -17.1733 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 491 keyframeId: 104 score: -15.7155 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 106 = 106 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2529b820 fh1 0x185b3f60fh->id: 89 106 500goodE: 93 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2529b820 fh1 0x2bb262e0fh->id: 94 106 500goodE: 24 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2529b820 fh1 0x2dcfb1c0fh->id: 99 106 500goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2529b820 fh1 0x2bb236e0fh->id: 101 106 500goodE: 9 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2529b820 fh1 0xf318520fh->id: 103 106 500goodE: 9 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2529b820 fh1 0x2a5cb1e0fh->id: 104 106 500goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2529b820 fh1 0x2c29f220fh->id: 105 106 500goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew106 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 23 out of 25 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 25 newEdgePixels: 25 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1145 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 228 lastEnergy: 283.518 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 61 INF|LocalMapper.cpp[optimize,276]: Start Energy: 283.518 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.61858e-12 -2.04691e-13 2.18113e-12 5.97299e-12 0.000199287 -0.00332788 -0.000974996 -0.000247806 -0.000264387 4.60854e-05 -1.88739e-05 0.000408643 -0.000314104 0.000284827 -0.000116204 -0.000226383 0.00431991 0.00407387 -0.00165498 0.000912377 -0.000847278 -4.19081e-05 -0.00845278 -0.000545122 -0.00201281 0.000622345 0.000445639 0.00063557 -0.00140666 -0.00474661 -0.00257045 0.000369679 -0.000286294 0.000294598 -0.000168149 -0.00346584 -0.00440659 0.000320863 -0.000364345 0.000386967 -0.00271533 -0.012446 0.012848 -0.00133407 0.000345568 0.000294888 0.00126669 -0.00330188 0.0131835 -0.000250965 -0.000280595 -3.54012e-06 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1145 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 258.193 0 0 newEnergyL 0 lastEnergy: 283.518 0 0 lastEnergyL: 0mActiveResiduals: 1145 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.69234e-12 -4.3066e-13 -2.34624e-12 -4.50374e-13 0.000232456 0.000407914 0.000276186 9.28705e-05 -4.52817e-05 9.06149e-05 0.000400004 0.000274997 -0.000627507 1.08219e-05 -0.000122753 -3.55817e-05 -0.00273757 -0.00245283 -0.000556121 -0.000500473 0.000373527 -0.000147512 0.000519391 -0.00433468 -0.00166542 -0.000707184 -3.16998e-06 -0.000288117 0.000306908 -0.00694984 0.00258581 -0.00149896 -4.26834e-05 -0.000490107 -0.00788391 -0.00702149 0.00249607 -0.00156526 0.000656848 -0.00120456 -0.00401862 -0.00252504 -0.0103345 -0.00064215 -6.94995e-05 -0.000658279 -0.0036912 -0.00286124 0.00124919 -0.00131417 0.000375575 -0.00143176 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1145 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 250.094 0 0 newEnergyL 0 lastEnergy: 258.193 0 0 lastEnergyL: 0mActiveResiduals: 1145 Input.cpp[readImages,206]: Got image from sensor!501 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -4.74745e-12 1.50984e-12 -5.11107e-12 -9.9213e-13 -0.00130468 -0.00278495 -0.000627288 0.000318769 -0.000585464 -0.000116287 -0.000630169 -0.00287282 -0.00284948 0.000264875 -0.00041662 -0.000191845 0.00220278 0.00145805 -0.00280962 0.000890861 -0.00081333 -0.000232808 0.000958761 0.00460184 -0.00607914 0.00137106 -0.000821883 0.000341876 0.000317216 -0.00265645 -0.00990848 0.000958173 -0.000900789 0.000574721 0.00537643 0.00826419 0.00271948 0.00223955 -0.000607902 0.00157675 -0.00298949 0.00386828 0.00546311 0.000993603 0.000109824 -6.34034e-05 0.000396806 -0.0073719 0.0124302 -0.00045357 -0.000182804 6.10422e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1145 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 242.592 0 0 newEnergyL 0 lastEnergy: 250.094 0 0 lastEnergyL: 0mActiveResiduals: 1145 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 5.38608e-12 -1.76807e-12 4.03906e-12 3.32131e-12 0.000910999 -0.000200297 0.000687755 -0.000235823 3.28876e-05 0.00133453 0.00106942 -0.000354955 0.00105186 -1.33981e-05 -2.21931e-05 0.00135337 -0.000124255 -0.00260204 0.00037261 -0.00017539 0.000456562 0.00114995 0.00140852 -0.000542744 0.00246367 2.79765e-05 0.000480515 0.000520607 -0.00318205 0.003588 0.00892123 3.01892e-05 0.00132213 -0.000113704 0.0023798 0.00397866 0.00702807 -0.000324061 0.000384022 -0.00170669 -0.00361602 -0.00926948 -0.00439474 -0.00112215 0.000722931 -0.000341478 -0.00229223 0.00382969 -0.0148186 0.000509642 0.000440023 -0.00114827 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1145 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 240.919 0 0 newEnergyL 0 lastEnergy: 242.592 0 0 lastEnergyL: 0mActiveResiduals: 1145 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.36505e-12 6.30231e-13 5.17389e-12 -6.64873e-12 -0.00104499 -0.0027272 -0.00226967 0.000252317 -0.00102308 -0.000640045 -0.00130809 0.000743465 -0.00275155 0.000603226 -0.000781474 -0.000677625 -0.00405862 0.00142178 -0.00155865 0.000564821 -0.000434404 -0.000921379 0.00310979 0.00111908 -0.00500371 0.000781987 -0.00145869 0.000215827 -0.000613374 -0.00422833 -0.00934961 0.000531612 -0.00128972 0.000427632 -0.00309695 -0.000895609 -0.00305709 0.000985579 -0.000560624 0.00100377 0.0063143 0.0121494 0.00490207 0.00199616 -0.00115612 0.000419291 0.00597725 -0.00493054 0.0151401 -0.000142259 -0.00115224 0.000859559 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1145 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 238.903 0 0 newEnergyL 0 lastEnergy: 240.919 0 0 lastEnergyL: 0mActiveResiduals: 1145 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 502 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 5.73065e-12 -1.13457e-12 3.25308e-12 6.62002e-12 0.000766944 0.00230902 0.00164083 -0.000254377 0.000689457 0.000872523 0.00199836 -0.00214888 0.00268867 -0.000605687 0.000437884 0.0010464 0.00183306 0.000110027 0.0037025 -0.00032083 0.00072439 0.000953875 -1.06782e-06 -0.000602878 0.00290647 -0.000577792 0.000974324 0.000119068 0.000496045 0.00342331 0.00934878 -0.000533659 0.00130465 -0.000573448 0.00956768 0.00641244 0.00512028 -0.000305736 -5.46913e-05 -0.00108569 -0.00813905 -0.0126756 -0.00752514 -0.00212013 0.00120533 -0.000743939 -0.0117559 0.000509743 -0.0132492 -0.000349198 0.00179656 -0.00103297 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1145 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 239.143 0 0 newEnergyL 0 lastEnergy: 238.903 0 0 lastEnergyL: 0mActiveResiduals: 1145 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 239.143 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1145 INF|LocalMapper.cpp[optimize,345]: End Energy: 239.143 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.466689 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.466689 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 103 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 103 with idx: 4 and allID: 487 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->103 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 103->89 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->103 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 103->94 INF|LocalMapper.cpp[marginalizeFrame,772]: 99<->103 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 103->99 INF|LocalMapper.cpp[marginalizeFrame,801]: 103 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 103 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 9433 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2529b820 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 106 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code:  INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 74 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 12 with distance 0.254Found rest min at: 73 with distance 0.1 overall min: 0.1 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 700 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 106 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 708 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 501 keyframes 107 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 526 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.928344 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!502 INF|Input.cpp[getImages,132]: mNbReceivedImages!503 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999948 -0.000858644 0.0101262 -0.00627675 0.000875036 0.999998 -0.00161443 -0.00634773 -0.0101248 0.00162321 0.999947 -0.0214133 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 106 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.928344) and 500(1311875589.897285) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999948 -0.000858644 0.0101262 -0.00627675 0.000875036 0.999998 -0.00161443 -0.00634773 -0.0101248 0.00162321 0.999947 -0.0214133 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999146 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:304/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 106 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.928344) and 500(1311875589.897285) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999953 -0.00101405 0.00960625 -0.00840785 0.00103476 0.999997 -0.0021513 -0.00807941 -0.00960404 0.00216114 0.999952 -0.0153193 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999952 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:855/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 106 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.928344) and 500(1311875589.897285) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999927 -0.00147716 0.0119681 -0.00653248 0.00148598 0.999999 -0.00072804 -0.00282991 -0.0119671 0.000745771 0.999928 -0.00371605 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999989 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:590/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.508674 resInfo good: 1552, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2119/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999919 -0.002088 0.0125862 -0.00517898 0.00207186 0.999997 0.00129474 -0.00727675 -0.0125888 -0.00126855 0.99992 -0.0018894 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!501 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 451 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!502 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 503 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!503 INF|Input.cpp[getImages,132]: mNbReceivedImages!504 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.964512 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 8 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999817 -0.00313794 0.0188776 -0.0077716 0.00310164 0.999993 0.00195186 -0.0109201 -0.0188836 -0.00189295 0.99982 -0.00280615 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 106 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.964512) and 500(1311875589.897285) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999817 -0.00313794 0.0188776 -0.0077716 0.00310164 0.999993 0.00195186 -0.0109201 -0.0188836 -0.00189295 0.99982 -0.00280615 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999406 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2017/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 106 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.964512) and 500(1311875589.897285) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999807 -0.00443679 0.019159 -0.00475862 0.00441593 0.99999 0.00113103 -0.0113778 -0.0191638 -0.00104621 0.999816 -0.0116452 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 7): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2547/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 106 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.964512) and 500(1311875589.897285) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999748 -0.00202781 0.0223436 -0.0106179 0.00200744 0.999998 0.000933813 -0.00328589 -0.0223454 -0.000888725 0.99975 -0.011943 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999646 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1142/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.64101 resInfo good: 1552, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7030/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999738 -0.00264509 0.0227151 -0.00805323 0.00259745 0.999994 0.00212666 -0.00430764 -0.0227206 -0.0020671 0.99974 -0.00856835 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!502 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 872 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!503 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 504 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!504 INF|Input.cpp[getImages,132]: mNbReceivedImages!505 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875589.996370 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999455 -0.00321025 0.0328413 -0.0109966 0.00311458 0.999991 0.00296386 -0.00134558 -0.0328505 -0.00285996 0.999456 -0.0152203 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 106 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.996370) and 500(1311875589.897285) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999455 -0.00321025 0.0328413 -0.0109966 0.00311458 0.999991 0.00296386 -0.00134558 -0.0328505 -0.00285996 0.999456 -0.0152203 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.99912 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:240/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 106 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.996370) and 500(1311875589.897285) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999421 -0.00651392 0.0333875 -0.00558799 0.00648931 0.999979 0.000845598 -0.00714112 -0.0333923 -0.000628447 0.999442 -0.0189818 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999527 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:828/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 106 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875589.996370) and 500(1311875589.897285) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999396 -0.00622245 0.0341845 -0.00044232 0.00612666 0.999977 0.00290615 -0.0032321 -0.0342018 -0.00269496 0.999411 -0.0109953 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999953 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:646/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.785877 resInfo good: 1477, 75 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2213/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999366 -0.00722837 0.0348582 -0.000811179 0.00706924 0.999964 0.00468628 -0.00478731 -0.0348908 -0.00443689 0.999381 -0.00787191 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!503 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 589 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!504 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 505 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.028517 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999366 -0.00722837 0.0348582 -0.000811179 0.00706924 0.999964 0.00468628 -0.00478731 -0.0348908 -0.00443689 0.999381 -0.00787191 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 106 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.028517) and 500(1311875589.897285) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999366 -0.00722837 0.0348582 -0.000811179 0.00706924 0.999964 0.00468628 -0.00478731 -0.0348908 -0.00443689 0.999381 -0.00787191 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!505 INF|Input.cpp[getImages,132]: mNbReceivedImages!506 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 8): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:904/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 106 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.028517) and 500(1311875589.897285) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999294 -0.0122921 0.0354983 0.0219093 0.0122441 0.999924 0.00157166 -0.0235297 -0.035515 -0.00113591 0.999368 -0.00722554 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999772 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:712/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 106 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.028517) and 500(1311875589.897285) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999064 -0.00947236 0.04221 -0.00140036 0.00950762 0.999955 -0.000634755 -0.00733847 -0.042202 0.00103548 0.999109 -0.00784282 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999522 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:231/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.906085 resInfo good: 1434, 118 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2202/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999095 -0.00976211 0.041394 0.00744003 0.0097086 0.999952 0.00149343 -0.00978919 -0.0414066 -0.0010902 0.999142 -0.00204071 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!504 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!505 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 506 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.064398 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998941 -0.0110207 0.0446643 0.0115846 0.011036 0.999939 -9.65158e-05 -0.0122895 -0.0446605 0.000589331 0.999002 0.000848406 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 106 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.064398) and 500(1311875589.897285) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998941 -0.0110207 0.0446643 0.0115846 0.011036 0.999939 -9.65158e-05 -0.0122895 -0.0446605 0.000589331 0.999002 0.000848406 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:613/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 106 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.064398) and 500(1311875589.897285) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999011 -0.00930952 0.0434857 0.00734715 0.00934089 0.999956 -0.000518219 -0.0145825 -0.0434789 0.000923901 0.999054 -0.0137711 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!506 INF|Input.cpp[getImages,132]: mNbReceivedImages!507 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999292 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:758/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 106 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.064398) and 500(1311875589.897285) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998952 -0.00977671 0.044721 0.00377687 0.00978175 0.999952 0.000105983 -0.0128052 -0.0447199 0.000331578 0.999 -0.02336 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 4): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:626/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.917365 resInfo good: 1384, 168 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2360/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998863 -0.00770272 0.0470411 -0.00283482 0.00773877 0.99997 -0.000584111 -0.00571386 -0.0470352 0.000947487 0.998893 -0.020828 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!505 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!506 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 507 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.096300 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998734 -0.00666871 0.0498624 -0.00800886 0.00675824 0.999976 -0.00162705 -0.00365424 -0.0498504 0.00196197 0.998755 -0.0301968 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 106 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.096300) and 500(1311875589.897285) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998734 -0.00666871 0.0498624 -0.00800886 0.00675824 0.999976 -0.00162705 -0.00365424 -0.0498504 0.00196197 0.998755 -0.0301968 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!507 INF|Input.cpp[getImages,132]: mNbReceivedImages!508 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:784/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 106 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.096300) and 500(1311875589.897285) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998713 -0.00960245 0.0497943 -0.004203 0.0096582 0.999953 -0.000879232 -0.00347257 -0.0497835 0.00135902 0.998759 -0.0376257 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999326 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:238/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 106 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.096300) and 500(1311875589.897285) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998531 -0.0140954 0.0523267 -0.00652777 0.0138308 0.99989 0.00541444 -0.0207315 -0.0523973 -0.00468276 0.998615 -0.0351577 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 1): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:411/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.01249 resInfo good: 1330, 222 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1780/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998459 -0.0125057 0.0540627 -0.00583968 0.0122361 0.999911 0.00531433 -0.0172126 -0.0541243 -0.00464463 0.998523 -0.0242574 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875590.096300 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875590.096300 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875590.096300 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 733 size: 1590 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875590.096300 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -8.81633 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -11.4535 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 465 keyframeId: 99 score: -13.5656 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 478 keyframeId: 101 score: -15.2022 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 491 keyframeId: 104 score: -17.1976 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 495 keyframeId: 105 score: -15.9237 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 107 = 107 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b9118e0 fh1 0x185b3f60fh->id: 89 107 506goodE: 87 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b9118e0 fh1 0x2bb262e0fh->id: 94 107 506goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b9118e0 fh1 0x2dcfb1c0fh->id: 99 107 506goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b9118e0 fh1 0x2bb236e0fh->id: 101 107 506goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b9118e0 fh1 0x2a5cb1e0fh->id: 104 107 506goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b9118e0 fh1 0x2c29f220fh->id: 105 107 506goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1b9118e0 fh1 0x2529b820fh->id: 106 107 506goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew107 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 22 out of 23 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 23 newEdgePixels: 23 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 929 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 164 lastEnergy: 232.317 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 45 INF|LocalMapper.cpp[optimize,276]: Start Energy: 232.317 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -3.14187e-12 -2.78654e-12 8.18095e-12 -1.58425e-11 0.00213594 0.000674271 -0.000496891 -0.000428325 0.000631484 -0.00144508 -0.00253136 0.00614498 0.00179158 -5.55552e-05 0.000934763 -0.00161722 -0.000700296 0.00991907 0.00385813 0.000376199 0.000427045 -0.00146404 0.00252091 0.00725292 0.00268165 0.000203876 -0.000118686 -0.000722064 -0.013597 -0.0104974 0.00664099 -0.0021921 0.00217462 0.000191166 0.00733795 0.0196464 0.0266358 0.000832122 0.000676987 -0.000775948 0.015229 0.0180429 0.0270479 0.00020473 -0.000626786 -0.000960402 0.0597866 0.0311425 0.0105237 0.00207279 -0.00631782 -0.000765665 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 929 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 217.162 0 0 newEnergyL 0 lastEnergy: 232.317 0 0 lastEnergyL: 0mActiveResiduals: 929 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.53406e-12 5.64822e-13 -4.54395e-12 7.90827e-12 -0.000719423 0.00129661 0.00117523 0.000180467 0.000147605 -1.27718e-06 -0.000702789 -0.000507075 -0.000286037 -0.000104734 4.82688e-05 7.95715e-05 0.00350114 -0.000362418 -0.00117767 -0.000203101 -0.000390156 -0.000163525 -0.00173532 -0.00362033 -0.00328092 -0.000717488 2.21012e-05 -0.000424808 -0.00294761 0.00389139 0.000820905 -0.000619267 0.00028981 -0.00226966 0.00396192 -0.00342873 -0.00538259 -0.00106103 -0.000754885 -0.00108454 0.00147429 0.00161714 -0.00895734 0.000201655 -0.000281924 -0.000271026 0.00650233 0.0155603 0.00243204 0.000426909 -0.000939521 -0.00308133 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 929 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 204.036 0 0 newEnergyL 0 lastEnergy: 217.162 0 0 lastEnergyL: 0mActiveResiduals: 929 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -4.97318e-12 1.57354e-13 -4.4821e-12 4.52105e-12 -0.00146567 -0.000783604 0.000190214 0.000294211 -0.000343055 -0.00061709 0.00239288 0.000750388 -0.00212152 0.00029514 -0.000465183 -0.000803001 -0.00251145 0.00182945 -0.00104563 0.000232488 0.000186441 -0.00109996 -0.00253199 0.000967349 -0.00169214 5.05054e-05 0.000193442 -0.00076061 0.00811973 0.00492399 -0.00440972 0.00115594 -0.00113224 0.00107217 -0.00290415 -0.00446702 0.0101443 -0.000210135 0.000720127 0.000864983 -0.00584536 -0.00312596 0.00760547 -0.000647038 0.000401101 -0.000256425 0.00575896 0.000967874 -0.00934782 0.000943509 -0.00144449 0.00107042 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 929 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 200.261 0 0 newEnergyL 0 lastEnergy: 204.036 0 0 lastEnergyL: 0mActiveResiduals: 929 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 6.10806e-12 5.71349e-13 2.77591e-12 -7.58746e-12 0.00351657 -0.000910801 -0.00207086 -0.00020786 4.13173e-06 0.000974075 -0.00321183 -0.00136701 0.00124198 -1.51429e-05 0.000199573 0.00106766 -0.000685864 -0.00300836 0.00108775 0.000247753 -0.000262266 0.00144737 -0.00285848 -0.00546463 0.00351621 -1.38549e-05 0.00015353 0.000937754 -0.00900562 -0.00383592 0.0040164 -0.000323363 0.000797997 -0.000711152 0.000958454 0.00253774 -0.00594198 0.000554858 -0.000868472 -0.000723579 0.00358108 0.00400417 -0.00490964 0.0013615 -0.000349702 0.00033629 0.00649531 0.00766466 -0.000550477 0.00134643 -0.000787085 -0.000445011 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 929 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 195.631 0 0 newEnergyL 0 lastEnergy: 200.261 0 0 lastEnergyL: 0mActiveResiduals: 929 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -3.97363e-12 -5.06678e-13 -6.25336e-12 3.63781e-12 -0.00247066 0.001153 0.00324337 0.000151152 0.000437238 -0.000935568 0.00401433 0.000769756 0.000763849 -0.000137619 0.000194971 -0.00102537 0.00103965 0.00382462 -0.00089376 -0.000163178 0.000610354 -0.00129587 0.000793518 0.000830067 -0.00320158 -0.000621075 0.000586897 -0.000839459 0.0102787 0.00298107 -0.00590077 0.000213852 -0.000609228 0.000855308 0.00357212 0.00155458 0.000855272 -6.58299e-05 0.000582672 0.000521857 -0.00439971 -0.00778958 0.00938465 -0.00192551 0.00104035 -0.000247939 -0.0128659 -0.00388253 0.000865542 -0.000862545 0.00219427 0.000731029 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 929 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 194.824 0 0 newEnergyL 0 lastEnergy: 195.631 0 0 lastEnergyL: 0mActiveResiduals: 929 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.51251e-12 1.35714e-12 2.12139e-12 1.14266e-12 0.0021197 5.99772e-05 -0.00209153 -0.00019055 -0.000469369 0.00130192 -0.00313411 -0.00125573 -0.000471497 -9.13134e-05 -0.000191036 0.00128191 -0.00114593 -0.00202116 0.00022036 0.000215923 -0.000549264 0.00142566 -0.000710885 -0.00376804 0.00189083 2.79792e-05 -0.000395037 0.00109456 -0.0110302 -0.00708479 0.00516887 -0.000852041 0.000847064 -0.000643351 -0.00593722 -0.00397242 -0.00216151 -0.000293487 -0.000313385 -0.000420219 0.00578662 0.00612792 -0.00404123 0.00155069 -0.000795878 0.000388949 0.0138734 0.0123348 -0.00329854 0.00115846 -0.00260655 -0.00251779 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 929 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 193.415 0 0 newEnergyL 0 lastEnergy: 194.824 0 0 lastEnergyL: 0mActiveResiduals: 929 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 193.415 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 929 INF|LocalMapper.cpp[optimize,345]: End Energy: 193.415 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.465914 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.465914 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 104 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 104 with idx: 4 and allID: 491 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->104 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 104->89 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->104 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 104->94 INF|LocalMapper.cpp[marginalizeFrame,772]: 99<->104 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 104->99 INF|LocalMapper.cpp[marginalizeFrame,801]: 104 with: 3 enough constraints! Input.cpp[readImages,206]: Got image from sensor!507 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 104 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 7464 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1b9118e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 107 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code:  INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 74 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 11 with distance 0.236Found rest min at: 73 with distance 0.124 overall min: 0.124 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 11 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 713 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 107 into DB 0.236 11 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 11 and real id(26) current kf: 107(506) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: -0.662782 0.2521 -0.705099 -1.61411 0.145738 0.967046 0.208764 1.32906 0.734493 0.0356053 -0.677682 -1.81031 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 26 currFrame: 107 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00242348 edge: 107 to 26 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 107 to 26 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 52(1311875574.149437) and 506(1311875590.096300) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999844 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:515/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 107 to 26 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 52(1311875574.149437) and 506(1311875590.096300) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.974809 0.0907172 -0.20376 0.790617 -0.15124 0.940295 -0.304912 1.27117 0.163934 0.328047 0.930328 -0.0594251 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999685 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:347/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 107 to 26 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 52(1311875574.149437) and 506(1311875590.096300) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.975196 0.0873518 -0.203375 0.802366 -0.147208 0.942123 -0.30122 1.26196 0.165293 0.323687 0.931614 -0.0580979 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999594 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:350/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.974531 0.083968 -0.207938 0.832568 -0.144975 0.943329 -0.298516 1.25546 0.171089 0.321059 0.931477 -0.0528396 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 25 end 28 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 22906 o[1]: 637 o[2]: 117 o[3]: 7 histWeights: 1 1 1.25 1.5overlap: 793.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 1590 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 26 and 107 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 107 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 107 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 4580 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 507 keyframes 108 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 531 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 508 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!508 INF|Input.cpp[getImages,132]: mNbReceivedImages!509 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.129880 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.129880) and 506(1311875590.096300) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999261 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:504/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.129880) and 506(1311875590.096300) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99988 -0.00195573 -0.0153963 0.0462289 0.00191034 0.999994 -0.00296253 -0.0197237 0.015402 0.00293277 0.999877 -0.0300473 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999291 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:532/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.129880) and 506(1311875590.096300) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999999 0.000421942 -0.0013199 -0.00262862 -0.000429397 0.999984 -0.00565264 -0.000369657 0.00131749 0.0056532 0.999983 -0.0180387 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999162 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:568/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.337117 resInfo good: 1567, 23 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1993/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999996 -0.00260086 -0.00123984 0.00751928 0.00259944 0.999996 -0.00114403 -0.010983 0.00124281 0.0011408 0.999999 -0.00354406 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!507 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1415 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!508 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 509 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!509 INF|Input.cpp[getImages,132]: mNbReceivedImages!510 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.164777 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999991 -0.00390181 -0.00185865 0.0112913 0.00389862 0.999991 -0.00171725 -0.0164656 0.00186533 0.00170999 0.999997 -0.00531729 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.164777) and 506(1311875590.096300) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999991 -0.00390181 -0.00185865 0.0112913 0.00389862 0.999991 -0.00171725 -0.0164656 0.00186533 0.00170999 0.999997 -0.00531729 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999682 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:309/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.164777) and 506(1311875590.096300) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999991 -0.0038831 -0.00184588 0.0113457 0.00387994 0.999991 -0.00171397 -0.0164608 0.00185252 0.00170679 0.999997 -0.00544836 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999546 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:794/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.164777) and 506(1311875590.096300) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999994 -0.0023715 -0.00252886 0.0163686 0.00235727 0.999981 -0.00561521 0.00488112 0.00254213 0.00560922 0.999981 -0.0177135 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999855 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:368/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.34934 resInfo good: 1566, 24 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1884/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999998 -0.00141644 0.001287 0.00196315 0.00142174 0.99999 -0.00412745 0.00279465 -0.00128114 0.00412927 0.999991 -0.0172477 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!508 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1170 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!509 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 510 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.196293 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999996 -0.0008214 0.00254909 -0.000821804 0.000835716 0.999984 -0.00562026 0.00970123 -0.00254443 0.00562237 0.999981 -0.0240789 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.196293) and 506(1311875590.096300) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999996 -0.0008214 0.00254909 -0.000821804 0.000835716 0.999984 -0.00562026 0.00970123 -0.00254443 0.00562237 0.999981 -0.0240789 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.99992 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:405/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.196293) and 506(1311875590.096300) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999993 -0.00283539 0.00232974 -0.00182291 0.00284762 0.999982 -0.00526335 0.0114485 -0.00231477 0.00526995 0.999983 -0.0250914 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!510 INF|Input.cpp[getImages,132]: mNbReceivedImages!511 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999878 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:372/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.196293) and 506(1311875590.096300) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999984 -0.00496472 0.00270666 0.00353469 0.00496558 0.999988 -0.000310163 -0.00332526 -0.00270509 0.000323598 0.999996 -0.0203736 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:700/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.410284 resInfo good: 1590, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1871/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999976 -0.0045806 0.00515057 -0.0038021 0.00457626 0.999989 0.000855092 -0.00122629 -0.00515443 -0.000831501 0.999986 -0.0216848 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!509 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!510 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 511 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.228541 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999976 -0.0045806 0.00515057 -0.0038021 0.00457626 0.999989 0.000855092 -0.00122629 -0.00515443 -0.000831501 0.999986 -0.0216848 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.228541) and 506(1311875590.096300) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999976 -0.0045806 0.00515057 -0.0038021 0.00457626 0.999989 0.000855092 -0.00122629 -0.00515443 -0.000831501 0.999986 -0.0216848 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999422 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:176/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.228541) and 506(1311875590.096300) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999974 -0.00577292 0.00440943 -0.00320514 0.00578323 0.999981 -0.00232905 -0.0129351 -0.0043959 0.00235449 0.999988 -0.0257981 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!511 INF|Input.cpp[getImages,132]: mNbReceivedImages!512 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999964 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:505/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.228541) and 506(1311875590.096300) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999967 -0.00799257 -0.00115815 0.0286342 0.00799438 0.999967 0.0015688 -0.00885368 0.00114557 -0.00157801 0.999998 -0.0232704 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999985 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:555/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.522935 resInfo good: 1590, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1628/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999966 -0.00750742 0.00337365 0.012123 0.00750153 0.99997 0.0017551 -0.00699576 -0.00338673 -0.00172973 0.999993 -0.0256454 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!510 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 6649 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!511 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 512 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.264294 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!512 INF|Input.cpp[getImages,132]: mNbReceivedImages!513 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999966 -0.00750742 0.00337365 0.012123 0.00750153 0.99997 0.0017551 -0.00699576 -0.00338673 -0.00172973 0.999993 -0.0256454 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.264294) and 506(1311875590.096300) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999966 -0.00750742 0.00337365 0.012123 0.00750153 0.99997 0.0017551 -0.00699576 -0.00338673 -0.00172973 0.999993 -0.0256454 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999997 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:793/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.264294) and 506(1311875590.096300) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999975 -0.00702769 -0.000740944 0.0134611 0.00701819 0.999902 -0.0121301 0.0136331 0.000826118 0.0121246 0.999926 -0.0635379 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999686 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:840/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.264294) and 506(1311875590.096300) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99994 -0.0103099 0.00361364 0.0105756 0.0103232 0.99994 -0.00369544 -0.0104097 -0.00357532 0.00373253 0.999987 -0.0444192 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999935 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:357/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.555933 resInfo good: 1586, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2382/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999936 -0.0101987 0.00486673 0.011036 0.0102117 0.999944 -0.00266368 -0.00930028 -0.00483929 0.00271321 0.999985 -0.0366554 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!511 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 451 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!512 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 513 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.296278 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!513 INF|Input.cpp[getImages,132]: mNbReceivedImages!514 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999936 -0.0101987 0.00486673 0.011036 0.0102117 0.999944 -0.00266368 -0.00930028 -0.00483929 0.00271321 0.999985 -0.0366554 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.296278) and 506(1311875590.096300) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999936 -0.0101987 0.00486673 0.011036 0.0102117 0.999944 -0.00266368 -0.00930028 -0.00483929 0.00271321 0.999985 -0.0366554 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.99988 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:633/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.296278) and 506(1311875590.096300) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999893 -0.0137648 0.00491833 0.00900392 0.0137852 0.999896 -0.00414373 -0.0100621 -0.00486078 0.00421109 0.999979 -0.0509052 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999633 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:741/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.296278) and 506(1311875590.096300) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999866 -0.0153593 0.00559759 0.0139096 0.0153683 0.999881 -0.00156166 -0.0134255 -0.00557293 0.00164748 0.999983 -0.0476019 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999988 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:498/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.615696 resInfo good: 1590, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2277/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999877 -0.0134425 0.0080383 0.00554666 0.0134664 0.999905 -0.00292774 -0.00338342 -0.00799818 0.00303563 0.999963 -0.0480586 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!512 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 450 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!513 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 514 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.329159 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!514 INF|Input.cpp[getImages,132]: mNbReceivedImages!515 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999877 -0.0134425 0.0080383 0.00554666 0.0134664 0.999905 -0.00292774 -0.00338342 -0.00799818 0.00303563 0.999963 -0.0480586 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.329159) and 506(1311875590.096300) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999877 -0.0134425 0.0080383 0.00554666 0.0134664 0.999905 -0.00292774 -0.00338342 -0.00799818 0.00303563 0.999963 -0.0480586 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 10,0.999288 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1006/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.329159) and 506(1311875590.096300) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999833 -0.0178213 -0.0040905 0.0362328 0.0177698 0.999767 -0.0122911 0.00412465 0.00430859 0.0122164 0.999916 -0.077636 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.99956 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:413/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.329159) and 506(1311875590.096300) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999697 -0.0245969 -0.000385204 0.0343045 0.024596 0.999695 -0.00212219 -0.0297687 0.000437286 0.00211207 0.999998 -0.0682201 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999839 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:299/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.678216 resInfo good: 1557, 33 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2105/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999739 -0.0225895 0.0034657 0.025272 0.0225983 0.999741 -0.00251126 -0.0205636 -0.00340807 0.00258892 0.999991 -0.056228 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!513 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 452 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!514 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 515 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.364886 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!515 INF|Input.cpp[getImages,132]: mNbReceivedImages!516 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999148 -0.0408704 -0.0056901 0.0653011 0.0408608 0.999163 -0.00180368 -0.0543877 0.00575905 0.00156965 0.999982 -0.0722742 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.364886) and 506(1311875590.096300) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999148 -0.0408704 -0.0056901 0.0653011 0.0408608 0.999163 -0.00180368 -0.0543877 0.00575905 0.00156965 0.999982 -0.0722742 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.99955 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:745/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.364886) and 506(1311875590.096300) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999711 -0.0240508 0.000415023 0.0111542 0.0240544 0.999573 -0.0165824 0.00199997 -1.60264e-05 0.0165876 0.999862 -0.0916715 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999844 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:760/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.364886) and 506(1311875590.096300) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999675 -0.0254742 0.000608347 0.0235877 0.02548 0.999588 -0.0132282 -0.00154876 -0.00027112 0.0132394 0.999912 -0.0829335 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999719 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:568/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.688838 resInfo good: 1567, 23 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2472/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99963 -0.0271435 0.00191992 0.0264428 0.0271594 0.999592 -0.00879903 -0.0133108 -0.0016803 0.00884792 0.999959 -0.0701351 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!514 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!515 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 516 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.396382 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!516 INF|Input.cpp[getImages,132]: mNbReceivedImages!517 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999497 -0.0317065 0.00040283 0.0276021 0.031709 0.999383 -0.0150934 -0.00596534 7.59794e-05 0.0150986 0.999886 -0.0839943 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.396382) and 506(1311875590.096300) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999497 -0.0317065 0.00040283 0.0276021 0.031709 0.999383 -0.0150934 -0.00596534 7.59794e-05 0.0150986 0.999886 -0.0839943 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999962 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:494/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.396382) and 506(1311875590.096300) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999519 -0.0310216 0.000531527 0.0289581 0.0310261 0.9994 -0.0153895 -0.00750699 -5.38003e-05 0.0153986 0.999881 -0.0887479 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999811 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:467/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.396382) and 506(1311875590.096300) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999548 -0.0300456 -0.00103971 0.0419638 0.0300223 0.999391 -0.0177985 0.0109124 0.00157384 0.0177592 0.999841 -0.0886096 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999987 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:508/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.768992 resInfo good: 1567, 23 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1865/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999504 -0.0314502 0.00156598 0.0375204 0.0314683 0.999416 -0.0133105 -0.00196565 -0.00114645 0.0133531 0.99991 -0.0790285 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!515 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!516 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 517 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.432333 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!517 INF|Input.cpp[getImages,132]: mNbReceivedImages!518 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99936 -0.0357578 0.00123149 0.0485525 0.0357741 0.999201 -0.0178231 0.00946717 -0.000593195 0.0178558 0.99984 -0.087866 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.432333) and 506(1311875590.096300) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99936 -0.0357578 0.00123149 0.0485525 0.0357741 0.999201 -0.0178231 0.00946717 -0.000593195 0.0178558 0.99984 -0.087866 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 10,0.999996 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1097/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.432333) and 506(1311875590.096300) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999341 -0.0331493 0.014793 -0.00302057 0.0334973 0.999152 -0.0239269 0.0156467 -0.0139873 0.0244066 0.999604 -0.0833795 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999784 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:661/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.432333) and 506(1311875590.096300) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999244 -0.0375674 0.010037 0.0281929 0.0377171 0.999173 -0.0151605 -0.0126474 -0.00945916 0.0155276 0.999835 -0.0775868 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999826 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:450/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.836749 resInfo good: 1590, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2598/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999301 -0.0365158 0.00805395 0.0356126 0.0366409 0.999201 -0.0159761 -0.0038083 -0.00746413 0.01626 0.99984 -0.0806845 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!516 Input.cpp[readImages,206]: Got image from sensor!517 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 5647 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 518 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.464861 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!518 INF|Input.cpp[getImages,132]: mNbReceivedImages!519 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999174 -0.0390411 0.0113029 0.0346583 0.0392331 0.99908 -0.0172962 -0.00473165 -0.0106172 0.0177254 0.999787 -0.0815098 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.464861) and 506(1311875590.096300) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999174 -0.0390411 0.0113029 0.0346583 0.0392331 0.99908 -0.0172962 -0.00473165 -0.0106172 0.0177254 0.999787 -0.0815098 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999551 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:766/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.464861) and 506(1311875590.096300) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999141 -0.0398669 0.0113128 0.0334941 0.0400817 0.999007 -0.0194371 -0.011042 -0.0105267 0.0198739 0.999747 -0.0938843 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999272 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:648/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.464861) and 506(1311875590.096300) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999202 -0.0376199 0.0133874 0.0288815 0.0379108 0.999035 -0.022186 0.00805549 -0.0125399 0.0226758 0.999664 -0.0964364 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.99975 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:249/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.931681 resInfo good: 1590, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2047/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999161 -0.0394726 0.010955 0.0427734 0.0396748 0.999034 -0.018893 -0.00152901 -0.0101986 0.0193118 0.999761 -0.0935336 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!517 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!518 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 519 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.496902 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!519 INF|Input.cpp[getImages,132]: mNbReceivedImages!520 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999084 -0.0409476 0.0124087 0.0463374 0.0411946 0.998944 -0.0203481 -0.0003671 -0.0115624 0.0208406 0.999716 -0.0999633 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.496902) and 506(1311875590.096300) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999084 -0.0409476 0.0124087 0.0463374 0.0411946 0.998944 -0.0203481 -0.0003671 -0.0115624 0.0208406 0.999716 -0.0999633 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 4): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:728/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.496902) and 506(1311875590.096300) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999053 -0.0427784 0.00792135 0.0573229 0.0429689 0.998746 -0.0256871 -0.00631368 -0.00681256 0.0260032 0.999639 -0.117782 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999152 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:864/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 107 to 4437673381501272320 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.496902) and 506(1311875590.096300) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999016 -0.0422411 0.0135214 0.0419645 0.0425492 0.998821 -0.023371 -0.00710311 -0.0125182 0.0239233 0.999635 -0.108292 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999824 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:398/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.00616 resInfo good: 1550, 40 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2389/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999067 -0.0417058 0.0112226 0.0545933 0.0419591 0.998846 -0.0233777 -0.00157995 -0.0102346 0.0238267 0.999664 -0.105985 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875590.496902 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875590.496902 to keyframe with id: 4437673381501272320 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875590.496902 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 667 size: 1019 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId4437673381501272320 timestamp: 1311875590.496902 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -8.76669 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -11.4021 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 465 keyframeId: 99 score: -13.3244 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 478 keyframeId: 101 score: -14.4834 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 495 keyframeId: 105 score: -29.075 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 500 keyframeId: 106 score: -28.1979 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 108 = 108 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb35b00 fh1 0x185b3f60fh->id: 89 108 518goodE: 69 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb35b00 fh1 0x2bb262e0fh->id: 94 108 518goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb35b00 fh1 0x2dcfb1c0fh->id: 99 108 518goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb35b00 fh1 0x2bb236e0fh->id: 101 108 518goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb35b00 fh1 0x2c29f220fh->id: 105 108 518goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb35b00 fh1 0x2529b820fh->id: 106 108 518goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb35b00 fh1 0x1b9118e0fh->id: 107 108 518goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew108 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 30 out of 33 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 33 newEdgePixels: 33 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 815 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 140 lastEnergy: 212.119 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 44 INF|LocalMapper.cpp[optimize,276]: Start Energy: 212.119 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.27456e-11 2.32064e-13 8.55761e-12 -5.48426e-12 -0.00181986 0.000756357 0.000341039 -5.17315e-05 0.000380926 -0.000738154 0.00160583 0.000661365 0.000535269 -1.90871e-05 0.000100103 -0.000484462 -0.00169256 -0.000970506 0.000974792 -0.000559026 0.000503747 -0.000700879 0.00871628 0.0108053 0.00151164 0.000984313 -0.000979036 -0.000242348 0.00250633 -1.13842e-05 0.00505103 -6.10338e-06 0.000562512 0.00139938 0.00405499 0.0035523 0.00333316 -0.000459798 -0.000920727 -0.000884224 -0.0128623 -0.00689575 0.00319013 -0.000643428 0.002007 0.00192398 -0.00665504 -0.00348864 0.0031344 0.000192612 0.00108437 0.00247224 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 815 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 189.232 0 0 newEnergyL 0 lastEnergy: 212.119 0 0 lastEnergyL: 0mActiveResiduals: 815 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 4.61857e-12 1.01674e-13 -9.96411e-15 3.66213e-12 -0.000301306 0.000256524 0.00052772 5.09552e-05 4.89948e-05 4.84933e-05 -0.000932576 0.00119057 0.000566296 0.000128958 0.000162472 -8.38568e-05 0.00132804 -0.00343434 -0.00326528 -0.000484896 -0.000356459 0.000314848 -0.00286297 -0.00298 -0.00294307 -0.000574464 0.000223424 -0.000382741 -0.0102179 -0.00872469 -0.00709939 -0.00166845 0.000569767 -0.00129898 -0.0124203 -0.00456743 -0.00959968 -0.000437119 0.00120759 -0.000811857 0.00179368 -0.00461928 0.000251895 -0.000870673 -0.000189522 -0.000455374 0.0099933 -0.00925347 0.0111591 -0.00189573 -0.000866778 2.39628e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 815 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 177.939 0 0 newEnergyL 0 lastEnergy: 189.232 0 0 lastEnergyL: 0mActiveResiduals: 815 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 6.86302e-13 -2.58822e-12 -5.84197e-13 -1.74094e-12 0.000640527 -0.0030959 -0.00253488 0.000266439 -0.000392526 2.00779e-05 0.000112116 -0.000857876 -0.00122359 0.000675777 -0.000245425 4.05486e-05 -0.00264488 0.00270354 3.5447e-05 0.00115605 0.000230622 -0.000338938 0.00264116 0.000406504 -0.00107942 0.00102728 -0.00046528 0.000344458 0.00191004 -0.00431806 -0.00256077 0.000798403 -0.000430156 0.000808094 0.0155066 0.00412297 0.0111881 0.00137555 -0.00164338 0.00112899 -0.0147221 -0.0081775 -0.000821607 0.000322158 0.00127988 0.000418762 -0.00195876 0.0099724 -0.00282762 0.00269943 -0.000174884 -0.000299742 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 815 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 177.827 0 0 newEnergyL 0 lastEnergy: 177.939 0 0 lastEnergyL: 0mActiveResiduals: 815 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.15431e-12 2.96052e-12 -4.42719e-12 1.73196e-12 -0.000796888 0.00354654 0.00304726 -0.000453618 0.00065913 -0.000361466 0.000603484 0.00287698 0.00280846 -0.000713914 0.000576996 -0.000473428 8.33399e-06 9.08488e-05 0.000650713 -0.00128321 0.000448877 -4.88043e-05 -0.003454 0.00155938 6.81478e-05 -0.00133231 0.000917225 -0.000808093 -0.00252956 -0.000349858 -0.00159878 -0.00173733 0.000585096 -0.00067656 -0.00837175 -0.00261287 -0.00598252 -0.00218356 0.00116316 -0.00174721 0.0196102 0.0059924 -0.00144674 -0.00105946 -0.00168222 -0.000608836 -0.00688472 -0.0128525 0.00358054 -0.00353193 0.00149374 0.000492281 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 815 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 173.16 0 0 newEnergyL 0 lastEnergy: 177.827 0 0 lastEnergyL: 0mActiveResiduals: 815 Input.cpp[readImages,206]: Got image from sensor!519 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 5.93491e-13 -1.96399e-12 2.81189e-12 -1.05274e-12 0.000523102 -0.00378101 -0.0017459 0.000391836 -0.000481301 0.000273713 0.00093134 -0.00234445 -0.00248943 0.000688506 -0.000335408 0.000273231 0.00366441 -0.0019 -0.00165946 0.000901942 -0.00043832 4.14731e-05 0.00355343 -0.00117005 -0.000510651 0.00101846 -0.000441894 0.000552176 0.00145048 -0.000428857 -0.00473356 0.00156941 -0.00031975 0.000637593 0.0101558 0.011531 0.0120009 0.00323994 -0.000254575 0.00221519 -0.0229709 -0.00749747 0.00233436 0.000724867 0.00266002 0.000570392 0.0051477 0.00689516 -0.00221758 0.0024675 -0.000707573 -0.000218837 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 815 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 173.344 0 0 newEnergyL 0 lastEnergy: 173.16 0 0 lastEnergyL: 0mActiveResiduals: 815 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -2.94631e-12 1.63562e-12 3.00153e-12 -2.29042e-13 0.000482665 0.00182141 -0.000440648 -0.00015107 -0.000494517 0.000668075 -9.96316e-05 -6.03292e-05 -8.06885e-05 -0.00026678 -0.000649853 0.000738332 -0.0057977 -0.000651599 0.00037379 -0.000192283 -1.44769e-05 0.000758664 -0.00418292 -0.00216525 0.000802369 -0.000361287 -0.000107725 0.000257589 -0.00477428 -0.00730687 0.00538332 -0.0010508 0.000114307 0.000346097 0.000247069 0.00301478 -0.00982604 -0.000713891 -0.00126309 -0.00262217 0.00896313 0.00484453 -0.000303844 0.000169058 -0.00155563 -0.000939185 0.00461402 0.000963067 0.000431711 -0.000272384 -0.00100118 0.000124033 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 815 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 171.272 0 0 newEnergyL 0 lastEnergy: 173.344 0 0 lastEnergyL: 0mActiveResiduals: 815 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 171.272 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 815 INF|LocalMapper.cpp[optimize,345]: End Energy: 171.272 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.465913 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.465913 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 105 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 105 with idx: 4 and allID: 495 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->105 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 105->89 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->105 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 105->94 INF|LocalMapper.cpp[marginalizeFrame,772]: 99<->105 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 105->99 INF|LocalMapper.cpp[marginalizeFrame,801]: 105 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 105 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 7105 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2bb35b00 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 108 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 520 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 75 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 11 with distance 0.238Found rest min at: 74 with distance 0.09 overall min: 0.09 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 11 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 712 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 108 into DB 0.238 11 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 11 and real id(26) current kf: 108(518) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: -0.680084 0.242483 -0.691873 -1.6569 0.110162 0.966803 0.230555 1.34712 0.724811 0.0805785 -0.68422 -1.92556 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 26 currFrame: 108 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00295533 edge: 108 to 26 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 108 to 26 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 52(1311875574.149437) and 518(1311875590.496902) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999367 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:270/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 108 to 26 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 52(1311875574.149437) and 518(1311875590.496902) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.972006 0.132126 -0.194284 0.637468 -0.185387 0.939296 -0.288712 1.2005 0.144344 0.316648 0.937496 -0.0167906 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999935 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:89/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 108 to 26 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 52(1311875574.149437) and 518(1311875590.496902) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.972307 0.131404 -0.193268 0.636964 -0.183858 0.940592 -0.285454 1.18799 0.144277 0.313082 0.938703 -0.015376 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999461 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:214/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.972228 0.140697 -0.187023 0.601116 -0.191695 0.937173 -0.291479 1.22958 0.134262 0.319235 0.938117 -0.0215859 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 25 end 28 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 22069 o[1]: 599 o[2]: 103 o[3]: 1 histWeights: 1 1 1.25 1.5overlap: 729.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 1019 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 26 and 108 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 108 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 108 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 3618 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 519 keyframes 109 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 522 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.532516 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!520 INF|Input.cpp[getImages,132]: mNbReceivedImages!521 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999996 -0.000619377 0.0028314 0.00019602 0.000629019 0.999994 -0.00340568 -0.00522307 -0.00282927 0.00340744 0.99999 -0.0174381 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 108 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.532516) and 518(1311875590.496902) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999996 -0.000619377 0.0028314 0.00019602 0.000629019 0.999994 -0.00340568 -0.00522307 -0.00282927 0.00340744 0.99999 -0.0174381 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:562/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 108 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.532516) and 518(1311875590.496902) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99997 0.00581597 0.00502338 -0.0268025 -0.00571761 0.999796 -0.019377 0.0453954 -0.00513505 0.0193477 0.9998 -0.0212602 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999527 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:457/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 108 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.532516) and 518(1311875590.496902) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999995 -0.00315745 0.000231882 0.0104773 0.00315821 0.999989 -0.00337336 -0.0105231 -0.000221228 0.00337407 0.999994 -0.00150136 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 4): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:453/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.366913 resInfo good: 1015, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1684/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999986 -0.00169019 0.00508761 -0.00812494 0.00170854 0.999992 -0.0036041 -0.00611561 -0.00508147 0.00361274 0.999981 -0.00419944 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!519 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 448 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!520 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 521 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.565260 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!521 INF|Input.cpp[getImages,132]: mNbReceivedImages!522 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999943 -0.00336197 0.0101811 -0.0162608 0.00343536 0.999968 -0.0071994 -0.0122299 -0.0101566 0.00723397 0.999922 -0.0083796 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 108 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.565260) and 518(1311875590.496902) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999943 -0.00336197 0.0101811 -0.0162608 0.00343536 0.999968 -0.0071994 -0.0122299 -0.0101566 0.00723397 0.999922 -0.0083796 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999995 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:474/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 108 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.565260) and 518(1311875590.496902) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999996 -0.000999771 0.0026061 -0.00357268 0.00104681 0.999835 -0.0181104 0.0117025 -0.00258756 0.018113 0.999833 -0.0313631 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999752 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:275/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 108 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.565260) and 518(1311875590.496902) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999978 -0.00654657 0.000402111 0.0159886 0.00655015 0.999932 -0.00967997 -0.0152777 -0.000338713 0.0096824 0.999953 -0.0158261 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 4): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:425/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.514817 resInfo good: 1019, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1423/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999983 -0.00414974 0.00416304 0.00405846 0.00420119 0.999914 -0.0124278 0.000310399 -0.00411111 0.0124451 0.999914 -0.0205112 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!520 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 466 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!521 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 522 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.596505 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!522 INF|Input.cpp[getImages,132]: mNbReceivedImages!523 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999983 -0.00414974 0.00416304 0.00405846 0.00420119 0.999914 -0.0124278 0.000310399 -0.00411111 0.0124451 0.999914 -0.0205112 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 108 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.596505) and 518(1311875590.496902) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999983 -0.00414974 0.00416304 0.00405846 0.00420119 0.999914 -0.0124278 0.000310399 -0.00411111 0.0124451 0.999914 -0.0205112 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.99975 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:403/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 108 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.596505) and 518(1311875590.496902) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999985 -0.00475523 0.00259843 -0.00473543 0.0047903 0.999895 -0.0136637 -0.00657768 -0.00253318 0.0136759 0.999903 -0.0432677 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999173 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:568/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 108 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.596505) and 518(1311875590.496902) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999974 -0.00674682 0.0024354 0.00478676 0.00677125 0.999925 -0.0101641 -0.01337 -0.00236664 0.0101804 0.999945 -0.0363949 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:408/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.54443 resInfo good: 1019, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1625/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999975 -0.00620158 0.00331917 0.00590947 0.0062427 0.999902 -0.0125227 -0.000745905 -0.00324119 0.0125431 0.999916 -0.0343815 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!521 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!522 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 523 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.634299 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!523 INF|Input.cpp[getImages,132]: mNbReceivedImages!524 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999975 -0.00620158 0.00331917 0.00590947 0.0062427 0.999902 -0.0125227 -0.000745905 -0.00324119 0.0125431 0.999916 -0.0343815 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 108 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.634299) and 518(1311875590.496902) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999975 -0.00620158 0.00331917 0.00590947 0.0062427 0.999902 -0.0125227 -0.000745905 -0.00324119 0.0125431 0.999916 -0.0343815 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.99905 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:269/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 108 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.634299) and 518(1311875590.496902) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999943 -0.0101985 -0.00326984 0.013136 0.0101522 0.999852 -0.0138637 -0.0353891 0.00341074 0.0138297 0.999899 -0.0470008 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999208 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:226/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 108 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.634299) and 518(1311875590.496902) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999944 -0.010611 0.000241346 0.00403503 0.0106131 0.999871 -0.0120417 -0.0363527 -0.00011354 0.0120436 0.999927 -0.0375465 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999695 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:240/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.653628 resInfo good: 1016, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 979/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999948 -0.0101903 0.000212233 0.0119754 0.0101922 0.999864 -0.0129804 -0.0267311 -7.99299e-05 0.0129819 0.999916 -0.0367585 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!522 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!523 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 524 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.665262 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!524 INF|Input.cpp[getImages,132]: mNbReceivedImages!525 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999895 -0.0141803 -0.00289286 0.0181513 0.0141401 0.99981 -0.0134504 -0.052691 0.00308304 0.0134081 0.999905 -0.0391283 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 108 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.665262) and 518(1311875590.496902) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999895 -0.0141803 -0.00289286 0.0181513 0.0141401 0.99981 -0.0134504 -0.052691 0.00308304 0.0134081 0.999905 -0.0391283 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999304 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:348/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 108 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.665262) and 518(1311875590.496902) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.9999 -0.0132328 -0.00492207 0.00888407 0.0131613 0.999811 -0.0142947 -0.0560497 0.0051103 0.0142285 0.999886 -0.0470828 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999915 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:375/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 108 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.665262) and 518(1311875590.496902) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999917 -0.0115899 -0.00562258 0.0230016 0.0114912 0.999785 -0.0172821 -0.0345253 0.00582167 0.0172161 0.999835 -0.0498687 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:446/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.741443 resInfo good: 994, 25 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1416/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999942 -0.00965953 -0.00470396 0.0216981 0.00955311 0.999709 -0.0221429 -0.0116328 0.00491648 0.0220967 0.999744 -0.0514189 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!523 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 6849 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!524 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 525 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.696445 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!525 INF|Input.cpp[getImages,132]: mNbReceivedImages!526 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999856 -0.00873251 -0.0145494 0.0413852 0.0081377 0.999148 -0.0404515 0.0189443 0.0148903 0.0403273 0.999076 -0.0801774 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 108 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.696445) and 518(1311875590.496902) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999856 -0.00873251 -0.0145494 0.0413852 0.0081377 0.999148 -0.0404515 0.0189443 0.0148903 0.0403273 0.999076 -0.0801774 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.99985 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:274/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 108 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.696445) and 518(1311875590.496902) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999883 -0.00575784 -0.0141475 0.0394408 0.00519079 0.999194 -0.0397965 0.0162883 0.0143653 0.0397185 0.999108 -0.0687471 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999672 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:492/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 108 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.696445) and 518(1311875590.496902) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999943 -0.00944758 -0.00500826 0.0132628 0.00928936 0.999485 -0.0307255 -0.0138142 0.00529596 0.0306772 0.999515 -0.057178 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:385/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.840492 resInfo good: 1015, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1407/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999916 -0.0117567 -0.00537767 0.0199951 0.0116138 0.999598 -0.0258749 -0.0304429 0.00567971 0.0258103 0.999651 -0.0512148 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!524 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!525 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 526 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.734509 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999886 -0.0138563 -0.00604354 0.018331 0.0136716 0.999468 -0.029608 -0.049257 0.00645058 0.029522 0.999543 -0.0510819 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 108 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.734509) and 518(1311875590.496902) on lvl: 2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!526 INF|Input.cpp[getImages,132]: mNbReceivedImages!527 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999886 -0.0138563 -0.00604354 0.018331 0.0136716 0.999468 -0.029608 -0.049257 0.00645058 0.029522 0.999543 -0.0510819 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999472 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:180/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 108 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.734509) and 518(1311875590.496902) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999841 -0.016624 -0.00649166 0.00397279 0.0164136 0.999378 -0.0312209 -0.0592758 0.00700664 0.0311094 0.999491 -0.0798159 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999583 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:353/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 108 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.734509) and 518(1311875590.496902) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999817 -0.0186319 -0.00428768 0.0093122 0.0185243 0.999543 -0.0238878 -0.079331 0.0047308 0.023804 0.999705 -0.0486713 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:316/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.950169 resInfo good: 965, 54 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1096/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999847 -0.0169956 -0.00421012 0.00884819 0.0168651 0.999429 -0.0292903 -0.0562678 0.00470552 0.0292148 0.999562 -0.0560282 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!525 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!526 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 527 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.764494 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999621 -0.0274596 -0.00182143 -0.0130517 0.027376 0.998973 -0.0361012 -0.108042 0.00281089 0.0360377 0.999346 -0.0658844 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 108 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.764494) and 518(1311875590.496902) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999621 -0.0274596 -0.00182143 -0.0130517 0.027376 0.998973 -0.0361012 -0.108042 0.00281089 0.0360377 0.999346 -0.0658844 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999687 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:250/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 108 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.764494) and 518(1311875590.496902) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999757 -0.0107147 -0.0192829 0.0217732 0.00971246 0.998634 -0.0513409 -0.016148 0.0198067 0.0511411 0.998495 -0.0768087 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:295/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 108 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.764494) and 518(1311875590.496902) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99974 -0.0130774 -0.0186625 0.0277445 0.0122055 0.998862 -0.0460957 -0.0275225 0.0192441 0.045856 0.998763 -0.0670199 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999862 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:242/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.05887 resInfo good: 1016, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1031/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999716 -0.0148208 -0.0186567 0.0301183 0.0139371 0.998815 -0.0466373 -0.0250599 0.0193258 0.0463641 0.998738 -0.0710218 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875590.764494 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875590.764494 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875590.764494 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!527 INF|Input.cpp[getImages,132]: mNbReceivedImages!528 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 611 size: 1216 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875590.764494 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -9.2786 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -12.4991 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 465 keyframeId: 99 score: -15.7773 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 478 keyframeId: 101 score: -17.9568 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 500 keyframeId: 106 score: -20.031 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 506 keyframeId: 107 score: -19.0045 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 109 = 109 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce5c640 fh1 0x185b3f60fh->id: 89 109 526goodE: 58 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce5c640 fh1 0x2bb262e0fh->id: 94 109 526goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce5c640 fh1 0x2dcfb1c0fh->id: 99 109 526goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce5c640 fh1 0x2bb236e0fh->id: 101 109 526goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce5c640 fh1 0x2529b820fh->id: 106 109 526goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce5c640 fh1 0x1b9118e0fh->id: 107 109 526goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2ce5c640 fh1 0x2bb35b00fh->id: 108 109 526goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew109 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 26 out of 30 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 30 newEdgePixels: 30 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 763 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 125 lastEnergy: 209.833 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 42 INF|LocalMapper.cpp[optimize,276]: Start Energy: 209.833 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -8.75031e-12 7.4082e-13 6.87111e-12 -1.02644e-11 0.000111415 0.000999171 0.00116268 -0.000124561 0.00055104 -0.000634213 -0.00275734 0.00150911 0.000845489 -0.00020162 0.000802804 -0.000579994 0.00272116 0.00381401 0.00269575 -6.97394e-05 0.000181991 -0.000632077 0.00484414 0.0090455 0.00413753 0.000697009 -0.000223833 0.000355914 -0.00471343 -0.00714651 0.00964227 -8.7602e-06 0.00181902 0.00333539 0.00134405 0.000220708 0.00396281 6.39253e-05 0.000717615 0.00262308 -0.0228395 -0.0252297 0.00592821 -0.00291249 0.00346951 0.00199765 0.0224768 0.0290532 0.0047933 0.00280171 -0.00171047 -0.000933798 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 763 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 188.662 0 0 newEnergyL 0 lastEnergy: 209.833 0 0 lastEnergyL: 0mActiveResiduals: 763 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.52613e-12 2.14031e-12 -5.29989e-12 1.81733e-12 -0.000609186 1.51831e-05 0.000292596 2.56169e-05 0.000103815 3.0756e-06 0.0012159 -0.00107951 -4.5867e-05 -7.93773e-05 -0.000184311 0.000238021 -0.00266027 0.000995471 -0.00196221 1.55787e-05 0.00018253 6.51772e-05 0.00263633 0.00404179 -0.00312289 0.000366207 -0.000420764 -0.000768785 9.50515e-05 0.00558427 0.0021859 -0.00109763 -0.000369247 -0.00383031 -0.00514604 0.00322776 0.00813639 -0.000853098 0.000478892 -0.00323358 0.00624104 0.0241245 0.00401541 0.00150383 -0.00068678 -0.00328286 -0.00390681 -0.0155877 0.0122498 -0.00315362 0.000532106 -0.000723335 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 763 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 171.44 0 0 newEnergyL 0 lastEnergy: 188.662 0 0 lastEnergyL: 0mActiveResiduals: 763 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 5.86951e-13 5.1169e-14 -2.46114e-12 1.25528e-12 -7.04881e-05 0.00141208 0.00338502 -0.000357727 0.000891255 -0.00132312 0.00197514 0.00330559 0.00175983 -0.00052769 0.000727416 -0.001538 0.00350164 0.00766576 0.0035084 -0.000204466 0.000579995 -0.00132781 0.00300173 0.00170807 0.00149432 -0.00126044 0.000532326 -0.00107105 -0.00389534 -0.000853465 -0.00530654 -0.000468752 0.00124453 0.00146556 -0.00741092 -0.00391807 0.000280761 -0.00178509 0.00178513 0.000708754 -0.0110006 -0.028973 0.00733914 -0.00484585 0.00216003 0.00155233 0.0117534 0.0180053 -0.00406542 0.00115854 -0.000654864 -0.000406104 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 763 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 168.337 0 0 newEnergyL 0 lastEnergy: 171.44 0 0 lastEnergyL: 0mActiveResiduals: 763 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 2.14309e-12 -2.0858e-12 1.54587e-12 5.37596e-12 -0.00206531 -0.00118837 0.000744854 0.00014746 -0.000315774 0.00186878 0.00276853 -0.00354727 -0.00166 0.000211928 -0.000511432 0.00192522 0.000933003 -0.00433663 -0.00375533 0.000408866 5.89858e-05 0.00162577 0.00282363 0.000835814 -0.00392686 0.00123687 2.91725e-06 0.00134287 0.00588611 0.00272805 0.00573684 2.54564e-05 -0.000113201 -0.00185649 -0.00337079 -0.00323299 0.00406066 0.000183487 0.000958845 -0.00125053 0.00966914 0.0167817 -0.00615883 0.00267828 -0.000299697 -0.00120577 -0.0151718 -0.00779091 0.00384482 -0.000425327 0.00261681 -0.000270711 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 763 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 167.664 0 0 newEnergyL 0 lastEnergy: 168.337 0 0 lastEnergyL: 0mActiveResiduals: 763 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -4.37752e-12 6.34995e-13 3.19126e-12 -8.59578e-13 0.000154087 0.000679524 0.0012107 -0.000240613 0.00082322 -0.00139405 -0.000198082 0.00267178 0.00235175 -0.000291466 0.00102406 -0.00149362 0.00682698 0.00270795 0.00287196 -0.00052886 0.000101705 -0.00096291 0.000895776 0.00193343 0.00238492 -0.000991216 0.000815305 -0.00119864 -0.00347632 0.00246781 -0.00353565 0.000328015 0.00153546 0.00156392 0.00637181 0.00446281 -0.0019569 -0.00046778 0.000266089 0.000999426 -0.0260446 -0.0286702 0.00869512 -0.00445754 0.00392457 0.000903504 0.0139048 0.0121184 -0.00607573 0.000798398 -0.000713387 0.000148795 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 763 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 165.196 0 0 newEnergyL 0 lastEnergy: 167.664 0 0 lastEnergyL: 0mActiveResiduals: 763 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 5.99586e-12 -1.70786e-12 4.95334e-12 5.24702e-12 0.00146134 -0.000995045 -0.0039934 0.000472454 -0.00204131 0.00186644 -0.000222532 -0.00311508 -0.00327787 0.000716812 -0.00202128 0.00203884 -0.00734471 -0.000823443 -0.00187723 0.00146225 -0.000974869 0.00128629 -0.00471204 -0.00661067 7.6382e-05 0.0009219 -0.00113015 0.0014551 0.00420921 -0.00293583 0.00584814 0.000239342 -0.00214166 -0.000967809 -0.0106249 -0.005765 0.00397249 0.000904691 -0.000249431 -0.000458687 0.0206409 0.0261032 -0.00924467 0.00498565 -0.00389826 -0.000576302 -0.00132551 -0.00262633 0.00158435 0.00112865 -0.00149464 -0.000456897 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 763 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 162.361 0 0 newEnergyL 0 lastEnergy: 165.196 0 0 lastEnergyL: 0mActiveResiduals: 763 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 162.361 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 763 INF|LocalMapper.cpp[optimize,345]: End Energy: 162.361 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.465586 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.465586 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 106 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 106 with idx: 4 and allID: 500 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->106 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->106 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 99<->106 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 101<->106 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 106<->106 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 107<->106 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 108<->106 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 109<->106 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 106 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 500: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 105/495: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 105 allId: 495 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.99856 -0.000850838 -0.0536306 0.00134142 0.000888427 0.999999 0.000677055 0.0257369 0.05363 -0.000723727 0.998561 0.0162688 worldPose: 0.526707 0.157434 -0.835341 -1.98287 -0.335525 0.941413 -0.0341325 1.93681 0.781027 0.298255 0.548672 2.16637 after: 0.526707 0.157434 -0.835341 -1.98287 -0.335525 0.941413 -0.0341325 1.93681 0.781027 0.298255 0.548672 2.16637 worldPose of new: 0.570615 0.157337 -0.806005 -1.97457 -0.334012 0.941091 -0.0527589 1.9139 0.750223 0.29932 0.589553 2.14807 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.99856 -0.000850838 -0.0536306 0.00134142 0.000888427 0.999999 0.000677055 0.0257369 0.05363 -0.000723727 0.998561 0.0162688 INF|Mapper.cpp[changeRefFrame,578]: Updating: 501 from old kf id: 106/500 with new ref frame: 495/105 INF|Mapper.cpp[changeRefFrame,578]: Updating: 502 from old kf id: 106/500 with new ref frame: 495/105 INF|Mapper.cpp[changeRefFrame,578]: Updating: 503 from old kf id: 106/500 with new ref frame: 495/105 INF|Mapper.cpp[changeRefFrame,578]: Updating: 504 from old kf id: 106/500 with new ref frame: 495/105 INF|Mapper.cpp[changeRefFrame,578]: Updating: 505 from old kf id: 106/500 with new ref frame: 495/105 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 500 after changeRefFrame: 0.99856 -0.000850838 -0.0536306 0.00134142 0.000888427 0.999999 0.000677055 0.0257369 0.05363 -0.000723727 0.998561 0.0162688 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 106 to normal frame with refFrame: 105 frame id kf: 500 newref id: 495 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 106 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6929 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2ce5c640 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 109 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code:  INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 76 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 65 with distance 0.228Found rest min at: 75 with distance 0.102 overall min: 0.102 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 65 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 713 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 109 into DB 0.228 65 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 65 and real id(93) current kf: 109(526) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.811685 0.0807176 -0.578491 -0.476298 -0.219569 0.95993 -0.174139 -0.127048 0.541254 0.268365 0.796884 0.404224 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 93 currFrame: 109 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.811685 0.0807176 -0.578491 -0.476298 -0.219569 0.95993 -0.174139 -0.127048 0.541254 0.268365 0.796884 0.404224 avg 0.000666732 eye: 0.0244742 edge: 109 to 93 INF|Tracker.cpp[trackFrames,78]: initPose: 0.811685 0.0807176 -0.578491 -0.476298 -0.219569 0.95993 -0.174139 -0.127048 0.541254 0.268365 0.796884 0.404224 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 109 to 93 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 440(1311875587.898206) and 526(1311875590.764494) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.811685 0.0807176 -0.578491 -0.476298 -0.219569 0.95993 -0.174139 -0.127048 0.541254 0.268365 0.796884 0.404224 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999648 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:324/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 109 to 93 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 440(1311875587.898206) and 526(1311875590.764494) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.792661 0.0541313 -0.607255 -0.346632 -0.259047 0.931568 -0.255098 0.190223 0.551891 0.359514 0.75244 0.534539 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999936 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:243/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 109 to 93 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 440(1311875587.898206) and 526(1311875590.764494) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.792538 0.0538482 -0.607441 -0.334978 -0.255853 0.933547 -0.251058 0.180048 0.553555 0.354388 0.753648 0.528929 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999584 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:164/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.793061 0.0552297 -0.606634 -0.335624 -0.252225 0.936272 -0.244496 0.154991 0.55447 0.346908 0.756451 0.522438 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 92 end 95 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!527 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 15852 o[1]: 823 o[2]: 159 o[3]: 20 histWeights: 1 1 1.25 1.5overlap: 1051.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 1216 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 93 and 109 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 109 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 109 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 3979 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 527 keyframes 110 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 470 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 528 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!528 INF|Input.cpp[getImages,132]: mNbReceivedImages!529 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.796695 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999991 0.000261438 -0.0041376 -0.00234404 -0.000286217 0.999982 -0.00598925 0.00272656 0.00413596 0.00599038 0.999974 -0.00788189 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 109 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.796695) and 526(1311875590.764494) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999991 0.000261438 -0.0041376 -0.00234404 -0.000286217 0.999982 -0.00598925 0.00272656 0.00413596 0.00599038 0.999974 -0.00788189 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 10): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:898/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 109 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.796695) and 526(1311875590.764494) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99992 0.00283152 -0.0123115 -0.00157992 -0.00297186 0.999931 -0.011396 0.0380359 0.0122783 0.0114317 0.999859 -0.0284004 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999805 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:170/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 109 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.796695) and 526(1311875590.764494) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999977 0.000440649 -0.00681677 -0.0124971 -0.000481504 0.999982 -0.0059927 0.023608 0.00681401 0.00599584 0.999959 -0.0101444 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 5): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:537/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.418191 resInfo good: 1216, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1895/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999964 -0.00388483 -0.00750227 -0.00439263 0.00389341 0.999992 0.00112912 0.000313262 0.00749782 -0.00115828 0.999971 -0.0120536 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!527 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!528 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 529 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!529 INF|Input.cpp[getImages,132]: mNbReceivedImages!530 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.833610 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999857 -0.00776079 -0.0150084 -0.00869588 0.00779511 0.999967 0.00222898 0.000595808 0.0149907 -0.00234565 0.999885 -0.0241401 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 109 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.833610) and 526(1311875590.764494) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999857 -0.00776079 -0.0150084 -0.00869588 0.00779511 0.999967 0.00222898 0.000595808 0.0149907 -0.00234565 0.999885 -0.0241401 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999937 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:491/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 109 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.833610) and 526(1311875590.764494) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999937 -0.00642978 -0.00919517 -0.0305138 0.00640795 0.999977 -0.00240101 -0.0179576 0.00921039 0.00234194 0.999955 0.00430007 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999971 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:414/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 109 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.833610) and 526(1311875590.764494) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999923 -0.00161667 -0.0123403 -0.0135758 0.00146568 0.999924 -0.012234 0.0298622 0.0123591 0.012215 0.999849 -0.000819082 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 1): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:382/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.644688 resInfo good: 1182, 34 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5375/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999873 -0.00276383 -0.015717 0.00274352 0.00262989 0.99996 -0.00853614 0.0193073 0.0157399 0.00849372 0.99984 -0.0025202 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!528 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!529 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 530 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.866481 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!530 INF|Input.cpp[getImages,132]: mNbReceivedImages!531 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999712 -0.00172221 -0.023941 0.0098222 0.00128681 0.999834 -0.0181899 0.0381997 0.0239684 0.0181538 0.999548 0.00725491 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 109 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.866481) and 526(1311875590.764494) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999712 -0.00172221 -0.023941 0.0098222 0.00128681 0.999834 -0.0181899 0.0381997 0.0239684 0.0181538 0.999548 0.00725491 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999572 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:405/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 109 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.866481) and 526(1311875590.764494) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999657 -0.000411275 -0.0261707 -0.0113079 4.77252e-05 0.999904 -0.0138906 0.0112932 0.0261739 0.0138846 0.999561 -0.0396629 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999454 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:520/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 109 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.866481) and 526(1311875590.764494) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999722 -0.00209122 -0.0235012 -0.0125614 0.001817 0.99993 -0.0116838 0.00886467 0.0235239 0.0116378 0.999656 -0.0347729 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.99972 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:299/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.75428 resInfo good: 1216, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1540/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999694 -0.00337028 -0.0245109 -0.00304349 0.00310851 0.999938 -0.0107104 0.00971167 0.0245455 0.0106309 0.999642 -0.0311596 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!529 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!530 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 531 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.896570 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999437 -0.00399551 -0.0333017 -0.00857312 0.00356795 0.999911 -0.0128887 0.000175135 0.0333502 0.0127626 0.999362 -0.0598695 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 109 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.896570) and 526(1311875590.764494) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999437 -0.00399551 -0.0333017 -0.00857312 0.00356795 0.999911 -0.0128887 0.000175135 0.0333502 0.0127626 0.999362 -0.0598695 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!531 INF|Input.cpp[getImages,132]: mNbReceivedImages!532 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999556 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:646/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 109 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.896570) and 526(1311875590.764494) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999683 -0.000295253 -0.0251639 -0.0369591 8.73158e-05 0.999966 -0.00826401 0.000926541 0.0251654 0.0082592 0.999649 -0.0465481 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.99966 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:445/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 109 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.896570) and 526(1311875590.764494) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999622 -0.00210724 -0.0274059 -0.0192689 0.00192014 0.999975 -0.00685166 0.00366175 0.0274196 0.00679645 0.999601 -0.0443081 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999847 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:336/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.786506 resInfo good: 1216, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1736/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999548 -0.00471986 -0.0296854 -0.00304127 0.00455649 0.999974 -0.00556863 0.00122988 0.029711 0.00543085 0.999544 -0.0379336 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!530 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!531 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 532 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.934824 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999374 -0.00604248 -0.034866 -0.00299292 0.00603101 0.999982 -0.000434298 -0.00728685 0.034868 0.000223749 0.999392 -0.0446634 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 109 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.934824) and 526(1311875590.764494) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999374 -0.00604248 -0.034866 -0.00299292 0.00603101 0.999982 -0.000434298 -0.00728685 0.034868 0.000223749 0.999392 -0.0446634 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999506 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:314/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 109 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.934824) and 526(1311875590.764494) on lvl: 1 Input.cpp[readImages,192]: readImages loop! INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999142 0.00288052 -0.0413247 0.0110671 -0.00349305 0.999885 -0.0147579 0.02891 0.0412774 0.0148896 0.999037 -0.0541761 INF|Input.cpp[getImages,128]: getimages!532 INF|Input.cpp[getImages,132]: mNbReceivedImages!533 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999224 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:412/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 109 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.934824) and 526(1311875590.764494) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999475 -0.00259102 -0.0322986 -0.0150612 0.00252316 0.999995 -0.00214143 -0.00586251 0.032304 0.00205881 0.999476 -0.0382243 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:476/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.851307 resInfo good: 1216, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1516/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999415 -0.00199197 -0.0341321 -0.00538746 0.00183615 0.999988 -0.00459595 0.00722113 0.0341409 0.00453059 0.999407 -0.0439067 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!531 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 450 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!532 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 533 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.964602 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999068 0.00347572 -0.0430153 -0.00995075 -0.00359149 0.99999 -0.00261432 0.0192068 0.0430058 0.00276637 0.999071 -0.0558995 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 109 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.964602) and 526(1311875590.764494) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999068 0.00347572 -0.0430153 -0.00995075 -0.00359149 0.99999 -0.00261432 0.0192068 0.0430058 0.00276637 0.999071 -0.0558995 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999128 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:233/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 109 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.964602) and 526(1311875590.764494) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999068 0.00342245 -0.043028 -0.0100098 -0.00353928 0.99999 -0.00263932 0.0191388 0.0430185 0.00278915 0.99907 -0.0557722 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999543 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:540/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 109 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.964602) and 526(1311875590.764494) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999242 -0.00277645 -0.0388401 -0.020835 0.00269077 0.999994 -0.00225797 0.0143193 0.0388461 0.00215175 0.999243 -0.0602078 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!533 INF|Input.cpp[getImages,132]: mNbReceivedImages!534 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:395/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.938692 resInfo good: 1177, 39 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1466/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999151 -0.0042314 -0.0409786 -0.00905182 0.00424854 0.999991 0.000331125 0.00743439 0.0409768 -0.000504943 0.99916 -0.0603225 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!532 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!533 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 534 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!534 INF|Input.cpp[getImages,132]: mNbReceivedImages!535 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875590.996614 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998835 -0.00643623 -0.0478341 -0.0126039 0.00669452 0.999964 0.00524153 0.00755725 0.0477986 -0.00555565 0.998842 -0.0767639 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 109 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.996614) and 526(1311875590.764494) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998835 -0.00643623 -0.0478341 -0.0126039 0.00669452 0.999964 0.00524153 0.00755725 0.0477986 -0.00555565 0.998842 -0.0767639 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999507 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:471/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 109 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.996614) and 526(1311875590.764494) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99748 0.00473472 -0.0707926 0.107464 -0.00262349 0.99955 0.0298861 -0.0314258 0.0709022 -0.029625 0.997043 0.0325518 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999033 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:258/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 109 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875590.996614) and 526(1311875590.764494) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.997574 0.00542436 -0.0694 0.106808 -0.00322263 0.999489 0.0317979 -0.0313602 0.0695371 -0.0314971 0.997082 0.0380331 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999209 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:362/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.24185 resInfo good: 1135, 81 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1379/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998543 0.00393031 -0.0538134 0.0646561 -0.000820477 0.998334 0.0576896 -0.109222 0.0539505 -0.0575615 0.996883 0.112146 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875590.996614 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875590.996614 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875590.996614 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 635 size: 1294 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875590.996614 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -9.40263 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -12.7204 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 465 keyframeId: 99 score: -15.8495 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 478 keyframeId: 101 score: -16.3608 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 506 keyframeId: 107 score: -13.5011 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 518 keyframeId: 108 score: -8.99881 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 110 = 110 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1caaae0 fh1 0x185b3f60fh->id: 89 110 533goodE: 64 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1caaae0 fh1 0x2bb262e0fh->id: 94 110 533goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1caaae0 fh1 0x2dcfb1c0fh->id: 99 110 533goodE: 22 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1caaae0 fh1 0x2bb236e0fh->id: 101 110 533goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1caaae0 fh1 0x1b9118e0fh->id: 107 110 533goodE: 9 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1caaae0 fh1 0x2bb35b00fh->id: 108 110 533goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1caaae0 fh1 0x2ce5c640fh->id: 109 110 533goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew110 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 10 out of 11 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 11 newEdgePixels: 11 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 739 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 160 lastEnergy: 176.822 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 46 INF|LocalMapper.cpp[optimize,276]: Start Energy: 176.822 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -9.38949e-12 -4.53096e-13 -1.02749e-11 9.07421e-12 0.00229373 -0.000520627 -0.00261807 -0.000131523 0.000386586 -0.000920051 -0.00539371 0.00101888 0.00166812 -0.000170056 0.000996647 -0.00125703 -0.00102537 -0.00137536 0.00525444 -0.000487753 0.000177551 -0.000837595 -0.00283097 0.00144838 0.00575825 -0.000254455 0.000235883 -0.00104686 0.00742441 0.00484268 0.00937899 -0.000155351 -0.000676441 -0.000232769 -0.0190121 -0.0142731 0.0214091 -0.00240672 0.0023888 -0.000245123 0.000624017 -0.00180044 0.00139792 -0.000206889 -0.000141214 0.000401113 0.0294015 0.0238146 0.0615239 -0.000183433 -0.0011623 -0.00100857 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 739 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 169.84 0 0 newEnergyL 0 lastEnergy: 176.822 0 0 lastEnergyL: 0mActiveResiduals: 739 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 6.64789e-12 -9.8284e-13 2.48529e-12 3.82554e-13 -0.000621628 0.000230856 0.000768654 4.77991e-05 0.000101525 1.7505e-05 0.000402735 -0.000882232 -0.000522553 -9.07273e-05 -8.2705e-05 0.000163561 -0.00316727 0.0003 -0.0021946 -0.000164691 0.000273081 -0.000374057 0.00257645 8.14377e-05 -0.00263762 -7.27621e-05 -0.000395277 -0.000327377 0.00568215 0.00534504 -0.00454456 0.000470021 -0.000887051 -0.000433175 0.0198455 0.0192638 -0.0128571 0.0018103 -0.00292317 -0.00160652 -0.00792201 -0.0134795 -0.00148774 -0.00186323 0.000449711 0.000489762 0.0130916 0.0130486 0.0311581 -0.000229949 -0.000707556 -0.0013003 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 739 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 160.843 0 0 newEnergyL 0 lastEnergy: 169.84 0 0 lastEnergyL: 0mActiveResiduals: 739 Input.cpp[readImages,206]: Got image from sensor!534 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -3.87955e-12 -3.82719e-13 -9.37259e-12 -5.19047e-12 -0.000154231 0.0031234 -0.00102481 -0.000563704 -0.000937904 -0.0010349 -0.000625116 0.00468477 -0.00208049 -0.000623474 -0.00102897 -0.000933234 0.00117284 0.00212127 -0.00174972 -0.000814736 -0.00153883 2.29427e-05 -0.0038772 0.00413181 -0.002507 -0.000630087 -0.000974337 9.46113e-06 -0.00416501 -0.00655673 -0.00203295 -0.00134541 -0.00118292 0.00135075 -0.0290054 -0.0197865 0.00729399 -0.00245912 0.00174869 0.00198462 0.0206339 0.0244571 -0.00264734 0.00214505 -0.00433445 -0.000674259 0.0201295 -0.00890681 0.00813452 -0.00223155 -0.00381161 0.00143213 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 739 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 163.786 0 0 newEnergyL 0 lastEnergy: 160.843 0 0 lastEnergyL: 0mActiveResiduals: 739 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 3.77775e-12 1.29325e-12 -3.55845e-12 5.05281e-13 0.00192803 0.00359294 -0.00183613 0.000207877 -0.000290856 -0.00109575 0.000444507 0.00230716 -0.00200224 -0.000173032 -0.000611069 -0.000930961 -0.00297207 0.00331007 -0.00194373 -0.000286434 -0.00051324 -0.00128029 -0.0022227 -0.00384909 -0.00218164 -0.00126072 -0.000766751 -0.0013557 -0.0068833 0.0155093 0.00145767 -0.000221343 -0.000461437 -0.00310224 0.022847 0.0158878 -0.00453533 -0.000611838 -0.00400014 -0.00310815 -0.00860783 -0.0101646 0.00562527 -0.00297665 -0.000149262 -0.00103039 0.00121745 -0.0241512 0.0048747 -0.00412901 -0.00133202 0.00188608 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 739 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 161 0 0 newEnergyL 0 lastEnergy: 163.786 0 0 lastEnergyL: 0mActiveResiduals: 739 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -7.75171e-12 2.34203e-13 -3.28143e-12 -6.51022e-12 -0.000883955 -0.00160345 0.00206202 0.000249584 0.00112186 -0.00157576 0.000377022 0.000285954 0.00135063 9.5992e-05 0.00114071 -0.00174425 0.00311699 0.00231117 0.000794323 0.000134786 0.000638272 -0.00117515 0.00271142 0.00841374 0.00187241 0.000756938 0.000670908 -0.00120932 0.00767015 -0.018122 -0.00110622 -0.001656 0.000125018 0.00218959 -0.00575882 -0.00564876 -0.00619544 0.000593638 0.00109821 0.00201104 0.000713249 0.01179 -0.00296529 0.00126613 0.000670223 -0.000805961 -0.0113027 0.000574225 0.00795586 0.00019394 0.00263647 0.000395085 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 739 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 156.797 0 0 newEnergyL 0 lastEnergy: 161 0 0 lastEnergyL: 0mActiveResiduals: 739 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 9.44225e-12 -2.03482e-13 9.7297e-13 1.0902e-12 0.00211972 0.00584747 -0.0006679 0.000251233 0.000106318 -0.00222722 0.00162639 0.00621569 -0.000229102 -0.000135836 -0.000272785 -0.00209755 -0.00169015 0.00115434 -0.00188127 -0.00143385 -0.000303245 -0.00229039 -0.0019208 2.83767e-05 -0.00254669 -0.00166197 -0.000589208 -0.00237532 0.000753227 0.0247858 -0.00289022 -0.000300287 -0.00145066 -0.00424088 0.00352983 0.00511422 0.00359483 -0.00309876 -0.00122591 -0.00330691 0.0076071 -0.00423866 0.00339788 -0.00346686 -0.00209193 -0.00144583 -0.00554407 -0.0372863 0.0043054 -0.00668071 -0.000147622 0.000748684 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 739 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 160.076 0 0 newEnergyL 0 lastEnergy: 156.797 0 0 lastEnergyL: 0mActiveResiduals: 739 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 160.076 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 739 INF|LocalMapper.cpp[optimize,345]: End Energy: 160.076 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.475496 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.475496 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 101 data: 0 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 535 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 101 with idx: 3 and allID: 478 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->101 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 101->89 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->101 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 101->94 INF|LocalMapper.cpp[marginalizeFrame,772]: 99<->101 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 101->99 INF|LocalMapper.cpp[marginalizeFrame,801]: 101 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 101 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 7022 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1caaae0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 110 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code:  INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 77 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 67 with distance 0.23Found rest min at: 76 with distance 0.084 overall min: 0.084 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 67 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 701 INF|LoopCloser.cpp[loopCloserLinear,145]: No loop because too close!110 with: 0.23 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 709 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 534 keyframes 111 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 526 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.032917 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!535 INF|Input.cpp[getImages,132]: mNbReceivedImages!536 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999815 0.0134003 -0.0137865 0.0558833 -0.0127115 0.998723 0.0488894 -0.095235 0.0144241 -0.0487051 0.998709 0.114163 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 110 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.032917) and 533(1311875590.996614) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999815 0.0134003 -0.0137865 0.0558833 -0.0127115 0.998723 0.0488894 -0.095235 0.0144241 -0.0487051 0.998709 0.114163 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999725 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:180/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 110 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.032917) and 533(1311875590.996614) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999813 -0.0097642 -0.0167172 0.0355322 0.0100845 0.999765 0.019183 -0.0259793 0.016526 -0.019348 0.999676 0.0122151 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:644/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 110 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.032917) and 533(1311875590.996614) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999968 -0.00471563 -0.00645294 -0.0144604 0.00478329 0.999933 0.0105099 0.00617556 0.00640295 -0.0105405 0.999924 -0.0156422 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999341 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:354/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.570927 resInfo good: 1294, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1476/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999924 -0.00897071 -0.00846834 0.00253015 0.00908655 0.999864 0.0137411 -0.00577008 0.00834392 -0.013817 0.99987 -0.00427293 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!534 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 451 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!535 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 536 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.066209 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999696 -0.0178225 -0.0170582 0.00514806 0.0182858 0.999457 0.0274016 -0.0115751 0.0165606 -0.0277051 0.999479 -0.00844446 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 110 to 14017281182505369600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.066209) and 533(1311875590.996614) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999696 -0.0178225 -0.0170582 0.00514806 0.0182858 0.999457 0.0274016 -0.0115751 0.0165606 -0.0277051 0.999479 -0.00844446 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999832 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:624/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 110 to 14017281182505369600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.066209) and 533(1311875590.996614) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999907 -0.00994369 -0.00937492 -0.0312109 0.0100982 0.999812 0.0165773 0.0190112 0.00920832 -0.0166704 0.999819 0.00415289 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!536 INF|Input.cpp[getImages,132]: mNbReceivedImages!537 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 10,0.999979 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:808/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 110 to 14017281182505369600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.066209) and 533(1311875590.996614) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999792 -0.0138573 -0.014987 0.000448349 0.0142306 0.999584 0.0250954 -0.00753754 0.014633 -0.0253034 0.999573 0.00684735 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:580/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.741936 resInfo good: 1294, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2321/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999773 -0.013279 -0.0166908 0.0056684 0.0136738 0.999624 0.0237629 -0.000246052 0.016369 -0.0239857 0.999578 -0.00246166 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!535 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!536 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 537 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.097831 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999535 -0.0175031 -0.0249549 0.00876729 0.0183408 0.999262 0.0337442 0.00531 0.0243458 -0.0341862 0.999119 -0.000680844 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 110 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.097831) and 533(1311875590.996614) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999535 -0.0175031 -0.0249549 0.00876729 0.0183408 0.999262 0.0337442 0.00531 0.0243458 -0.0341862 0.999119 -0.000680844 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999443 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:110/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 110 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.097831) and 533(1311875590.996614) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999751 -0.0122573 -0.0186561 -0.0459541 0.0131129 0.998834 0.0464529 -0.0640011 0.018065 -0.0466859 0.998746 -0.0293809 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:585/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 110 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.097831) and 533(1311875590.996614) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999649 -0.0159709 -0.0211149 -0.0142241 0.016821 0.999029 0.040715 -0.0243407 0.0204442 -0.0410559 0.998948 -0.0134902 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!537 INF|Input.cpp[getImages,132]: mNbReceivedImages!538 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:521/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.90307 resInfo good: 1284, 10 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1530/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999597 -0.0166706 -0.0229894 -0.00162878 0.017545 0.99911 0.03837 -0.0135232 0.0223293 -0.0387578 0.998999 -0.0128362 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!536 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 451 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!537 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 538 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!538 INF|Input.cpp[getImages,132]: mNbReceivedImages!539 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.134361 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99937 -0.0199685 -0.029336 -0.00881424 0.0215025 0.998366 0.052944 -0.0269776 0.0282309 -0.0535414 0.998166 -0.0230593 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 110 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.134361) and 533(1311875590.996614) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99937 -0.0199685 -0.029336 -0.00881424 0.0215025 0.998366 0.052944 -0.0269776 0.0282309 -0.0535414 0.998166 -0.0230593 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999981 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:635/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 110 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.134361) and 533(1311875590.996614) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999405 -0.0179845 -0.0294241 -0.0111062 0.0194929 0.998467 0.0518083 -0.030722 0.0284473 -0.052351 0.998223 -0.0218615 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999979 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:674/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 110 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.134361) and 533(1311875590.996614) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999463 -0.0175326 -0.0276817 -0.0119866 0.0188749 0.998621 0.0489967 -0.0135894 0.0267845 -0.0494929 0.998415 -0.0250587 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999814 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:517/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.980418 resInfo good: 1270, 24 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2172/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999458 -0.0184504 -0.0272633 -0.00831141 0.0197775 0.998591 0.0492379 -0.0117216 0.0263164 -0.0497505 0.998415 -0.0208379 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!537 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 468 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!538 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 539 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!539 INF|Input.cpp[getImages,132]: mNbReceivedImages!540 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.166388 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999298 -0.0201829 -0.0315558 -0.0149638 0.0220532 0.997949 0.0600904 -0.0100208 0.0302783 -0.0607441 0.997694 -0.0288868 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 110 to 14017281182505369600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.166388) and 533(1311875590.996614) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999298 -0.0201829 -0.0315558 -0.0149638 0.0220532 0.997949 0.0600904 -0.0100208 0.0302783 -0.0607441 0.997694 -0.0288868 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999418 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:662/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 110 to 14017281182505369600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.166388) and 533(1311875590.996614) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999181 -0.0187813 -0.0358513 -0.0129772 0.0207864 0.998192 0.0563986 -0.00896138 0.0347272 -0.0570976 0.997764 -0.0300305 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999551 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:438/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 110 to 14017281182505369600 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.166388) and 533(1311875590.996614) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999131 -0.0200138 -0.0365493 0.00390571 0.0222029 0.997921 0.0605041 -0.0138664 0.0352624 -0.0612631 0.997499 -0.0148856 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:567/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.0863 resInfo good: 1271, 23 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1976/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999219 -0.0199392 -0.0341263 -0.00265152 0.0219979 0.997892 0.0610552 -0.01307 0.032837 -0.0617582 0.997551 -0.0140655 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875591.166388 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875591.166388 to keyframe with id: 14017281182505369600 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875591.166388 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 737 size: 1667 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId14017281182505369600 timestamp: 1311875591.166388 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -8.79907 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -11.3163 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 465 keyframeId: 99 score: -11.7192 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 506 keyframeId: 107 score: -12.0558 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 518 keyframeId: 108 score: -12.5006 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 526 keyframeId: 109 score: -10.3612 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 111 = 111 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x271570a0 fh1 0x185b3f60fh->id: 89 111 538goodE: 65 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x271570a0 fh1 0x2bb262e0fh->id: 94 111 538goodE: 14 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x271570a0 fh1 0x2dcfb1c0fh->id: 99 111 538goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x271570a0 fh1 0x1b9118e0fh->id: 107 111 538goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x271570a0 fh1 0x2bb35b00fh->id: 108 111 538goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x271570a0 fh1 0x2ce5c640fh->id: 109 111 538goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x271570a0 fh1 0x1caaae0fh->id: 110 111 538goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew111 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 28 out of 29 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 29 newEdgePixels: 29 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 783 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 130 lastEnergy: 233.465 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 43 INF|LocalMapper.cpp[optimize,276]: Start Energy: 233.465 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -6.7825e-12 -1.3003e-12 -1.0154e-11 -1.23633e-11 -0.00515676 -0.00941528 0.0020918 -6.79342e-05 0.000310079 0.00564091 0.000377073 -0.0125701 0.000551276 0.00080112 0.000347602 0.00561285 0.00605893 -0.0130665 -0.000514906 0.00210819 0.000606762 0.00594042 0.0154657 -0.0312463 -0.00904903 0.00459584 0.0012153 0.00992694 0.01583 -0.00812267 -0.00735127 0.00678796 0.00094538 0.00738181 0.020009 -0.00951449 -0.0160637 0.00618186 0.000256829 0.00633781 0.041672 -0.0274948 0.0247269 0.00200141 -0.00087253 0.00621408 0.020996 -0.04177 0.0396103 -0.0025721 0.00172179 0.00224828 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 783 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 213.516 0 0 newEnergyL 0 lastEnergy: 233.465 0 0 lastEnergyL: 0mActiveResiduals: 783 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.03912e-11 -1.51363e-12 1.97156e-12 1.02892e-11 -0.000629558 -0.000267705 0.000531169 6.468e-05 0.000100711 7.7277e-05 -0.000146992 -0.00143963 0.00106909 -5.81409e-05 4.54119e-05 0.00017488 0.00144808 -0.00441061 -0.000383671 -0.000492752 -0.000101787 4.29013e-05 -0.00823856 -0.0118469 -0.010017 -0.00189698 0.000199535 -0.00121843 0.0036953 0.0213458 -0.00700715 0.0019183 -0.00029819 -0.00164092 0.0124171 -0.00463278 -0.0095531 -0.000399663 -0.00176098 0.00129716 0.00850561 -0.0457133 0.00706072 -0.0065201 -0.000771984 0.000464738 0.0236035 -0.0847564 0.00357656 -0.0109901 -0.00314154 0.00273144 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 783 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 200.813 0 0 newEnergyL 0 lastEnergy: 213.516 0 0 lastEnergyL: 0mActiveResiduals: 783 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -3.04792e-12 4.46682e-13 3.1305e-12 -4.59286e-12 0.000114003 -0.0026204 -0.00132307 -0.000277834 4.50904e-05 -0.00146787 0.00114128 0.00244029 -0.00102059 9.50476e-05 0.000319211 -0.00141514 0.00375535 0.00447687 -0.00290684 -8.07754e-05 -4.2717e-05 -0.00134292 0.0111895 0.0170564 0.00110718 0.00119559 -0.000578498 -0.000743786 0.0109412 0.00861197 -0.00942871 0.000417729 -0.00146148 -0.000562648 -0.0126337 0.00630606 0.00104739 -0.000681959 0.00227207 -0.00238197 -0.0114946 -0.0244781 0.00318057 -0.00423803 0.0023023 -0.000695819 0.000372151 -0.010802 0.0109384 -0.00286723 0.00102459 -0.00197499 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 783 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 191.032 0 0 newEnergyL 0 lastEnergy: 200.813 0 0 lastEnergyL: 0mActiveResiduals: 783 Input.cpp[readImages,206]: Got image from sensor!539 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.2006e-13 9.22338e-13 3.41574e-12 3.50158e-12 0.00400663 0.00368108 -0.00291639 -0.000715818 -0.00100946 -0.000597612 -0.00113606 0.00381417 -0.0011488 -0.000843818 -0.000829245 -0.00053776 -0.0031568 0.00413493 0.00174678 -0.000728216 -0.000812117 -0.000388647 -0.0127606 -8.70104e-05 -0.00430694 -0.00187975 -0.000529606 -0.00127351 -0.00190728 0.0150275 0.00431879 -0.000189623 -0.00081801 -0.00124346 0.000169757 0.000905113 0.000103445 -0.000700219 -0.00168938 0.00146024 0.00639904 -0.0135207 0.00788239 -0.00369114 -0.00220871 0.000129579 0.0130589 -0.0113781 -0.000993708 -0.00347534 -0.00351192 -0.000104268 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 783 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 187.371 0 0 newEnergyL 0 lastEnergy: 191.032 0 0 lastEnergyL: 0mActiveResiduals: 783 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.68023e-13 -2.13633e-12 -4.58106e-12 -7.65783e-12 -0.00301487 0.0026445 0.00421843 -0.000884467 0.000976524 -0.00231566 0.00498429 0.00421693 0.00116836 -0.00126318 0.000580016 -0.00202106 0.00703721 0.00779629 -0.00285944 -0.00156725 0.000270667 -0.00184348 0.00682689 0.00590039 -0.00350643 -0.00158572 0.000518088 0.000660729 -0.00626938 -0.0110013 -0.0119971 -0.00378844 0.00104005 0.000315774 -0.00744635 0.00997037 -0.00514661 -0.00255401 0.00166976 -0.00280733 0.00385788 -0.00821381 0.0128102 -0.00448213 0.00158399 -0.000733143 -0.0067947 -0.0121949 0.013573 -0.005211 0.00235465 -0.00200142 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 783 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 184.51 0 0 newEnergyL 0 lastEnergy: 187.371 0 0 lastEnergyL: 0mActiveResiduals: 783 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -3.15683e-13 2.20425e-12 1.07816e-11 8.55293e-12 0.00350856 -0.000117038 -0.00279197 -0.000455114 -0.00141683 0.000668719 0.000250528 0.000220942 -0.00234823 -0.000347942 -0.00119464 0.000519145 -0.00476682 -0.000989404 0.00154293 -0.000251122 -0.000470108 0.000400847 -0.00907887 0.000227348 -0.00315543 -0.000768365 -0.00057583 -0.00134642 0.00629395 0.0292969 -0.000343672 0.00335557 -0.00139894 -0.000925266 0.00248423 -0.010472 -0.00646861 -0.000433819 -0.00154035 0.00268237 -0.00264375 -0.00197563 0.00746439 -0.00221472 -0.000925585 -0.0028162 0.00670142 -0.0134267 0.00627194 -0.00270973 -0.00184728 -0.000419245 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 783 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 181.557 0 0 newEnergyL 0 lastEnergy: 184.51 0 0 lastEnergyL: 0mActiveResiduals: 783 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 181.557 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 783 INF|LocalMapper.cpp[optimize,345]: End Energy: 181.557 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.487483 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.487483 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 108 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 108 with idx: 4 and allID: 518 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->108 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 108->89 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->108 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 108->94 INF|LocalMapper.cpp[marginalizeFrame,772]: 99<->108 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 108->99 INF|LocalMapper.cpp[marginalizeFrame,801]: 108 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 108 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6868 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x271570a0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 111 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 540 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 77 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 68 with distance 0.23Found rest min at: 75 with distance 0.122 overall min: 0.122 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 68 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 704 INF|LoopCloser.cpp[loopCloserLinear,145]: No loop because too close!111 with: 0.23 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 715 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 539 keyframes 112 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.196371 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999996 -0.00168495 -0.00228597 -5.71516e-05 0.00168868 0.999997 0.00162909 0.0140201 0.00228322 -0.00163295 0.999996 0.00304328 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 111 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.196371) and 538(1311875591.166388) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999996 -0.00168495 -0.00228597 -5.71516e-05 0.00168868 0.999997 0.00162909 0.0140201 0.00228322 -0.00163295 0.999996 0.00304328 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!540 INF|Input.cpp[getImages,132]: mNbReceivedImages!541 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1114/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 111 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.196371) and 538(1311875591.166388) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999969 -0.00128684 -0.00775205 0.000826469 0.00137354 0.999936 0.0111897 -0.0190993 0.00773716 -0.0112 0.999907 0.00492165 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 10,0.999433 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1068/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 111 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.196371) and 538(1311875591.166388) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999963 -0.00144848 -0.00851522 0.00782418 0.00154869 0.999929 0.0117734 -0.0145722 0.00849756 -0.0117861 0.999894 0.00224217 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999798 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:654/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.422829 resInfo good: 1667, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3255/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999976 0.00176496 -0.00666431 -0.000120733 -0.0017085 0.999963 0.00846817 0.00244521 0.00667901 -0.00845658 0.999942 -0.00216569 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!539 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 683 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!540 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 541 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!541 INF|Input.cpp[getImages,132]: mNbReceivedImages!542 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.234012 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 11 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999905 0.00358618 -0.0133131 -0.000222714 -0.00336034 0.999851 0.0169469 0.00487219 0.0133719 -0.0169006 0.999768 -0.00435274 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 111 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.234012) and 538(1311875591.166388) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999905 0.00358618 -0.0133131 -0.000222714 -0.00336034 0.999851 0.0169469 0.00487219 0.0133719 -0.0169006 0.999768 -0.00435274 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999047 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3342/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 111 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.234012) and 538(1311875591.166388) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999856 0.0118757 -0.012096 -0.0164001 -0.011648 0.999757 0.018731 0.0239611 0.0123155 -0.0185874 0.999751 -0.0151413 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.99971 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2360/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 111 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.234012) and 538(1311875591.166388) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999919 0.00907904 -0.00886644 -0.0224013 -0.0089054 0.999772 0.019431 0.0168318 0.00904083 -0.0193505 0.999772 -0.0190328 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999586 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:851/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.724125 resInfo good: 1585, 82 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8072/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999929 0.00644298 -0.010034 -0.0110134 -0.0062529 0.999803 0.0188603 0.0176274 0.0101535 -0.0187962 0.999772 -0.0140969 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!540 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1094 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!541 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 542 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!542 INF|Input.cpp[getImages,132]: mNbReceivedImages!543 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.264056 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999849 0.0111554 -0.0133548 -0.0217945 -0.0107608 0.999514 0.0292656 0.0327353 0.0136747 -0.0291174 0.999482 -0.0262222 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 111 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.264056) and 538(1311875591.166388) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999849 0.0111554 -0.0133548 -0.0217945 -0.0107608 0.999514 0.0292656 0.0327353 0.0136747 -0.0291174 0.999482 -0.0262222 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999829 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:622/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 111 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.264056) and 538(1311875591.166388) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999736 0.0128229 -0.0190821 -0.0143245 -0.0121057 0.999233 0.0372388 0.00520747 0.019545 -0.036998 0.999124 -0.0168585 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999515 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:794/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 111 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.264056) and 538(1311875591.166388) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999808 0.00832092 -0.0177474 -0.0111705 -0.00767988 0.999326 0.0358875 0.00385241 0.0180341 -0.0357443 0.999198 -0.0102188 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1071/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.770525 resInfo good: 1536, 131 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3047/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99985 0.00154916 -0.0172455 -0.00450461 -0.000944026 0.999385 0.0350425 0.00237221 0.0172892 -0.035021 0.999237 -0.00863858 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!541 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 643 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!542 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 543 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.296498 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!543 INF|Input.cpp[getImages,132]: mNbReceivedImages!544 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999782 -0.000853675 -0.0208805 -0.00123597 0.00175354 0.999069 0.0431159 -0.00520908 0.0208242 -0.0431431 0.998852 -0.00579934 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 111 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.296498) and 538(1311875591.166388) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999782 -0.000853675 -0.0208805 -0.00123597 0.00175354 0.999069 0.0431159 -0.00520908 0.0208242 -0.0431431 0.998852 -0.00579934 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999673 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:535/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 111 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.296498) and 538(1311875591.166388) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999797 0.00016703 -0.0201404 -0.0427347 0.000536496 0.99939 0.0349206 0.00374888 0.020134 -0.0349243 0.999187 -0.0603184 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:710/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 111 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.296498) and 538(1311875591.166388) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999791 0.00107888 -0.0204227 -0.0416506 -0.000338626 0.999344 0.0362155 0.00515394 0.0204484 -0.036201 0.999135 -0.0580551 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 4): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:984/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.897481 resInfo good: 1449, 218 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2732/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999672 0.0048222 -0.0251407 -0.0112723 -0.0037639 0.999112 0.0419738 0.00499776 0.0253207 -0.0418654 0.998802 -0.0245591 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!542 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 574 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!543 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 544 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!544 INF|Input.cpp[getImages,132]: mNbReceivedImages!545 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.332591 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999422 0.00814909 -0.0330113 -0.0179044 -0.00652786 0.998781 0.048925 0.00753348 0.0333697 -0.0486812 0.998257 -0.0405512 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 111 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.332591) and 538(1311875591.166388) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999422 0.00814909 -0.0330113 -0.0179044 -0.00652786 0.998781 0.048925 0.00753348 0.0333697 -0.0486812 0.998257 -0.0405512 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999656 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:740/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 111 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.332591) and 538(1311875591.166388) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999502 0.0189351 -0.0252447 -0.0505266 -0.0175507 0.998388 0.053979 0.0285825 0.0262261 -0.0535091 0.998223 -0.017926 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999166 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:547/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 111 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.332591) and 538(1311875591.166388) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999503 0.0128559 -0.0287957 -0.0355818 -0.0112486 0.998407 0.0552984 0.0149478 0.0294607 -0.054947 0.998055 -0.044442 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999128 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:347/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.07813 resInfo good: 1343, 324 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2055/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999495 0.00981054 -0.030238 -0.0165099 -0.00812281 0.998429 0.055441 0.0187184 0.0307344 -0.0551674 0.998004 -0.0247217 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875591.332591 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875591.332591 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875591.332591 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 708 size: 1280 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875591.332591 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -8.92929 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -11.5849 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 465 keyframeId: 99 score: -11.9455 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 506 keyframeId: 107 score: -10.7356 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 526 keyframeId: 109 score: -11.2222 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 533 keyframeId: 110 score: -11.2584 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 112 = 112 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd00b00 fh1 0x185b3f60fh->id: 89 112 543goodE: 62 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd00b00 fh1 0x2bb262e0fh->id: 94 112 543goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd00b00 fh1 0x2dcfb1c0fh->id: 99 112 543goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd00b00 fh1 0x1b9118e0fh->id: 107 112 543goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd00b00 fh1 0x2ce5c640fh->id: 109 112 543goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd00b00 fh1 0x1caaae0fh->id: 110 112 543goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd00b00 fh1 0x271570a0fh->id: 111 112 543goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew112 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 24 out of 24 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 24 newEdgePixels: 24 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 823 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 136 lastEnergy: 220.559 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 49 INF|LocalMapper.cpp[optimize,276]: Start Energy: 220.559 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 7.25703e-12 -3.76938e-12 2.48517e-12 -2.6087e-12 -0.00246518 -0.00548857 -5.06774e-05 0.00199398 0.00104493 0.00359389 -0.00563191 -0.00846214 0.00414477 0.00266424 0.0011014 0.00357382 0.00103873 -0.0102506 0.00626055 0.00338809 0.000846072 0.00318591 0.00635845 -0.001853 0.020556 0.00482965 0.00208093 0.000557887 0.00414918 0.00523312 0.0123199 0.00495938 0.00141922 -0.00177239 0.00837954 -0.000333355 0.035046 0.00373693 0.00242007 -0.00121758 0.00282979 0.0229824 0.0350904 0.00649904 0.00288486 -0.00181786 -0.00168779 0.0528107 0.0511814 0.00776788 0.00319215 -0.00713773 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 823 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 210.701 0 0 newEnergyL 0 lastEnergy: 220.559 0 0 lastEnergyL: 0mActiveResiduals: 823 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.68767e-12 1.27598e-12 -4.25504e-12 3.95417e-12 -0.000656468 7.06327e-05 0.00144444 0.000103881 0.000128335 0.000140583 -0.000650091 -0.00152634 0.000156553 -0.000191926 0.000149419 -0.000127205 -0.00209557 -0.000579938 8.76592e-05 -3.21142e-05 0.000257819 -6.63512e-05 0.00421158 -0.00406624 0.0117086 -0.0010446 -0.000111735 -0.000142419 0.0158173 0.00525759 0.000508453 0.0026358 -0.00126456 0.00369724 0.0108635 0.00998086 0.0223739 -0.000942102 -0.000818964 -0.00367404 -0.0034567 0.016001 0.011238 0.000421499 5.37619e-05 -0.00373311 0.0130932 0.0170589 0.0200662 0.00068451 -0.00163122 -0.00224697 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 823 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 203.836 0 0 newEnergyL 0 lastEnergy: 210.701 0 0 lastEnergyL: 0mActiveResiduals: 823 Input.cpp[readImages,206]: Got image from sensor!544 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 2.7479e-12 -3.48976e-12 -9.66816e-13 1.33546e-12 -0.00503242 -0.00512365 0.00172504 0.000158568 -0.00185733 0.00305482 0.00160439 -0.00886338 -0.00242858 0.000334394 -0.00185393 0.00327652 0.0014415 -0.0053676 -0.00458194 0.00144456 -0.00120294 0.00333372 -0.00569229 -0.00141476 -0.0219419 0.00435485 -0.00070702 0.00331219 -0.00388973 -0.00118836 -0.013743 0.0019475 -0.000843931 -0.000995261 0.00544868 -0.00105838 0.00272069 0.00246659 -0.000508262 0.000315769 0.00126757 0.00628456 0.00907087 0.00251728 0.000173491 -0.000631739 -0.00164409 0.0193456 0.0212518 0.00338137 0.000884598 -0.00243879 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 823 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 198.327 0 0 newEnergyL 0 lastEnergy: 203.836 0 0 lastEnergyL: 0mActiveResiduals: 823 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -4.03167e-12 2.56419e-12 4.03584e-12 2.31241e-12 0.000603494 -0.000733894 -0.00566406 0.000606106 -0.00188638 0.000455392 -0.00326356 -0.001821 -0.00508991 0.000565372 -0.00173504 0.000287022 -0.00430886 0.000281786 -0.00145773 0.00121315 -0.00160565 0.000312655 0.00214744 0.0010383 0.0132598 0.000514732 -0.00155817 -0.000478824 -0.0208902 -0.000119738 -0.000112148 0.00288832 0.00124814 0.00225753 0.000462486 -0.00667658 -0.00208202 0.000129826 -0.0024172 -0.000135578 0.00987521 0.00382565 0.0066768 0.00208956 -0.00264594 0.00120852 0.0214753 0.00815254 -0.00960721 0.00195079 -0.00579762 -0.00100545 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 823 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 192.038 0 0 newEnergyL 0 lastEnergy: 198.327 0 0 lastEnergyL: 0mActiveResiduals: 823 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.26371e-12 -1.9793e-12 -1.49761e-12 -4.88705e-12 -0.00418342 -0.00164672 -0.00193935 7.51812e-05 -0.00185013 0.00122864 -0.00298127 -0.00315746 -0.00251675 0.000202871 -0.00194108 0.00148668 -0.00138409 -0.00479743 -0.00177002 0.000411376 -0.00193481 0.00152142 -0.00139993 -0.00299379 -0.0146952 0.00252558 -0.0021577 0.00254694 0.00958989 0.0059699 -0.00247127 0.00169419 -0.00348959 -0.000700088 -0.0010485 0.00522107 0.00239949 0.00178974 -0.00133578 -0.000633923 0.00036368 0.000760433 0.00404919 0.000727794 -0.00148568 -0.000612599 -0.000794099 0.00304011 0.00898814 0.00117225 -0.00123419 -0.000915937 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 823 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 190.959 0 0 newEnergyL 0 lastEnergy: 192.038 0 0 lastEnergyL: 0mActiveResiduals: 823 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.1456e-12 2.58045e-12 5.3472e-12 8.22878e-12 -0.000830832 -0.00410195 -0.00105506 8.70851e-05 -0.00163895 0.000977934 -0.000788255 -0.00277706 -0.00315714 0.000294698 -0.00136785 0.0007437 -0.000888934 0.000876457 -0.00301366 0.00112778 -0.00116698 0.000659247 -0.00776465 0.00347239 -0.000800713 0.000774118 -0.000449987 -0.00115947 -0.0249872 -0.0127505 -0.00626473 0.00107735 0.00227593 0.00295167 0.00384111 -0.000398922 -0.000435273 0.000706048 -0.00164182 -0.000612007 0.012648 0.0122256 0.00811098 0.00263561 -0.00197282 0.000124982 0.0192494 0.00674553 0.00435207 0.00198238 -0.00286394 0.00193963 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 823 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 186.611 0 0 newEnergyL 0 lastEnergy: 190.959 0 0 lastEnergyL: 0mActiveResiduals: 823 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 186.611 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 823 INF|LocalMapper.cpp[optimize,345]: End Energy: 186.611 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.486946 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.486946 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 545 INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 99 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 99 with idx: 2 and allID: 465 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->99 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 99->89 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->99 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 99->94 INF|LocalMapper.cpp[marginalizeFrame,772]: 99<->99 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 107<->99 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 99->107 INF|LocalMapper.cpp[marginalizeFrame,801]: 99 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 99 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 7478 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2dd00b00 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 112 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 77 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 68 with distance 0.254Found rest min at: 73 with distance 0.152 overall min: 0.152 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 732 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 112 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 741 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 544 keyframes 113 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 552 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.364764 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!545 INF|Input.cpp[getImages,132]: mNbReceivedImages!546 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999999 -0.00112096 -0.000654758 -0.00977055 0.00112592 0.99997 0.00763274 -0.00358735 0.000646182 -0.00763347 0.999971 -0.00626652 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 112 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.364764) and 543(1311875591.332591) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999999 -0.00112096 -0.000654758 -0.00977055 0.00112592 0.99997 0.00763274 -0.00358735 0.000646182 -0.00763347 0.999971 -0.00626652 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999642 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:501/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 112 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.364764) and 543(1311875591.332591) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999991 -0.00105973 -0.00411613 -0.00698916 0.00112935 0.999856 0.0169495 -0.0355781 0.00409758 -0.016954 0.999848 -0.00414325 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.99989 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:668/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 112 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.364764) and 543(1311875591.332591) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999987 -0.00105325 -0.00504341 -0.00461873 0.00111444 0.999926 0.0121447 -0.0137541 0.00503024 -0.0121501 0.999914 -0.00767215 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:807/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.477728 resInfo good: 1280, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2290/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999989 -0.000104555 -0.00474228 0.00237064 0.00016389 0.999922 0.0125134 -0.00666813 0.0047406 -0.012514 0.99991 0.00609087 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!544 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 491 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!545 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 546 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!546 INF|Input.cpp[getImages,132]: mNbReceivedImages!547 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.397799 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 12 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999955 -0.000149755 -0.00948539 0.00471306 0.000387087 0.999687 0.0250238 -0.0132591 0.00947868 -0.0250264 0.999642 0.0122759 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 112 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.397799) and 543(1311875591.332591) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999955 -0.000149755 -0.00948539 0.00471306 0.000387087 0.999687 0.0250238 -0.0132591 0.00947868 -0.0250264 0.999642 0.0122759 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999168 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1355/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 112 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.397799) and 543(1311875591.332591) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999961 0.00338101 -0.00818548 -0.0289682 -0.00323932 0.999846 0.0172622 -0.00713974 0.00824258 -0.017235 0.999817 -0.0137237 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2392/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 112 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.397799) and 543(1311875591.332591) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999931 0.00348738 -0.0112478 -0.000788055 -0.00332595 0.999892 0.0143385 0.0177955 0.0112966 -0.0143001 0.999834 0.00756698 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.99906 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1778/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.603535 resInfo good: 1256, 24 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6725/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999946 0.00134278 -0.0103296 -0.00296842 -0.00116047 0.999844 0.0176358 0.00563904 0.0103516 -0.0176229 0.999791 0.00248095 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!545 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1170 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!546 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 547 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!547 INF|Input.cpp[getImages,132]: mNbReceivedImages!548 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.432165 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99976 0.00432289 -0.0214804 -0.0135342 -0.00372274 0.999604 0.027901 0.0302185 0.0215925 -0.0278143 0.99938 -0.00501683 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 112 to 4754004510014177280 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.432165) and 543(1311875591.332591) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99976 0.00432289 -0.0214804 -0.0135342 -0.00372274 0.999604 0.027901 0.0302185 0.0215925 -0.0278143 0.99938 -0.00501683 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 3): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:633/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 112 to 4754004510014177280 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.432165) and 543(1311875591.332591) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999693 0.00766217 -0.023564 -0.00431639 -0.00698047 0.999559 0.0288772 0.0128435 0.0237749 -0.0287038 0.999305 -0.000981905 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999983 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:618/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 112 to 4754004510014177280 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.432165) and 543(1311875591.332591) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999815 0.00473502 -0.0186204 -0.0153502 -0.00426201 0.999669 0.0253614 0.0230584 0.0187343 -0.0252773 0.999505 -0.00574808 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999968 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:356/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.822981 resInfo good: 1217, 63 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1976/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999805 0.00230211 -0.0196203 -0.010003 -0.00173846 0.999587 0.0286967 0.0116397 0.0196783 -0.028657 0.999396 -0.00779024 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!546 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 590 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!547 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 548 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.463970 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!548 INF|Input.cpp[getImages,132]: mNbReceivedImages!549 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999577 0.00336388 -0.0288982 -0.0169368 -0.00221319 0.999207 0.039759 0.0175312 0.0290091 -0.0396783 0.998791 -0.0181922 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 112 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.463970) and 543(1311875591.332591) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999577 0.00336388 -0.0288982 -0.0169368 -0.00221319 0.999207 0.039759 0.0175312 0.0290091 -0.0396783 0.998791 -0.0181922 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 4): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:712/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 112 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.463970) and 543(1311875591.332591) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999738 -0.00916004 -0.0209846 -0.0355613 0.0098747 0.999366 0.0342096 0.00119628 0.0206579 -0.0344078 0.999194 0.00847987 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 6): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:891/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 112 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.463970) and 543(1311875591.332591) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999643 -0.00114205 -0.0266793 -0.00812093 0.00225121 0.999133 0.0415808 0.00361631 0.0266087 -0.0416261 0.998779 0.0277903 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 4): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:635/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.890464 resInfo good: 1189, 91 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2608/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999568 -0.00300357 -0.029248 -0.00176052 0.00423959 0.999096 0.04229 -0.00327749 0.0290945 -0.0423957 0.998677 0.0066842 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!547 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 584 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!548 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 549 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.497313 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Tracker.cpp[trackFrames,78]: initPose: 0.999208 -0.00817603 -0.0389441 0.00642752 0.0103448 0.998387 0.0558169 -0.0179474 0.0384249 -0.0561756 0.997681 0.0214395 INF|Input.cpp[getImages,128]: getimages!549 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 112 to 13929123684515053568 INF|Input.cpp[getImages,132]: mNbReceivedImages!550 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.497313) and 543(1311875591.332591) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999208 -0.00817603 -0.0389441 0.00642752 0.0103448 0.998387 0.0558169 -0.0179474 0.0384249 -0.0561756 0.997681 0.0214395 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999353 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:197/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 112 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.497313) and 543(1311875591.332591) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999304 0.00101026 -0.0372952 -0.00957955 0.000420561 0.999265 0.038337 0.0327308 0.0373065 -0.038326 0.998569 0.00823121 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999253 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:564/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 112 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.497313) and 543(1311875591.332591) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999388 0.00209788 -0.0349148 -0.0246603 -0.000593454 0.999073 0.0430432 0.0137701 0.0349728 -0.0429962 0.998463 -0.00687026 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:512/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.989636 resInfo good: 1168, 112 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1643/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999257 0.00035258 -0.0385481 -0.00956836 0.00138268 0.998987 0.0449795 0.00679808 0.0385249 -0.0449993 0.998244 -0.0135412 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!548 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 573 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!549 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 550 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.533344 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!550 INF|Input.cpp[getImages,132]: mNbReceivedImages!551 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998848 0.00373282 -0.0478356 -0.0171551 -0.00144871 0.998861 0.0476951 0.0168438 0.0479592 -0.0475709 0.997716 -0.0338653 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 112 to 4754004510014177280 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.533344) and 543(1311875591.332591) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998848 0.00373282 -0.0478356 -0.0171551 -0.00144871 0.998861 0.0476951 0.0168438 0.0479592 -0.0475709 0.997716 -0.0338653 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999783 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:334/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 112 to 4754004510014177280 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.533344) and 543(1311875591.332591) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998925 0.0101307 -0.0452346 -0.0174155 -0.00776341 0.998606 0.0522068 0.0418436 0.0457004 -0.0517995 0.997611 0.0175013 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999014 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:378/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 112 to 4754004510014177280 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.533344) and 543(1311875591.332591) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998927 0.00739001 -0.0457227 -0.0194923 -0.00493739 0.998554 0.0535235 0.0312299 0.0460522 -0.0532403 0.997519 -0.00908037 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 4): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:609/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.12416 resInfo good: 1113, 167 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1685/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998844 0.00620677 -0.047658 -0.01167 -0.00337659 0.998238 0.0592379 0.0123433 0.0479417 -0.0590085 0.997106 -0.0169715 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875591.533344 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875591.533344 to keyframe with id: 4754004510014177280 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875591.533344 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 821 size: 1015 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId4754004510014177280 timestamp: 1311875591.533344 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -8.34807 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -9.49698 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 506 keyframeId: 107 score: -11.132 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 526 keyframeId: 109 score: -16.8636 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 533 keyframeId: 110 score: -21.5667 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 538 keyframeId: 111 score: -17.8113 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 113 = 113 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7dc0c00 fh1 0x185b3f60fh->id: 89 113 549goodE: 50 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7dc0c00 fh1 0x2bb262e0fh->id: 94 113 549goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7dc0c00 fh1 0x1b9118e0fh->id: 107 113 549goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7dc0c00 fh1 0x2ce5c640fh->id: 109 113 549goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7dc0c00 fh1 0x1caaae0fh->id: 110 113 549goodE: 10 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7dc0c00 fh1 0x271570a0fh->id: 111 113 549goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7dc0c00 fh1 0x2dd00b00fh->id: 112 113 549goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew113 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 26 out of 28 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 28 newEdgePixels: 28 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 650 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 122 lastEnergy: 150.482 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 46 INF|LocalMapper.cpp[optimize,276]: Start Energy: 150.482 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.2319e-11 -5.95792e-13 -1.33432e-12 -9.94403e-12 0.011511 0.0112698 0.00284582 -0.000937528 0.00671696 -0.00565895 0.00552909 0.0140834 0.0117323 -0.00151793 0.00672852 -0.0055215 0.0282536 0.011578 0.0102791 -0.00475254 0.00412195 -0.000507478 0.0278807 0.0502265 -0.000775033 -0.00255751 0.00206123 -0.00645823 0.0356941 0.0479266 0.0415424 -0.00363706 0.00378509 -0.00739173 0.0176371 0.0442544 0.0192606 -0.0042026 0.00362759 -0.00906711 0.013379 0.043021 0.0258278 -0.00352425 0.00488255 -0.00809739 -0.00246862 0.0573434 0.017321 -0.00307726 0.00462783 -0.0139724 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 650 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 139.007 0 0 newEnergyL 0 lastEnergy: 150.482 0 0 lastEnergyL: 0mActiveResiduals: 650 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.57756e-12 1.50677e-12 -5.70831e-12 1.03441e-11 -0.000192327 0.000379321 0.00274093 1.55143e-05 0.000228539 6.50305e-05 -0.00171785 0.00199513 0.00347808 7.06196e-05 0.000569159 -0.000382864 0.0102704 0.0103502 -0.000344704 0.000262165 -0.00132647 -0.00168021 0.00217314 0.0207036 0.0159479 0.000953621 0.000680468 -0.00333561 0.0015399 0.0070907 0.00308187 -0.00160684 -0.000938055 -0.00410764 0.00814034 0.00980956 0.0168549 -0.000689408 -0.000825215 -0.00263463 0.00355082 0.00440971 0.0134062 -0.000331365 0.000210456 9.55116e-05 -0.00087354 0.00124681 0.000358597 0.000520083 0.000572212 0.00125979 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 650 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 137.809 0 0 newEnergyL 0 lastEnergy: 139.007 0 0 lastEnergyL: 0mActiveResiduals: 650 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 2.14208e-12 -5.97837e-13 1.80942e-14 -6.09998e-12 -0.00157206 -0.000289416 0.00199621 -0.000138736 0.000393 0.000133648 0.00355985 -0.000478268 -0.000328974 -2.0646e-05 -9.63087e-05 0.000532428 0.00054547 -0.000461763 -0.00276791 0.000853401 0.000856271 0.00126792 -0.00709736 -0.0289635 -0.0111762 -0.00245366 0.00114632 0.00325413 0.00235008 0.00653028 0.0069164 0.000242322 0.000802612 -0.00124308 0.0118281 0.0100821 0.0071789 0.00100883 -0.000189455 -0.000179484 -0.0109377 -0.00126922 -0.00955252 0.000461291 0.00163127 -0.000262786 -0.00102162 0.0146031 0.00496855 0.000309717 8.0158e-05 -0.00427688 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 650 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 134.763 0 0 newEnergyL 0 lastEnergy: 137.809 0 0 lastEnergyL: 0mActiveResiduals: 650 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -4.4813e-13 4.57159e-13 3.80443e-12 4.68243e-12 0.00238704 0.000957773 0.00161082 -0.000363242 0.000383193 0.00014079 2.17884e-05 0.000239038 0.00251781 -0.000571734 0.000619054 -0.000177623 -0.00288112 -0.00486207 -0.00722791 -0.000747016 0.00041099 0.00112948 -0.000478576 0.0293241 0.0011071 0.00235852 0.000526421 -0.00251877 0.00193299 -0.0048832 0.00657319 -0.00171567 0.000491758 0.000528989 -0.00535616 -0.00241339 0.00218575 -0.00139764 0.000972762 -0.000488583 0.00863802 -0.00440497 0.00311365 -0.00264434 -0.00104401 -0.000925217 -0.00581591 -0.015489 -0.00287935 -0.00163542 0.00173545 0.00320129 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 650 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 132.055 0 0 newEnergyL 0 lastEnergy: 134.763 0 0 lastEnergyL: 0mActiveResiduals: 650 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -4.55693e-13 -8.93856e-13 -3.7575e-12 -6.59414e-12 -0.00345259 -0.00146802 -0.00200608 0.000146796 -0.00237069 0.000186256 0.00062231 -0.00179659 -0.00528857 0.00025807 -0.00264312 0.000685554 -0.0231346 -0.00224892 -0.00241335 0.000804825 0.000532027 -8.94753e-06 0.0169186 -0.0234218 -0.0117054 -0.00134208 -0.00479421 0.00256811 0.00144904 0.00771632 0.00173252 0.00238089 -0.00192815 0.000206825 0.0167303 0.00737983 0.0119687 0.00160877 -0.00322482 0.000632098 -0.00951016 -0.00310592 0.00162097 0.00215306 -0.000197834 0.00206433 0.00111731 0.021362 -0.00186196 0.00293701 -0.00289834 -0.0026964 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 650 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 131.044 0 0 newEnergyL 0 lastEnergy: 132.055 0 0 lastEnergyL: 0mActiveResiduals: 650 Input.cpp[readImages,206]: Got image from sensor!550 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 8.62788e-13 -6.40203e-13 6.44486e-12 8.36899e-12 0.000789708 -0.00197161 -0.0010065 0.000266091 0.000602383 0.000443631 -0.00300149 -0.00218255 0.000890979 0.000253593 0.000934717 3.13303e-05 0.0201455 -0.000571366 -0.00361432 0.000983104 -0.00213513 0.00122934 -0.00567505 0.0233081 0.00508705 0.00341595 0.00165975 -0.00167841 -0.00272182 -0.00432108 0.00164246 7.91674e-06 0.00082113 -0.000169894 -0.014589 -0.00708482 0.000509756 4.1702e-05 0.00231554 0.000110821 0.00492985 0.00674066 0.00233629 -0.000416741 -0.000593635 -0.00250011 4.86061e-06 -0.016361 -0.00592114 -0.000212383 0.00103141 0.00313914 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 650 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 131.224 0 0 newEnergyL 0 lastEnergy: 131.044 0 0 lastEnergyL: 0mActiveResiduals: 650 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 131.224 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 650 INF|LocalMapper.cpp[optimize,345]: End Energy: 131.224 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.456752 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.456752 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 110 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 110 with idx: 4 and allID: 533 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->110 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->110 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 107<->110 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 109<->110 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 110<->110 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 111<->110 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 112<->110 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 113<->110 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 110 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 533: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 109/526: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 109 allId: 526 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.99852 0.0120637 0.0530399 -0.00304826 -0.0111797 0.999794 -0.0169315 0.0294307 -0.0532332 0.0163135 0.998449 0.0645501 worldPose: 0.50303 0.221678 -0.835356 -2.16428 -0.41264 0.910869 -0.0067647 2.07596 0.7594 0.348104 0.549668 2.31658 after: 0.50303 0.221678 -0.835356 -2.16428 -0.41264 0.910869 -0.0067647 2.07596 0.7594 0.348104 0.549668 2.31658 worldPose of new: 0.460653 0.230152 -0.857222 -2.11431 -0.401399 0.915409 0.0300714 2.04585 0.79163 0.330236 0.514069 2.27609 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.99852 0.0120637 0.0530399 -0.00304826 -0.0111797 0.999794 -0.0169315 0.0294307 -0.0532332 0.0163135 0.998449 0.0645501 INF|Mapper.cpp[changeRefFrame,578]: Updating: 534 from old kf id: 110/533 with new ref frame: 526/109 INF|Mapper.cpp[changeRefFrame,578]: Updating: 535 from old kf id: 110/533 with new ref frame: 526/109 INF|Mapper.cpp[changeRefFrame,578]: Updating: 536 from old kf id: 110/533 with new ref frame: 526/109 INF|Mapper.cpp[changeRefFrame,578]: Updating: 537 from old kf id: 110/533 with new ref frame: 526/109 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 533 after changeRefFrame: 0.99852 0.0120637 0.0530399 -0.00304826 -0.0111797 0.999794 -0.0169315 0.0294307 -0.0532332 0.0163135 0.998449 0.0645501 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 110 to normal frame with refFrame: 109 frame id kf: 533 newref id: 526 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 110 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 8440 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7dc0c00 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 113 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 77 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 9 with distance 0.266Found rest min at: 74 with distance 0.202 overall min: 0.202 time: 0 INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 113 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 77 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 1267 INF|LoopCloser.cpp[loopCloserLinear,98]: Inserted keyframe into DB -1 -1 2 insertedKfId: 113 1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1278 Input.cpp[readImages,215]: mInputFrameQueue: 1 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 550 keyframes 114 Input.cpp[readImages,218]: mNbOfImages: 551 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 671 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.565739 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999986 0.00108143 -0.00513809 0.00323891 -0.0010385 0.999965 0.00834979 -0.000978493 0.00514693 -0.00834434 0.999952 0.00396435 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 113 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.565739) and 549(1311875591.533344) on lvl: 2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!551 INF|Input.cpp[getImages,132]: mNbReceivedImages!552 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999986 0.00108143 -0.00513809 0.00323891 -0.0010385 0.999965 0.00834979 -0.000978493 0.00514693 -0.00834434 0.999952 0.00396435 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999125 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:289/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 113 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.565739) and 549(1311875591.533344) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999971 0.00708849 -0.00262525 -0.0393385 -0.00709241 0.999974 -0.00148651 0.0182785 0.00261465 0.00150508 0.999995 -0.0129213 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:482/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 113 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.565739) and 549(1311875591.533344) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999966 0.00659336 -0.00499448 -0.0244434 -0.00658327 0.999976 0.00203453 0.0127335 0.00500778 -0.00200158 0.999985 -0.00896002 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:461/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.394054 resInfo good: 1015, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1552/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999964 0.00204548 -0.00828634 0.000387648 -0.00199942 0.999983 0.00556322 0.00274273 0.00829757 -0.00554645 0.99995 0.00324597 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!550 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1675 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!551 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 552 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!552 INF|Input.cpp[getImages,132]: mNbReceivedImages!553 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.597286 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999854 0.00413682 -0.0165606 0.000753995 -0.00395258 0.99993 0.0111426 0.0055027 0.0166055 -0.0110756 0.999801 0.00647978 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 113 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.597286) and 549(1311875591.533344) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999854 0.00413682 -0.0165606 0.000753995 -0.00395258 0.99993 0.0111426 0.0055027 0.0166055 -0.0110756 0.999801 0.00647978 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999962 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:445/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 113 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.597286) and 549(1311875591.533344) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999843 0.0120757 -0.0129694 -0.0431188 -0.0120846 0.999927 -0.000605533 0.0555911 0.0129611 0.000762167 0.999916 -0.0403026 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999866 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:380/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 113 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.597286) and 549(1311875591.533344) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999804 0.0136106 -0.014376 -0.0385092 -0.0134336 0.999834 0.0123398 0.0133366 0.0145416 -0.0121443 0.999821 -0.039012 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.99997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:283/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.654729 resInfo good: 1008, 7 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1415/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99983 0.00638061 -0.0173268 -0.00828058 -0.00613456 0.99988 0.0142163 0.00811732 0.0174155 -0.0141076 0.999749 -0.0153897 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!551 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 574 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!552 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 553 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.633231 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!553 INF|Input.cpp[getImages,132]: mNbReceivedImages!554 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999595 0.0107927 -0.026328 -0.0167564 -0.0101904 0.999686 0.0229054 0.0133675 0.0265669 -0.0226278 0.999391 -0.034149 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 113 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.633231) and 549(1311875591.533344) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999595 0.0107927 -0.026328 -0.0167564 -0.0101904 0.999686 0.0229054 0.0133675 0.0265669 -0.0226278 0.999391 -0.034149 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999139 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:405/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 113 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.633231) and 549(1311875591.533344) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999735 0.00954598 -0.0209623 -0.040174 -0.00890044 0.99949 0.0306757 0.00757826 0.0212444 -0.030481 0.99931 -0.0253199 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999213 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:413/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 113 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.633231) and 549(1311875591.533344) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999726 0.0096253 -0.0213294 -0.0363001 -0.0089572 0.999473 0.0311999 0.00845357 0.0216184 -0.0310003 0.999286 -0.0263519 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:412/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.83948 resInfo good: 861, 154 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1533/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999635 0.00611466 -0.0263177 -0.00710276 -0.00526218 0.999463 0.03234 0.00701557 0.0265014 -0.0321898 0.99913 -0.0206613 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!552 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 576 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!553 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 554 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!554 INF|Input.cpp[getImages,132]: mNbReceivedImages!555 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.663827 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 10 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999507 0.0060427 -0.0308139 -0.00649592 -0.00476425 0.999131 0.0413952 0.00642911 0.0310372 -0.0412279 0.998668 -0.0232853 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 113 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.663827) and 549(1311875591.533344) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999507 0.0060427 -0.0308139 -0.00649592 -0.00476425 0.999131 0.0413952 0.00642911 0.0310372 -0.0412279 0.998668 -0.0232853 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1380/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 113 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.663827) and 549(1311875591.533344) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999621 0.00669213 -0.0267143 -0.057056 -0.00612088 0.999752 0.0214084 0.0591556 0.0268509 -0.0212367 0.999414 -0.0650299 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 14,0.999192 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2529/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 113 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.663827) and 549(1311875591.533344) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999331 0.00470149 -0.0362678 -0.0052138 -0.00338946 0.999341 0.0361532 0.0152194 0.0364139 -0.0360061 0.998688 -0.0350052 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1016/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.902169 resInfo good: 833, 182 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5768/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999443 0.00287856 -0.0332533 -0.00655363 -0.00152576 0.999173 0.0406359 0.00457035 0.0333428 -0.0405625 0.998621 -0.0113258 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!553 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1401 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!554 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 555 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!555 INF|Input.cpp[getImages,132]: mNbReceivedImages!556 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.700987 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999191 -0.000299245 -0.0402138 -0.00605982 0.00226729 0.998801 0.0489028 0.00220555 0.040151 -0.0489544 0.997994 -0.0019666 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 113 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.700987) and 549(1311875591.533344) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999191 -0.000299245 -0.0402138 -0.00605982 0.00226729 0.998801 0.0489028 0.00220555 0.040151 -0.0489544 0.997994 -0.0019666 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999438 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:366/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 113 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.700987) and 549(1311875591.533344) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999143 0.000268106 -0.0413937 -0.0127493 0.00172601 0.99884 0.0481312 0.00148293 0.0413586 -0.0481614 0.997983 0.00508172 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:521/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 113 to 13925193944058036224 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.700987) and 549(1311875591.533344) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999144 0.012372 -0.0394649 -0.0198842 -0.0103293 0.998617 0.05155 0.014854 0.0400481 -0.0510982 0.99789 0.0182936 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:396/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.05436 resInfo good: 768, 247 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1607/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999126 0.00709659 -0.0411869 -0.0140714 -0.00510439 0.998821 0.0482747 0.015018 0.0414809 -0.0480223 0.997985 -0.0134676 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875591.700987 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875591.700987 to keyframe with id: 13925193944058036224 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875591.700987 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1016 size: 805 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId13925193944058036224 timestamp: 1311875591.700987 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -8.30624 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -9.4528 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 506 keyframeId: 107 score: -10.4975 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 526 keyframeId: 109 score: -12.35 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 538 keyframeId: 111 score: -14.1941 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 543 keyframeId: 112 score: -15.0123 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 114 = 114 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x14b0f320 fh1 0x185b3f60fh->id: 89 114 554goodE: 44 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x14b0f320 fh1 0x2bb262e0fh->id: 94 114 554goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x14b0f320 fh1 0x1b9118e0fh->id: 107 114 554goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x14b0f320 fh1 0x2ce5c640fh->id: 109 114 554goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x14b0f320 fh1 0x271570a0fh->id: 111 114 554goodE: 9 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x14b0f320 fh1 0x2dd00b00fh->id: 112 114 554goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x14b0f320 fh1 0x7dc0c00fh->id: 113 114 554goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew114 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 9 out of 9 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 9 newEdgePixels: 9 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 528 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 118 lastEnergy: 114.529 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 38 INF|LocalMapper.cpp[optimize,276]: Start Energy: 114.529 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -3.49694e-14 3.68415e-13 -2.25935e-12 -6.68272e-12 0.00169174 0.00266156 -0.00078742 4.93128e-05 0.00101963 -0.00100427 0.000402434 0.00454201 0.0011521 0.000201389 0.000842885 -0.000905708 -0.013548 0.00673269 0.0217663 -0.00098428 0.00358921 -0.0019688 -0.00281458 -0.00301609 0.00632017 -0.00236954 0.00109199 -0.00161049 0.0223663 0.0289393 0.0311181 8.55353e-05 -0.00108059 -0.0045493 -0.00678979 -0.00742403 -0.0124164 0.000873556 0.0015916 0.00299826 0.00243968 -0.0023443 -0.00324695 -0.0013811 -0.000431995 -0.0016349 -0.00390426 0.0465684 0.00970432 0.00359244 5.01928e-05 -0.00372678 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 528 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 110.228 0 0 newEnergyL 0 lastEnergy: 114.529 0 0 lastEnergyL: 0mActiveResiduals: 528 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.63921e-12 6.23865e-13 -5.49923e-12 -5.30972e-12 -0.000532057 0.000586335 0.000209243 7.86164e-05 8.47769e-05 -3.91009e-05 0.000267961 -0.00147421 0.000269966 -0.000175684 8.42822e-06 0.000114654 0.00552391 0.00335012 -0.00500195 0.000508019 -0.00109642 -3.73141e-05 0.00182598 -0.00421287 -0.00561801 0.000889436 -0.000193963 0.00208362 -0.00496241 0.00720707 -0.00917286 0.00203228 0.000258125 0.000916843 0.0150876 0.0235744 0.0141041 0.000189065 -0.00207304 -0.00376049 0.0124209 0.0350657 0.0311285 0.0028786 -0.000106957 -0.000975956 -0.00930803 0.0391649 0.0158641 0.00380183 0.00195426 -0.00267387 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 528 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 105.588 0 0 newEnergyL 0 lastEnergy: 110.228 0 0 lastEnergyL: 0mActiveResiduals: 528 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -9.18491e-14 1.8735e-13 2.75878e-12 4.42022e-12 0.0049057 0.00125667 -0.00162419 -0.000593618 0.000216935 -0.000244181 0.00102729 0.00162533 9.8742e-05 -0.000517145 0.000137745 -9.80041e-05 -0.00689443 0.00409953 0.0048841 -0.000211122 0.000914731 -0.00044028 0.00821797 0.0101199 0.0157067 -0.00118131 -0.000928374 -0.00218311 0.00277999 0.0032239 0.0131514 -0.00131714 -0.000549986 -0.000965784 -0.00846874 0.00140346 0.00897903 0.00023826 0.00119507 0.00150687 -0.00641726 0.00720787 0.00454159 4.70099e-05 0.00031029 0.000223717 0.0135233 -0.0346788 -0.0357592 -0.00317877 -0.00363333 0.00301873 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 528 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 110.063 0 0 newEnergyL 0 lastEnergy: 105.588 0 0 lastEnergyL: 0mActiveResiduals: 528 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.20508e-12 1.25659e-12 -6.90858e-12 -6.23486e-12 -0.00785482 -0.00221259 -0.000909955 -0.000217267 -0.00146959 0.00123123 -0.00395789 -0.00252477 -0.00374171 -9.31217e-05 -0.00134866 0.0012383 0.0108228 -0.00352811 -0.0126277 0.000789441 -0.0034582 0.00135402 -0.00494691 0.0138127 0.000415894 0.00289379 -0.000412852 -0.000174525 -0.00952843 -0.00298337 -0.0186879 0.000830173 -0.000892793 5.90012e-06 0.0014848 -0.00358132 -0.0101434 -0.000672243 -0.00232427 -0.00158077 0.00731533 -0.0124362 0.00101417 -0.000886127 -0.00189416 0.000751765 0.000644333 0.0201993 0.0361176 0.00220599 0.000695006 0.000111476 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 528 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 106.996 0 0 newEnergyL 0 lastEnergy: 110.063 0 0 lastEnergyL: 0mActiveResiduals: 528 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 2.94304e-12 -1.65038e-12 7.10607e-12 6.03986e-12 0.00555041 0.00511859 0.00235453 0.000256973 0.0021111 -0.000870049 0.00425495 0.00538876 0.00440596 0.000175208 0.00184076 -0.00100115 -0.00179834 -0.00307695 0.0158207 -0.00186912 0.00319591 -0.00049639 0.00148653 -0.0252694 -0.000669481 -0.00446739 0.00133592 0.000542397 0.00604227 0.0052457 0.00924724 -0.0011345 0.00121108 -0.0013602 -0.00451568 -0.00454223 -0.00628849 -0.000885488 0.00196424 -0.000200575 -0.00211829 0.0157986 0.00280409 0.00103005 0.00212161 -0.000173446 -0.00531795 -0.00444216 -0.0221473 -0.00227927 -8.97735e-05 -0.00308307 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 528 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 110.762 0 0 newEnergyL 0 lastEnergy: 106.996 0 0 lastEnergyL: 0mActiveResiduals: 528 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -2.98563e-12 4.60805e-13 -4.15078e-12 -7.40596e-12 -0.00663519 -0.00163956 -0.00228108 -0.000911374 -0.00206913 -0.000168386 -0.00513436 -0.000671378 -0.00470764 -0.000929555 -0.00184318 0.000128762 -0.000637122 0.00619787 -0.015547 0.000503995 -0.00320341 0.000311728 -0.00157573 0.0153268 -0.0245736 0.00255793 -0.00344606 0.00113665 0.000246461 0.00171766 0.00394144 -0.000539713 -0.00193022 0.000463499 0.00722694 0.00741851 0.0171722 -0.000870313 -0.00246381 4.69831e-05 0.00487827 -0.0230566 -0.0049365 -0.00382106 -0.00365238 -0.00115194 -0.00291992 0.00446544 0.026159 -0.000319783 8.22322e-05 0.00126078 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 528 Input.cpp[readImages,206]: Got image from sensor!555 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 102.027 0 0 newEnergyL 0 lastEnergy: 110.762 0 0 lastEnergyL: 0mActiveResiduals: 528 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 102.027 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 528 INF|LocalMapper.cpp[optimize,345]: End Energy: 102.027 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.448153 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.448153 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 112 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 112 with idx: 5 and allID: 543 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->112 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->112 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 107<->112 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 109<->112 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 111<->112 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 112<->112 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 113<->112 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 114<->112 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 112 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 543: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 111/538: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 110/533: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 109/526: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 109 allId: 526 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.992876 0.0401168 0.112192 0.0293054 -0.0248123 0.990586 -0.134622 0.029554 -0.116537 0.13088 0.984525 0.120869 worldPose: 0.549395 0.135591 -0.824488 -2.19282 -0.425142 0.894831 -0.136133 2.06755 0.719319 0.425316 0.54926 2.37083 after: 0.549395 0.135591 -0.824488 -2.19282 -0.425142 0.894831 -0.136133 2.06755 0.719319 0.425316 0.54926 2.37083 worldPose of new: 0.458419 0.231677 -0.858008 -2.1094 -0.401489 0.915282 0.0326332 2.04832 0.79288 0.329521 0.512599 2.2759 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.992876 0.0401168 0.112192 0.0293054 -0.0248123 0.990586 -0.134622 0.029554 -0.116537 0.13088 0.984525 0.120869 INF|Mapper.cpp[changeRefFrame,578]: Updating: 544 from old kf id: 112/543 with new ref frame: 526/109 INF|Mapper.cpp[changeRefFrame,578]: Updating: 545 from old kf id: 112/543 with new ref frame: 526/109 INF|Mapper.cpp[changeRefFrame,578]: Updating: 546 from old kf id: 112/543 with new ref frame: 526/109 INF|Mapper.cpp[changeRefFrame,578]: Updating: 547 from old kf id: 112/543 with new ref frame: 526/109 INF|Mapper.cpp[changeRefFrame,578]: Updating: 548 from old kf id: 112/543 with new ref frame: 526/109 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 543 after changeRefFrame: 0.992876 0.0401168 0.112192 0.0293054 -0.0248123 0.990586 -0.134622 0.029554 -0.116537 0.13088 0.984525 0.120869 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 112 to normal frame with refFrame: 109 frame id kf: 543 newref id: 526 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 112 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 8675 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x14b0f320 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 114 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 78 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 69 with distance 0.276Found rest min at: 77 with distance 0.15 overall min: 0.15 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 1033 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 114 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1046 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 555 keyframes 115 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 699 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 556 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!556 INF|Input.cpp[getImages,132]: mNbReceivedImages!557 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.732614 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999938 0.00168933 -0.0109779 0.00460971 -0.00154272 0.99991 0.0133502 -0.0142714 0.0109994 -0.0133324 0.999851 -0.0014824 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 114 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.732614) and 554(1311875591.700987) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999938 0.00168933 -0.0109779 0.00460971 -0.00154272 0.99991 0.0133502 -0.0142714 0.0109994 -0.0133324 0.999851 -0.0014824 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 3): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:471/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 114 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.732614) and 554(1311875591.700987) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999977 0.00663404 -0.00105918 -0.0407118 -0.00661371 0.999813 0.0181591 0.0058466 0.00117945 -0.0181516 0.999835 0.0107787 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999049 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:257/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 114 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.732614) and 554(1311875591.700987) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999839 -0.00114143 -0.017907 0.0229241 0.0013817 0.999909 0.013411 0.0114934 0.01789 -0.0134335 0.99975 -0.0462464 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999112 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:285/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.744513 resInfo good: 793, 12 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1285/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999962 0.00298113 -0.00818235 -0.00862714 -0.0028874 0.99993 0.0114434 0.0315092 0.0082159 -0.0114194 0.999901 -0.0240135 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!555 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 643 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!556 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 557 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!557 INF|Input.cpp[getImages,132]: mNbReceivedImages!558 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.763713 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999848 0.00605538 -0.0163295 -0.0169635 -0.00568047 0.999721 0.0229086 0.0627664 0.0164636 -0.0228124 0.999604 -0.0484553 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 114 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.763713) and 554(1311875591.700987) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999848 0.00605538 -0.0163295 -0.0169635 -0.00568047 0.999721 0.0229086 0.0627664 0.0164636 -0.0228124 0.999604 -0.0484553 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999849 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:343/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 114 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.763713) and 554(1311875591.700987) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999835 0.00694332 -0.0167902 -0.0193724 -0.00657053 0.999733 0.0221569 0.0586891 0.0169396 -0.0220429 0.999614 -0.0421617 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:616/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 114 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.763713) and 554(1311875591.700987) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999881 0.00235417 -0.0152401 -0.00952142 -0.00192396 0.999601 0.0281821 0.0386218 0.0153003 -0.0281495 0.999487 -0.0273423 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:465/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.914226 resInfo good: 752, 53 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1686/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999872 5.16806e-05 -0.0159932 -0.00267462 0.000481544 0.999444 0.033335 0.0190686 0.0159861 -0.0333385 0.999316 -0.0251237 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!556 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 672 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!557 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 558 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.800864 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!558 INF|Input.cpp[getImages,132]: mNbReceivedImages!559 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999712 -0.00270573 -0.0238654 0.00332388 0.00401972 0.998468 0.0551835 0.00662557 0.0236795 -0.0552635 0.998191 -0.0259148 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 114 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.800864) and 554(1311875591.700987) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999712 -0.00270573 -0.0238654 0.00332388 0.00401972 0.998468 0.0551835 0.00662557 0.0236795 -0.0552635 0.998191 -0.0259148 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999917 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:484/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 114 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.800864) and 554(1311875591.700987) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999886 0.0112869 -0.0100089 -0.0639269 -0.0107548 0.998604 0.0517097 0.0243172 0.0105786 -0.0515961 0.998612 -0.00164886 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999537 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:226/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 114 to 13929123684515053568 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.800864) and 554(1311875591.700987) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999579 0.000289015 -0.0290063 0.0145079 0.00106315 0.998914 0.0465898 0.0280506 0.0289883 -0.046601 0.998493 -0.0445823 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999114 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:330/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.09907 resInfo good: 608, 197 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1298/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.99974 0.00236596 -0.0226666 -0.00277157 -0.00127742 0.99885 0.0479184 0.0333809 0.0227539 -0.047877 0.998594 -0.0254154 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875591.800864 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875591.800864 to keyframe with id: 13929123684515053568 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875591.800864 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 926 size: 559 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId13929123684515053568 timestamp: 1311875591.800864 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -8.35261 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -9.52331 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 506 keyframeId: 107 score: -10.77 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 526 keyframeId: 109 score: -11.9554 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 538 keyframeId: 111 score: -12.4087 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 549 keyframeId: 113 score: -11.9754 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 115 = 115 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb1cb20 fh1 0x185b3f60fh->id: 89 115 557goodE: 42 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb1cb20 fh1 0x2bb262e0fh->id: 94 115 557goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb1cb20 fh1 0x1b9118e0fh->id: 107 115 557goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb1cb20 fh1 0x2ce5c640fh->id: 109 115 557goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb1cb20 fh1 0x271570a0fh->id: 111 115 557goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb1cb20 fh1 0x7dc0c00fh->id: 113 115 557goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb1cb20 fh1 0x14b0f320fh->id: 114 115 557goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew115 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 24 out of 24 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 24 newEdgePixels: 24 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 465 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 105 lastEnergy: 100.603 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 29 INF|LocalMapper.cpp[optimize,276]: Start Energy: 100.603 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -4.57498e-13 -1.97716e-13 5.57755e-12 2.49758e-12 0.00399799 -0.00217777 0.00249283 0.00146988 0.00120826 1.91412e-05 0.00386407 -0.00239348 0.00389161 0.00152372 0.00121827 -0.000329756 0.00410285 -0.0167206 0.00830437 -0.000762487 0.00152179 -0.000530311 -0.00281262 -0.0299036 0.0221915 -0.00374058 0.00333373 -0.00132453 -0.00867642 -0.00957434 -0.0188486 0.000110567 0.00137097 -0.00327112 -0.0164928 -0.00250452 -0.0263604 0.00214087 0.00218761 -0.000704288 0.00948717 -0.01216 -0.00768463 -9.55747e-05 -0.000807475 -0.00108419 0.014327 -0.0185042 0.00178116 -0.000446992 -0.00104828 -0.000390415 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 465 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 99.0115 0 0 newEnergyL 0 lastEnergy: 100.603 0 0 lastEnergyL: 0mActiveResiduals: 465 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.53644e-12 1.13507e-12 -2.83201e-12 -1.55813e-12 0.00027957 -0.000889331 -5.81871e-06 -8.26231e-05 -2.6861e-05 5.41943e-05 -0.000547295 0.0006261 0.000603424 0.000100925 9.65222e-05 -1.3767e-05 0.00361667 0.0086246 -0.000775639 0.000744682 -0.000554115 -0.000801691 0.00686566 0.0409663 -0.000993924 0.00501441 -0.00099544 -0.00202769 -0.00146342 0.00655777 0.0150695 0.000480861 0.00122856 -0.000404158 0.00986268 -0.00562689 -0.00124665 -0.00021173 -0.00068219 0.00102861 -0.0140535 0.00969489 0.0119836 0.000416346 0.00247166 -0.00261371 -0.00945767 0.0192286 -0.0194226 0.00247287 0.000362683 -0.00273834 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 465 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 95.2265 0 0 newEnergyL 0 lastEnergy: 99.0115 0 0 lastEnergyL: 0mActiveResiduals: 465 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 3.39565e-13 -5.6627e-13 -3.02701e-13 1.11688e-12 -0.0099921 0.003106 0.00387596 0.000269033 -0.00153747 -0.00190473 -0.00216817 0.00509221 -0.000529325 1.62156e-06 -0.00176992 -0.00178523 -0.0113802 -0.00401723 -0.0122928 -0.00162761 -0.00141541 -0.000124811 -0.000129674 -0.0234033 -0.0103602 -0.00458967 -0.00235242 -0.000251511 -0.00820902 -0.00168633 -0.0212345 -0.00183855 -0.00230874 -0.00198581 2.46965e-05 0.0139712 0.00910727 -0.000370274 -0.00174761 -0.00153029 0.0218108 -0.00296547 -0.0187712 -0.000562175 -0.00535919 0.00337859 9.73258e-05 0.0189892 0.0437523 0.00060911 0.000545825 0.0026339 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 465 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 98.2025 0 0 newEnergyL 0 lastEnergy: 95.2265 0 0 lastEnergyL: 0mActiveResiduals: 465 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 2.0478e-12 -3.14137e-13 5.3452e-12 6.22229e-13 0.0102628 -0.000768547 -0.00425689 0.000247504 0.00203388 -0.000330324 -0.000588106 -0.00232738 0.00281618 0.000134631 0.00224718 -0.000394449 0.0116065 0.00450797 0.0157086 0.000769818 0.00116138 -0.000167853 0.0089354 0.0213934 0.0139649 0.00376244 0.0011979 0.000419649 -0.00882395 -0.00726127 0.00423509 0.000349022 0.00242441 0.00123053 0.000680842 -0.0133251 -0.00631443 -0.000122099 0.00132571 0.00245925 -0.0152534 -0.00530551 0.022057 -0.0014352 0.00425246 -0.00273894 0.00282554 -0.00514332 -0.042329 0.000692994 -0.000895745 -0.00138996 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 465 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 95.4893 0 0 newEnergyL 0 lastEnergy: 98.2025 0 0 lastEnergyL: 0mActiveResiduals: 465 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -3.7192e-12 2.05753e-12 -5.41265e-12 1.25652e-12 -0.00722004 0.00200043 0.00491298 -2.81905e-05 -0.000704271 -0.000425639 0.0034306 0.00308888 -0.000619757 -0.000106847 -0.00101396 -0.000399173 -0.00976484 -0.00553132 -0.00889838 -0.00189028 0.000314906 -0.000693586 -0.0034405 -0.00645543 -0.01245 -0.00302085 -0.000439566 -0.00223884 0.00782555 0.00121557 -0.0101701 -0.000240893 -0.000703534 0.00140036 -0.00137231 -0.00294544 0.00704624 -0.00199908 0.000302391 -0.00159983 0.00238697 -0.00270647 -0.024445 0.000384108 -0.00111433 0.00228448 -0.000460668 0.0181449 0.0429722 -0.000235193 0.00186276 -0.00104671 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 465 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 94.3297 0 0 newEnergyL 0 lastEnergy: 95.4893 0 0 lastEnergyL: 0mActiveResiduals: 465 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 4.71387e-12 -3.71677e-12 5.29436e-12 4.24896e-12 0.00261774 -0.00216715 -0.00286363 0.000326012 -0.000218005 -8.71635e-05 -0.00238029 -0.0028527 -0.000601859 0.000240855 -7.79895e-05 -0.000164018 0.00560935 0.0035211 0.000777049 0.00150045 -0.00107915 0.000357886 -0.0101519 -0.00262742 0.0050767 0.00168798 0.00115798 0.00206199 -0.00146857 0.00512083 0.0126819 -0.000147882 -0.00052926 -0.0032638 0.00687751 -0.00529897 -0.00942724 0.00158546 -0.00100729 0.00376942 0.0020478 0.0027221 0.02169 0.000300356 0.000321341 -0.000585323 0.000762637 -0.00164207 -0.0281939 0.00203569 -0.0013999 0.00202111 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 465 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 91.0942 0 0 newEnergyL 0 lastEnergy: 94.3297 0 0 lastEnergyL: 0mActiveResiduals: 465 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 91.0942 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 465 INF|LocalMapper.cpp[optimize,345]: End Energy: 91.0942 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.45709 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.45709 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 111 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 111 with idx: 4 and allID: 538 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->111 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->111 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 107<->111 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 109<->111 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 111<->111 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 113<->111 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 114<->111 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 115<->111 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 111 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 538: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 110/533: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 109/526: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 109 allId: 526 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.995414 0.0459022 0.0839309 0.00406308 -0.0393301 0.99615 -0.0783473 0.0518885 -0.0872041 0.074687 0.993387 0.088142 worldPose: 0.522671 0.190171 -0.831053 -2.1785 -0.441569 0.894246 -0.0730824 2.09736 0.729268 0.405165 0.55137 2.34589 after: 0.522671 0.190171 -0.831053 -2.1785 -0.441569 0.894246 -0.0730824 2.09736 0.729268 0.405165 0.55137 2.34589 worldPose of new: 0.459252 0.233993 -0.856933 -2.11697 -0.40463 0.913896 0.0326961 2.04871 0.790798 0.331725 0.514389 2.28012 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.995414 0.0459022 0.0839309 0.00406308 -0.0393301 0.99615 -0.0783473 0.0518885 -0.0872041 0.074687 0.993387 0.088142 INF|Mapper.cpp[changeRefFrame,578]: Updating: 539 from old kf id: 111/538 with new ref frame: 526/109 INF|Mapper.cpp[changeRefFrame,578]: Updating: 540 from old kf id: 111/538 with new ref frame: 526/109 INF|Mapper.cpp[changeRefFrame,578]: Updating: 541 from old kf id: 111/538 with new ref frame: 526/109 INF|Mapper.cpp[changeRefFrame,578]: Updating: 542 from old kf id: 111/538 with new ref frame: 526/109 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 538 after changeRefFrame: 0.995414 0.0459022 0.0839309 0.00406308 -0.0393301 0.99615 -0.0783473 0.0518885 -0.0872041 0.074687 0.993387 0.088142 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 111 to normal frame with refFrame: 109 frame id kf: 538 newref id: 526 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 111 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 8239 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2bb1cb20 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 115 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 78 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 10 with distance 0.306Found rest min at: 77 with distance 0.194 overall min: 0.194 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 933 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 115 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 944 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 558 keyframes 116 Input.cpp[readImages,206]: Got image from sensor!558 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 665 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 559 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.832868 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!559 INF|Input.cpp[getImages,132]: mNbReceivedImages!560 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999976 0.00254268 -0.0064705 -0.00124578 -0.00240853 0.999784 0.0206574 -0.00606711 0.00652162 -0.0206413 0.999766 0.0034744 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 115 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.832868) and 557(1311875591.800864) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999976 0.00254268 -0.0064705 -0.00124578 -0.00240853 0.999784 0.0206574 -0.00606711 0.00652162 -0.0206413 0.999766 0.0034744 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999794 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:248/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 115 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.832868) and 557(1311875591.800864) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99992 0.0115557 0.00520913 -0.0569083 -0.0116668 0.999694 0.0218321 -0.0125974 -0.00495525 -0.0218911 0.999748 0.0303549 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999092 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:85/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 115 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.832868) and 557(1311875591.800864) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999901 0.0140957 -0.000320144 -0.0360002 -0.0140925 0.999865 0.008507 0.0450592 0.000440014 -0.00850165 0.999964 0.0215836 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:219/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.570515 resInfo good: 555, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 724/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999943 0.00746251 -0.00762627 -0.00261333 -0.00734641 0.999858 0.0151392 0.00959483 0.00773817 -0.0150823 0.999856 -0.00524482 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!558 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 518 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!559 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 560 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.863675 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999772 0.0150386 -0.015138 -0.00511491 -0.0145742 0.999434 0.03033 0.0191281 0.0155856 -0.0301025 0.999425 -0.0106538 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 115 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.863675) and 557(1311875591.800864) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999772 0.0150386 -0.015138 -0.00511491 -0.0145742 0.999434 0.03033 0.0191281 0.0155856 -0.0301025 0.999425 -0.0106538 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999777 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:159/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 115 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.863675) and 557(1311875591.800864) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999737 0.0171905 -0.0151513 -0.005102 -0.016743 0.999434 0.0291867 0.0146401 0.0156445 -0.0289253 0.999459 -0.0040067 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999984 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:310/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 115 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.863675) and 557(1311875591.800864) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999805 0.0121019 -0.0156105 0.0069119 -0.011537 0.999293 0.035788 -0.00845762 0.0160325 -0.035601 0.999237 -0.00445443 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!560 INF|Input.cpp[getImages,132]: mNbReceivedImages!561 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999408 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:187/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.749685 resInfo good: 524, 35 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 807/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999818 0.0124558 -0.01444 0.00858673 -0.0119905 0.99942 0.0318763 0.0106247 0.0148287 -0.0316974 0.999388 0.00333041 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!559 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!560 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 561 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!561 INF|Input.cpp[getImages,132]: mNbReceivedImages!562 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.900633 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999729 0.0149946 -0.017815 0.0141664 -0.0142677 0.999088 0.0402536 0.0111732 0.0184023 -0.0399885 0.999031 0.00764045 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 115 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.900633) and 557(1311875591.800864) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999729 0.0149946 -0.017815 0.0141664 -0.0142677 0.999088 0.0402536 0.0111732 0.0184023 -0.0399885 0.999031 0.00764045 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999925 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:169/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 115 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.900633) and 557(1311875591.800864) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999653 0.0183412 -0.0188873 0.00784299 -0.0175538 0.999003 0.0410463 0.0135813 0.0196213 -0.0407005 0.998979 0.00727684 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 6): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:269/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 115 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.900633) and 557(1311875591.800864) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999665 0.0183586 -0.0182516 0.00890101 -0.017582 0.99897 0.0418366 0.0170986 0.0190009 -0.0415017 0.998958 0.00444458 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 5): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:248/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.91583 resInfo good: 494, 65 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 832/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999691 0.0194326 -0.0155319 0.00474984 -0.0188078 0.999046 0.0394096 0.0329249 0.0162829 -0.0391053 0.999102 0.0152254 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!560 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!561 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 562 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!562 INF|Input.cpp[getImages,132]: mNbReceivedImages!563 Input.cpp[readImages,206]: Got image from sensor!562 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.932868 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 563 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999514 0.0264164 -0.0165711 0.00105216 -0.025613 0.998569 0.0469479 0.055339 0.0177876 -0.0465006 0.99876 0.0269492 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 115 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.932868) and 557(1311875591.800864) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999514 0.0264164 -0.0165711 0.00105216 -0.025613 0.998569 0.0469479 0.055339 0.0177876 -0.0465006 0.99876 0.0269492 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:242/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 115 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.932868) and 557(1311875591.800864) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999357 0.0307242 -0.0185058 -0.0088487 -0.0298452 0.998494 0.0460353 0.0501255 0.0198923 -0.0454534 0.998768 0.0220997 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 4): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:216/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 115 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.932868) and 557(1311875591.800864) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999334 0.0235742 -0.0278613 0.0198079 -0.0220592 0.998325 0.0534863 0.00850512 0.0290756 -0.0528361 0.99818 -0.030674 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999398 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:139/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.03012 resInfo good: 481, 78 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 750/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999411 0.0267125 -0.0215302 0.00407691 -0.0256519 0.998512 0.0481189 0.0404317 0.0227836 -0.0475383 0.99861 -0.00849739 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875591.932868 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875591.932868 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875591.932868 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 725 size: 457 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875591.932868 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -8.36582 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -9.53425 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 506 keyframeId: 107 score: -10.6428 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 526 keyframeId: 109 score: -11.8591 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 549 keyframeId: 113 score: -14.7334 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 554 keyframeId: 114 score: -13.2219 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 116 = 116 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ec6dbe0 fh1 0x185b3f60fh->id: 89 116 561goodE: 25 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ec6dbe0 fh1 0x2bb262e0fh->id: 94 116 561goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ec6dbe0 fh1 0x1b9118e0fh->id: 107 116 561goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ec6dbe0 fh1 0x2ce5c640fh->id: 109 116 561goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ec6dbe0 fh1 0x7dc0c00fh->id: 113 116 561goodE: 9 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ec6dbe0 fh1 0x14b0f320fh->id: 114 116 561goodE: 14 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1ec6dbe0 fh1 0x2bb1cb20fh->id: 115 116 561goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew116 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 5 out of 6 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 6 newEdgePixels: 6 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 321 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 58 lastEnergy: 71.2154 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 10 INF|LocalMapper.cpp[optimize,276]: Start Energy: 71.2154 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.55852e-12 1.97197e-12 1.14469e-12 -1.65888e-12 0.0044746 -0.00138188 -0.0019566 -0.000749221 0.000394787 0.00266033 0.00207239 -0.00273796 -0.00120383 -0.000273116 0.000555415 0.00269922 0.0046748 -0.0073379 0.00747633 0.00111751 0.00182634 0.00348143 0.0117751 -0.0138917 0.00325316 0.000261821 0.000559852 0.00341904 -0.0103523 0.00544186 0.0268258 0.00042119 0.0043187 0.000314924 -0.0190785 0.00995259 -0.0146167 0.00327962 0.00422711 0.0030716 -0.0083963 0.00419121 0.0165687 0.00142229 0.00460892 0.00150155 -0.028719 0.00304634 0.0259004 -0.00115169 0.00490078 -0.0057741 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 321 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 71.2105 0 0 newEnergyL 0 lastEnergy: 71.2154 0 0 lastEnergyL: 0mActiveResiduals: 321 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -2.20648e-12 8.69282e-13 -6.10189e-13 -2.70357e-12 -0.000193931 -0.000360737 0.000354396 -4.06519e-06 3.62977e-05 0.00010098 -0.00044103 -0.000955431 0.000833073 -0.000146527 0.000128716 -8.16316e-05 -0.00371234 0.00228484 -0.00548598 1.75769e-05 -4.38059e-05 -0.00103866 -0.00734653 -0.00469223 -0.00847609 -0.000382358 0.000129731 -0.000252719 0.00225367 -0.00275583 -0.00728312 -5.2168e-05 -0.00054087 0.000417693 0.0163413 0.00477968 0.0196989 -0.000392947 -0.00168331 -0.00137195 0.00334677 0.00876094 -0.0169758 0.00142979 -0.00165678 0.00030176 0.0358129 -0.00659834 -0.00498098 0.000661415 -0.00332208 0.00468264 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 321 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 68.8535 0 0 newEnergyL 0 lastEnergy: 71.2105 0 0 lastEnergyL: 0mActiveResiduals: 321 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.21061e-12 -2.29976e-13 1.89152e-12 5.1183e-14 0.00407279 0.00265152 0.00173874 -0.000183835 0.00217916 -0.000897315 0.00320691 0.00260046 0.00315442 -0.000320592 0.00206644 -0.00089092 0.00747524 0.00294839 0.00315727 -0.00101519 0.00153521 -0.000683209 0.0019828 -0.00271278 0.0106249 -0.00246501 0.00248649 -0.000735443 0.00949744 -0.0104431 -0.00845987 -0.00255219 0.000110901 -0.000573196 -0.00320832 -0.00171572 -0.0167432 -0.000237608 0.00239916 0.00100211 -0.00103179 -0.0077469 0.0253561 -0.00335463 0.00271036 -0.0030525 -0.0190411 0.00982268 -0.0156015 0.00132445 0.00407918 4.64073e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 321 Input.cpp[readImages,192]: readImages loop! INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 69.8798 0 0 newEnergyL 0 lastEnergy: 68.8535 0 0 lastEnergyL: 0mActiveResiduals: 321 INF|Input.cpp[getImages,128]: getimages!563 INF|Input.cpp[getImages,132]: mNbReceivedImages!564 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.66803e-12 2.28251e-13 -2.7445e-12 2.15164e-14 -0.000727425 0.00146963 -0.00329726 -0.000996497 -0.00187739 0.000701471 -0.0051683 0.00166332 -0.00274627 -0.000896322 -0.00160504 0.000738546 -0.00693174 0.00136408 0.0037179 -0.000407829 -0.00156814 0.000531123 0.000213441 0.0143181 -7.49806e-05 0.00202679 -0.00276972 0.000938733 -0.0136933 0.00669936 -0.000184973 0.00013566 -0.00123052 -3.44207e-05 0.00330914 -0.006141 0.00908473 -0.00248841 -0.00376656 -0.000479372 0.00974615 -0.00187943 -0.0140416 -0.00126043 -0.00528411 -0.00016975 0.0157943 -0.0134809 0.0139265 -0.00314656 -0.0044787 0.000933965 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 321 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 67.7674 0 0 newEnergyL 0 lastEnergy: 69.8798 0 0 lastEnergyL: 0mActiveResiduals: 321 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.38924e-12 6.09572e-13 2.0133e-12 -1.15463e-12 0.00334961 0.00193914 0.00145387 0.000196361 0.00185301 -0.000302385 0.00235211 0.001917 0.00282269 0.000226264 0.00167342 -0.000320499 0.000581021 -0.00656962 0.00256109 -0.00120137 0.00174804 -0.000225692 0.0110922 -0.00121501 0.00936701 -0.0014203 0.000657989 -0.00109175 0.013992 -0.00546081 -0.00489472 -0.000624001 -0.000267083 0.00122016 -0.00269325 0.00508845 0.00116323 0.000613929 0.0024736 -0.000263623 -0.00763457 0.00695615 -0.00411707 0.00192927 0.0033526 0.00198727 -0.0192418 -0.00772017 -0.00779261 -0.00181946 0.00251357 -0.0037764 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 321 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 67.1287 0 0 newEnergyL 0 lastEnergy: 67.7674 0 0 lastEnergyL: 0mActiveResiduals: 321 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -2.39315e-12 4.42761e-13 -4.90317e-12 7.8204e-14 -0.0030583 0.000679385 -0.00257592 -0.00112143 -0.00236376 0.00132136 -0.00419917 0.00119723 -0.00323771 -0.000846058 -0.00219578 0.00142238 -0.0035768 0.0108013 -0.00291379 0.00147062 -0.00232837 0.000982746 -0.00905657 0.00147712 0.00327524 0.000296878 -0.00158455 0.00079799 -0.0124188 0.00335791 -0.010362 -0.000209447 -0.0022118 -0.001145 0.0025445 -0.0120668 -0.00677259 -0.0027253 -0.00468233 -0.000794991 0.0116934 -0.00762653 -0.00111167 -0.00281488 -0.00560127 -0.00215556 0.0191586 0.00842127 0.0266183 -0.000554399 -0.00417432 0.00121637 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 321 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 66.3285 0 0 newEnergyL 0 lastEnergy: 67.1287 0 0 lastEnergyL: 0mActiveResiduals: 321 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 66.3285 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 321 INF|LocalMapper.cpp[optimize,345]: End Energy: 66.3285 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.467104 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.467104 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 113 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 113 with idx: 4 and allID: 549 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->113 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 113->89 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->113 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 113->94 INF|LocalMapper.cpp[marginalizeFrame,772]: 107<->113 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 113->107 INF|LocalMapper.cpp[marginalizeFrame,801]: 113 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 113 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 4813 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1ec6dbe0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 116 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 78 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 10 with distance 0.292Found rest min at: 75 with distance 0.206 overall min: 0.206 time: 0 INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 116 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 78 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 706 INF|LoopCloser.cpp[loopCloserLinear,98]: Inserted keyframe into DB -1 -1 3 insertedKfId: 116 1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 715 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 562 keyframes 117 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875591.964177 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999953 0.00594156 -0.00768479 0.00107567 -0.00589105 0.999961 0.00657775 0.0121437 0.00772357 -0.00653217 0.999949 -0.0395163 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 116 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.964177) and 561(1311875591.932868) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999953 0.00594156 -0.00768479 0.00107567 -0.00589105 0.999961 0.00657775 0.0121437 0.00772357 -0.00653217 0.999949 -0.0395163 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999104 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:175/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 116 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.964177) and 561(1311875591.932868) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999948 0.00546761 -0.00865114 -0.00534149 -0.00540736 0.999961 0.00697271 0.015605 0.00868893 -0.00692557 0.999938 -0.0309881 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:288/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 116 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875591.964177) and 561(1311875591.932868) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999976 0.0049224 -0.00489662 -0.00114335 -0.00488633 0.999961 0.00735125 0.0242285 0.00493262 -0.00732715 0.999961 -0.00869888 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999724 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:123/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.574484 resInfo good: 457, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 706/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999975 0.00315825 -0.00627263 0.00467176 -0.00309184 0.999939 0.0105681 0.0126455 0.00630562 -0.0105485 0.999924 -0.0150612 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!562 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!563 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 564 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.001900 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!564 INF|Input.cpp[getImages,132]: mNbReceivedImages!565 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999945 0.00476212 -0.00939625 0.00705799 -0.00461271 0.999864 0.015859 0.0189029 0.00947049 -0.0158148 0.99983 -0.0226305 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 116 to 256 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.001900) and 561(1311875591.932868) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999945 0.00476212 -0.00939625 0.00705799 -0.00461271 0.999864 0.015859 0.0189029 0.00947049 -0.0158148 0.99983 -0.0226305 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:282/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 116 to 256 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.001900) and 561(1311875591.932868) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999856 0.0166003 0.00348012 -0.0553183 -0.0166352 0.999809 0.0102276 0.0637091 -0.00330968 -0.010284 0.999942 0.0205106 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999962 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:171/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 116 to 256 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.001900) and 561(1311875591.932868) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999905 0.00193618 -0.0136329 0.0244043 -0.00179053 0.999941 0.0106881 0.0470876 0.0136528 -0.0106627 0.99985 -0.0126335 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999831 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:123/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.755799 resInfo good: 443, 14 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 706/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999967 0.00462347 -0.00664206 -0.00102382 -0.0045075 0.999839 0.0173699 0.0310438 0.0067213 -0.0173394 0.999827 -0.00106618 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!563 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 479 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!564 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 565 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!565 INF|Input.cpp[getImages,132]: mNbReceivedImages!566 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.032000 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 10 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999957 0.00609115 -0.00700151 -0.00669789 -0.00592028 0.99969 0.0241715 0.049545 0.00714657 -0.024129 0.999683 0.0128013 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 116 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.032000) and 561(1311875591.932868) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999957 0.00609115 -0.00700151 -0.00669789 -0.00592028 0.99969 0.0241715 0.049545 0.00714657 -0.024129 0.999683 0.0128013 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1279/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 116 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.032000) and 561(1311875591.932868) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999838 0.0146766 -0.0104098 -0.0247401 -0.0144308 0.999624 0.0233042 0.0486837 0.0107479 -0.0231502 0.999674 -0.0131955 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999357 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:559/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 116 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.032000) and 561(1311875591.932868) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999802 0.00622979 -0.0189239 0.0147926 -0.00575791 0.999674 0.024889 0.0357311 0.0190728 -0.0247751 0.999511 -0.0421283 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999012 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:503/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.931103 resInfo good: 428, 29 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2826/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99991 0.00511985 -0.0124346 0.00226963 -0.00483123 0.999721 0.023131 0.0472605 0.0125495 -0.0230689 0.999655 -0.0213309 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!564 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1409 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!565 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 566 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!566 INF|Input.cpp[getImages,132]: mNbReceivedImages!567 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.064849 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999818 0.0056494 -0.0182237 0.00568698 -0.00512136 0.999569 0.0288932 0.0633589 0.0183791 -0.0287946 0.999416 -0.0416692 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 116 to 256 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.064849) and 561(1311875591.932868) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999818 0.0056494 -0.0182237 0.00568698 -0.00512136 0.999569 0.0288932 0.0633589 0.0183791 -0.0287946 0.999416 -0.0416692 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.99939 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:157/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 116 to 256 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.064849) and 561(1311875591.932868) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999804 0.00542698 -0.0190424 0.00174279 -0.00487629 0.999572 0.0288474 0.0635843 0.0191908 -0.0287489 0.999402 -0.0374229 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999969 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:176/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 116 to 256 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.064849) and 561(1311875591.932868) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999904 0.00673482 -0.0120898 -0.0223363 -0.00651817 0.999819 0.0178711 0.110651 0.012208 -0.0177906 0.999767 -0.0502034 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999562 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:171/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.17269 resInfo good: 405, 52 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 675/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999835 0.00434912 -0.017632 0.00162756 -0.00397375 0.999766 0.0212684 0.0981511 0.0177203 -0.0211949 0.999618 -0.0585743 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875592.064849 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875592.064849 to keyframe with id: 256 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875592.064849 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 979 size: 393 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId256 timestamp: 1311875592.064849 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -8.29113 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -9.44523 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 506 keyframeId: 107 score: -10.4001 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 526 keyframeId: 109 score: -11.3173 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 554 keyframeId: 114 score: -15.7631 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 557 keyframeId: 115 score: -14.0723 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 117 = 117 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x252b1280 fh1 0x185b3f60fh->id: 89 117 565goodE: 14 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x252b1280 fh1 0x2bb262e0fh->id: 94 117 565goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x252b1280 fh1 0x1b9118e0fh->id: 107 117 565goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x252b1280 fh1 0x2ce5c640fh->id: 109 117 565goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x252b1280 fh1 0x14b0f320fh->id: 114 117 565goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x252b1280 fh1 0x2bb1cb20fh->id: 115 117 565goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x252b1280 fh1 0x1ec6dbe0fh->id: 116 117 565goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew117 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 13 out of 13 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 13 newEdgePixels: 13 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 241 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 55 lastEnergy: 56.4461 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 8 INF|LocalMapper.cpp[optimize,276]: Start Energy: 56.4461 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -9.14052e-13 5.46152e-13 9.09691e-13 -3.82599e-12 -0.00442683 -0.00622728 0.0032691 0.00216688 0.000324424 -0.000787339 0.00453705 -0.00846996 -0.00109431 0.00168196 -7.15959e-05 -0.000926104 0.00307961 -0.0116566 -0.00444544 -0.000367662 -0.000312424 -0.00283418 0.00948066 -0.00691304 -0.0135941 0.000423146 -0.000952575 -0.0032454 0.0200856 -0.0118239 -0.0249596 0.00172746 -0.00272387 -0.00194065 -0.00930798 -0.0291536 -0.0260991 2.55995e-05 0.000320398 -0.00123881 -0.000251944 0.01072 -0.0417868 0.00526243 -0.00184659 -0.00187576 0.0106934 0.0292691 -0.0518703 0.00727463 -0.00347403 -0.00347915 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 241 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 52.9005 0 0 newEnergyL 0 lastEnergy: 56.4461 0 0 lastEnergyL: 0mActiveResiduals: 241 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.45968e-13 -4.42907e-13 5.34327e-13 1.03738e-12 0.000274668 -2.12481e-05 -0.000252754 8.62253e-06 -4.76751e-05 -3.65409e-06 -0.000360606 3.59877e-05 0.000132778 8.21501e-06 4.94833e-05 -1.08107e-05 -0.0019018 0.00184158 -0.00138978 0.000322192 0.000173551 -8.4368e-05 -0.000276062 -0.00161571 7.00054e-05 0.000228098 0.00031269 0.00109155 -0.0126727 0.0153544 0.00170851 0.000958824 0.000779693 -0.00242038 0.0127824 0.0122702 0.0150508 0.000726568 -0.00131145 -0.00164123 0.0141138 -0.00428488 0.0202109 -0.00225627 -0.00154435 -0.00366224 -0.00309987 0.0455942 0.00735672 0.00478501 -3.0965e-06 -0.00297899 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 241 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 50.1945 0 0 newEnergyL 0 lastEnergy: 52.9005 0 0 lastEnergyL: 0mActiveResiduals: 241 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.24132e-12 -4.8871e-13 2.31273e-13 1.11918e-12 0.000145832 -0.00569885 -0.00525583 0.00383305 -0.00164512 0.00229487 0.00205328 -0.00820261 -0.00843226 0.00413137 -0.00168685 0.0017744 0.00147817 -0.0137542 -0.00585448 0.00447952 -0.00120274 -0.000272283 0.00437201 -0.0111896 -0.0113288 0.00507103 -0.00130593 -0.000593033 0.0144355 -0.00785517 0.00819532 0.00651164 -0.000293492 0.00318249 -0.00199745 -0.0241951 -0.000749669 0.00455966 0.000990009 0.00303803 -0.0171484 -0.00837435 -0.011715 0.00740114 0.00244997 0.0050718 -0.00251638 0.0881593 0.00940672 0.0174634 0.00193877 -0.00161219 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 241 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 50.443 0 0 newEnergyL 0 lastEnergy: 50.1945 0 0 lastEnergyL: 0mActiveResiduals: 241 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 8.69372e-13 -5.84314e-13 2.80277e-13 8.07714e-14 -0.0116656 -0.0026168 0.00359107 -0.000797713 -0.00158488 -0.00294773 -0.00652527 0.000472979 0.000879352 -0.00124548 -0.00155814 -0.00268874 -0.0081442 0.00526643 -0.00587873 -0.00192772 -0.00206884 -0.00105965 -0.00865377 -0.000617703 -0.0166536 -0.00183169 -0.00220212 -0.000112258 -0.0121649 0.0222609 0.00101254 0.000395799 -0.00130328 -0.000936434 0.00817219 0.0353231 0.00665411 0.00225176 -0.00273975 0.000139859 0.0199576 0.0215049 0.00295068 -0.000199081 -0.00465721 -0.00148269 0.00794753 -0.0784185 0.0093059 -0.00998671 -0.00251067 0.00841748 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 241 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 49.6462 0 0 newEnergyL 0 lastEnergy: 50.443 0 0 lastEnergyL: 0mActiveResiduals: 241 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.14178e-12 1.06889e-13 3.06669e-12 3.18299e-12 0.00732865 0.00853304 0.000765927 -0.00239644 0.00266876 -0.00222089 0.00346528 0.00923996 0.00427376 -0.00277952 0.00257846 -0.00193187 0.00834507 0.00926702 0.00825624 -0.00357058 0.00191844 0.000710206 0.00303691 0.0106339 0.0119374 -0.00432162 0.00186794 -0.000199239 0.0147408 -0.0138368 -0.00490674 -0.00658968 0.000187598 0.000375212 -0.00319746 -0.0179665 0.00707604 -0.00819586 0.00204265 -0.00136745 -0.0121522 -0.0137798 0.0116088 -0.00679425 0.00399616 -6.99593e-05 -0.0138872 0.00353469 -0.0207666 -0.00470797 0.00223466 -0.00430535 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 241 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 49.2038 0 0 newEnergyL 0 lastEnergy: 49.6462 0 0 lastEnergyL: 0mActiveResiduals: 241 Input.cpp[readImages,206]: Got image from sensor!566 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -9.05626e-13 2.64137e-13 -1.79065e-12 -1.70965e-12 -0.00210532 -0.00627303 0.00281678 0.00222154 -0.000674156 0.00292961 0.000956321 -0.00716845 0.00111501 0.00278155 -0.000517062 0.00252964 -0.00175968 -0.0109287 -0.00783439 0.00355271 0.000436571 0.000321861 -0.00898652 -0.0170287 -0.0140171 0.00341751 0.00153503 0.000946013 -0.00677224 0.0100188 0.0085372 0.00597428 0.00243563 -0.000568308 -0.00304588 0.00716595 -0.0160061 0.00679714 0.00129988 0.000781694 0.0216083 0.00645355 -0.015878 0.00589047 -0.0016783 0.00038727 -0.00935601 0.0191498 0.0266921 0.00573011 0.00344399 -0.000425471 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 241 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 48.1154 0 0 newEnergyL 0 lastEnergy: 49.2038 0 0 lastEnergyL: 0mActiveResiduals: 241 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 48.1154 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 241 INF|LocalMapper.cpp[optimize,345]: End Energy: 48.1154 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.459383 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.459383 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 114 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 114 with idx: 4 and allID: 554 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->114 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->114 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 107<->114 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 109<->114 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 114<->114 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 115<->114 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->114 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 117<->114 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 114 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 554: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 113/549: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 113 allId: 549 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.999136 0.00372656 0.0414047 0.0183433 -0.00115835 0.998083 -0.0618785 0.0205391 -0.041556 0.061777 0.997224 0.0219545 worldPose: 0.621482 0.0382214 -0.782495 -2.19636 -0.406097 0.869862 -0.280046 2.06015 0.669959 0.491813 0.556125 2.40296 after: 0.621482 0.0382214 -0.782495 -2.19636 -0.406097 0.869862 -0.280046 2.06015 0.669959 0.491813 0.556125 2.40296 worldPose of new: 0.588688 0.0858478 -0.803789 -2.19128 -0.4141 0.885993 -0.208656 2.05413 0.694239 0.455682 0.557124 2.36864 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.999136 0.00372656 0.0414047 0.0183433 -0.00115835 0.998083 -0.0618785 0.0205391 -0.041556 0.061777 0.997224 0.0219545 INF|Mapper.cpp[changeRefFrame,578]: Updating: 555 from old kf id: 114/554 with new ref frame: 549/113 INF|Mapper.cpp[changeRefFrame,578]: Updating: 556 from old kf id: 114/554 with new ref frame: 549/113 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 554 after changeRefFrame: 0.999136 0.00372656 0.0414047 0.0183433 -0.00115835 0.998083 -0.0618785 0.0205391 -0.041556 0.061777 0.997224 0.0219545 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 114 to normal frame with refFrame: 113 frame id kf: 554 newref id: 549 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 114 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 8694 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x252b1280 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 117 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 79 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 10 with distance 0.312Found rest min at: 78 with distance 0.112 overall min: 0.112 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 1007 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 117 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1017 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 566 keyframes 118 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 784 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 567 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.100756 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!567 INF|Input.cpp[getImages,132]: mNbReceivedImages!568 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999941 -0.0039007 -0.0101645 0.0176427 0.00399584 0.999948 0.00935664 0.00181249 0.0101275 -0.0093967 0.999905 -0.0455755 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 117 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.100756) and 565(1311875592.064849) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999941 -0.0039007 -0.0101645 0.0176427 0.00399584 0.999948 0.00935664 0.00181249 0.0101275 -0.0093967 0.999905 -0.0455755 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999925 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:292/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 117 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.100756) and 565(1311875592.064849) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999855 0.016983 -0.00132934 -0.0136458 -0.0170306 0.998326 -0.0552793 0.287713 0.000388306 0.0552939 0.99847 0.022683 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999934 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:299/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 117 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.100756) and 565(1311875592.064849) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999992 0.00360789 -0.00181917 -0.0117578 -0.00367744 0.999201 -0.0397969 0.212982 0.00167413 0.0398032 0.999206 -0.000708729 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999932 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:130/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.986747 resInfo good: 392, 1 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 876/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999977 0.00342962 -0.0057789 0.0134547 -0.00365741 0.999198 -0.0398795 0.216679 0.0056375 0.0398997 0.999188 0.00590522 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!566 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 638 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!567 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 568 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.131900 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!568 INF|Input.cpp[getImages,132]: mNbReceivedImages!569 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999949 0.00505724 -0.00871843 0.0204511 -0.00556968 0.998195 -0.0597912 0.324869 0.00840032 0.0598367 0.998173 0.0121275 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 117 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.131900) and 565(1311875592.064849) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999949 0.00505724 -0.00871843 0.0204511 -0.00556968 0.998195 -0.0597912 0.324869 0.00840032 0.0598367 0.998173 0.0121275 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 5): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:262/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 117 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.131900) and 565(1311875592.064849) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999781 0.0208325 -0.00200486 -0.0298817 -0.0209097 0.998367 -0.0531594 0.332017 0.000894144 0.0531896 0.998584 0.0481195 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999785 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:189/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 117 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.131900) and 565(1311875592.064849) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999781 0.0151208 0.014466 -0.0791047 -0.0145582 0.999163 -0.0382358 0.27553 -0.0150321 0.0380168 0.999164 0.0843241 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999949 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:154/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.19485 resInfo good: 382, 11 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 756/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999754 0.0138662 0.0173012 -0.0840998 -0.0132209 0.999232 -0.0368735 0.272822 -0.0177992 0.0366357 0.99917 0.0922164 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875592.131900 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875592.131900 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875592.131900 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 991 size: 364 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875592.131900 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 412 keyframeId: 89 score: -8.51151 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -9.75339 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 506 keyframeId: 107 score: -10.985 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 526 keyframeId: 109 score: -11.6966 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 557 keyframeId: 115 score: -16.7414 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -15.298 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 118 = 118 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226194c0 fh1 0x185b3f60fh->id: 89 118 567goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226194c0 fh1 0x2bb262e0fh->id: 94 118 567goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226194c0 fh1 0x1b9118e0fh->id: 107 118 567goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226194c0 fh1 0x2ce5c640fh->id: 109 118 567goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226194c0 fh1 0x2bb1cb20fh->id: 115 118 567goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226194c0 fh1 0x1ec6dbe0fh->id: 116 118 567goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226194c0 fh1 0x252b1280fh->id: 117 118 567goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew118 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 24 out of 24 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 24 newEdgePixels: 24 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 178 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 36 lastEnergy: 51.5432 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 5 INF|LocalMapper.cpp[optimize,276]: Start Energy: 51.5432 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 4.60291e-13 -4.03698e-13 3.13068e-12 3.94729e-12 0.00680947 0.00580274 -0.00245489 -0.00289311 0.00115257 -0.000146832 -0.000925396 0.00729489 0.00276801 -0.0026152 0.00129879 0.000452057 0.00166575 0.00530699 0.00836941 -0.00206847 0.00117748 0.00245498 0.00281903 0.00680399 0.0305351 -0.00282862 0.00176001 0.00275861 0.00979457 0.0251543 0.0222668 -0.00144559 0.00137018 0.00250718 -0.0177634 0.0244039 0.0162854 -0.0016528 0.00385003 -0.000459253 0.0381144 0.0148442 -0.044187 -0.000810452 -0.00429504 0.00270333 0.0694295 -0.01932 -0.0163272 -0.00251247 -0.00482304 0.0101241 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 178 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 47.8137 0 0 newEnergyL 0 lastEnergy: 51.5432 0 0 lastEnergyL: 0mActiveResiduals: 178 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 5.90714e-13 5.92945e-14 7.37586e-13 -8.69268e-13 -1.58079e-05 -0.000143733 0.000343142 -2.86738e-05 3.03838e-05 1.66063e-05 -0.000246788 -0.000145337 0.000246562 -3.77372e-05 6.03263e-05 -4.53052e-05 -0.00418395 -0.00012385 -0.0043749 0.000152206 0.000279663 -6.19029e-05 0.00158223 0.000706189 -0.00393365 0.000233776 -0.000380792 1.49858e-05 -0.0139345 -0.0169703 -0.0342178 -0.000720201 -9.098e-05 -0.000605239 0.0138196 -0.00934253 -0.0331262 0.000422204 -0.00271962 0.00174313 -0.0326846 0.0436708 -0.0415965 0.0069241 0.00192701 -0.00147638 -0.0719636 0.000135399 0.00677591 0.000559103 0.00728219 -0.000600584 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 178 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 44.7391 0 0 newEnergyL 0 lastEnergy: 47.8137 0 0 lastEnergyL: 0mActiveResiduals: 178 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -7.12113e-13 1.52468e-14 -3.83272e-13 -2.69326e-13 -0.0169232 0.00243 0.002354 0.00107076 -0.00207743 -0.00295916 -0.0106968 0.00528721 -0.000480459 0.000637079 -0.00230268 -0.00296242 -0.00833837 0.00506139 -0.00137101 -0.00106771 -0.00332937 -0.0020812 -0.00866633 0.0122494 -0.0014364 -0.000243405 -0.00304097 -0.00314274 0.00900753 0.0020647 0.00413971 -0.00063596 -0.00495273 -0.000189473 -0.0221302 0.00675354 0.00415096 -0.000653637 -0.00183895 -0.00332672 0.0104091 0.0161624 -0.0176233 -0.000738388 -0.00687186 -0.00427232 0.0431403 -0.0515334 0.0134663 -0.00639029 -0.00777743 0.00335558 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 178 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 43.8687 0 0 newEnergyL 0 lastEnergy: 44.7391 0 0 lastEnergyL: 0mActiveResiduals: 178 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 4.92698e-13 -1.46949e-13 2.4304e-13 1.2395e-13 0.00480293 0.00230815 2.35265e-05 0.000339038 6.49591e-05 0.00197309 0.00570444 -0.000211777 -0.00145018 0.00047854 0.000173579 0.00193538 0.00290186 0.00102319 -0.00476264 0.00163674 0.000939274 0.000876365 -0.00115602 -0.00673206 -0.0127615 0.00118201 0.00116271 0.00178456 -0.00777844 -0.000772575 -0.00236797 0.00103649 0.00246451 -0.00133434 0.0191834 -0.00877598 0.00325526 0.000581071 -3.55141e-05 0.0023036 -0.000245217 -0.00525628 -0.00571278 0.00158004 0.00196231 0.00164411 -0.0251567 0.026226 0.0249207 0.00321735 0.00491377 -0.00320243 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 178 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 40.7497 0 0 newEnergyL 0 lastEnergy: 43.8687 0 0 lastEnergyL: 0mActiveResiduals: 178 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.07731e-12 2.37677e-13 -7.77415e-13 2.39169e-12 -0.00453004 -0.000390807 0.00621589 -0.00103964 0.000523644 -0.000232942 -0.000130075 0.000647797 0.00576442 -0.00106633 0.000571123 -0.000137443 0.00801184 0.00284021 0.002849 -0.000939859 0.000345123 0.00106441 0.00451892 0.0060053 -0.000700138 -0.000841863 0.000448962 0.000142151 0.010698 0.00753812 -0.00417291 -5.01429e-06 0.000484173 0.00268536 -0.0148719 0.0105765 -0.00476497 9.0922e-05 0.00323554 -0.000386453 0.00816452 0.00683455 0.00306994 -0.00142573 0.000956243 -0.000713838 -0.0170699 -0.0419549 -0.00634427 -0.00427949 0.00428249 0.00794577 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 178 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 41.3489 0 0 newEnergyL 0 lastEnergy: 40.7497 0 0 lastEnergyL: 0mActiveResiduals: 178 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 8.42633e-13 -1.52137e-13 9.82939e-13 -7.73385e-13 0.0109839 0.00154357 -0.00342911 -0.000871767 0.000264108 0.000908821 0.00677402 -0.000433207 -0.00235628 -0.000849004 0.000201309 0.00103355 0.00100377 -0.00252414 -0.00167423 -0.000186968 0.000734925 0.0011273 0.000660459 -0.00433871 9.84094e-05 -0.000258626 0.000659046 0.00185309 -0.00408132 -0.0141395 0.00944794 -0.00229434 0.0018707 0.000219877 0.0175363 -0.0170971 0.0022568 -0.00225816 -0.000656131 0.00309105 0.0047011 0.000363208 0.00168557 0.000149545 0.000909101 0.00247816 -0.0327012 0.042493 -0.00346298 0.00496226 0.00466902 -0.000851065 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 178 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 40.3436 0 0 newEnergyL 0 lastEnergy: 41.3489 0 0 lastEnergyL: 0mActiveResiduals: 178 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 40.3436 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 178 INF|LocalMapper.cpp[optimize,345]: End Energy: 40.3436 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.485724 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.485724 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 115 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 115 with idx: 4 and allID: 557 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->115 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->115 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 107<->115 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 109<->115 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 115<->115 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->115 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 117<->115 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->115 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 115 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 557: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 114/554: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 113/549: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 113 allId: 549 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.99785 0.00158635 0.0655222 0.0233655 0.00551785 0.994125 -0.108101 -0.00651102 -0.0653087 0.10823 0.991978 0.0437458 worldPose: 0.640391 -0.000716799 -0.768049 -2.21324 -0.394693 0.857548 -0.329891 2.02955 0.658875 0.514403 0.548883 2.40627 after: 0.640391 -0.000716799 -0.768049 -2.21324 -0.394693 0.857548 -0.329891 2.02955 0.658875 0.514403 0.548883 2.40627 worldPose of new: 0.588688 0.0858478 -0.803789 -2.19128 -0.4141 0.885993 -0.208656 2.05413 0.694239 0.455682 0.557124 2.36864 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.99785 0.00158635 0.0655222 0.0233655 0.00551785 0.994125 -0.108101 -0.00651102 -0.0653087 0.10823 0.991978 0.0437458 INF|Mapper.cpp[changeRefFrame,578]: Updating: 558 from old kf id: 115/557 with new ref frame: 549/113 INF|Mapper.cpp[changeRefFrame,578]: Updating: 559 from old kf id: 115/557 with new ref frame: 549/113 INF|Mapper.cpp[changeRefFrame,578]: Updating: 560 from old kf id: 115/557 with new ref frame: 549/113 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 557 after changeRefFrame: 0.99785 0.00158635 0.0655222 0.0233655 0.00551785 0.994125 -0.108101 -0.00651102 -0.0653087 0.10823 0.991978 0.0437458 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 115 to normal frame with refFrame: 113 frame id kf: 557 newref id: 549 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 115 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6466 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x226194c0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 118 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 79 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 71 with distance 0.314Found rest min at: 78 with distance 0.16 overall min: 0.16 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 1006 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 118 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1020 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 568 keyframes 119 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 754 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!568 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 569 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.163859 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!569 INF|Input.cpp[getImages,132]: mNbReceivedImages!570 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999614 0.0261746 0.00935116 -0.0669982 -0.0261066 0.999632 -0.00732774 0.119578 -0.00953952 0.00708079 0.999929 0.025491 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 118 to 4760391774923390976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.163859) and 567(1311875592.131900) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999614 0.0261746 0.00935116 -0.0669982 -0.0261066 0.999632 -0.00732774 0.119578 -0.00953952 0.00708079 0.999929 0.025491 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 2): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:212/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 118 to 4760391774923390976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.163859) and 567(1311875592.131900) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999763 0.0201685 0.00822006 -0.0604458 -0.0200804 0.999741 -0.0106664 0.108842 -0.00843306 0.0104988 0.999909 0.0233862 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 4): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:254/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 118 to 4760391774923390976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.163859) and 567(1311875592.131900) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99966 0.0111747 -0.0235549 0.129871 -0.0111972 0.999937 -0.000822038 0.0783242 0.0235442 0.00108551 0.999722 0.111596 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999789 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:136/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.72011 resInfo good: 364, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 754/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999672 0.0141089 -0.0213785 0.128457 -0.0141391 0.999899 -0.0012634 0.0901246 0.0213585 0.00156526 0.999771 0.123888 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!568 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 645 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!569 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 570 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.200814 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!570 INF|Input.cpp[getImages,132]: mNbReceivedImages!571 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998688 0.0281783 -0.0427629 0.255495 -0.0282992 0.999597 -0.00222411 0.178267 0.042683 0.00343135 0.999083 0.250633 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 118 to 4760391774923390976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.200814) and 567(1311875592.131900) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998688 0.0281783 -0.0427629 0.255495 -0.0282992 0.999597 -0.00222411 0.178267 0.042683 0.00343135 0.999083 0.250633 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:184/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 118 to 4760391774923390976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.200814) and 567(1311875592.131900) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998676 0.0285933 -0.0427516 0.255758 -0.0287302 0.999584 -0.0025924 0.176537 0.0426597 0.00381723 0.999082 0.251069 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999334 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:301/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 118 to 4760391774923390976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.200814) and 567(1311875592.131900) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998241 0.0123369 -0.0579948 0.434042 -0.0118358 0.99989 0.00897569 0.137601 0.0580991 -0.00827349 0.998277 0.451211 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999996 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:153/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.966906 resInfo good: 364, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 793/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999416 0.00833952 -0.0331459 0.324818 -0.00866512 0.999915 -0.00969184 0.197899 0.0330623 0.0099734 0.999404 0.433387 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!569 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 650 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!570 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 571 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.232843 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!571 INF|Input.cpp[getImages,132]: mNbReceivedImages!572 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999416 0.00833952 -0.0331459 0.324818 -0.00866512 0.999915 -0.00969184 0.197899 0.0330623 0.0099734 0.999404 0.433387 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 118 to 4760391774923390976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.232843) and 567(1311875592.131900) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999416 0.00833952 -0.0331459 0.324818 -0.00866512 0.999915 -0.00969184 0.197899 0.0330623 0.0099734 0.999404 0.433387 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 4): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:233/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 118 to 4760391774923390976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.232843) and 567(1311875592.131900) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99268 -0.00746113 -0.120543 0.910275 0.0124037 0.99911 0.0403045 0.0295388 0.120135 -0.0415047 0.99189 0.930444 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:215/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 118 to 4760391774923390976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.232843) and 567(1311875592.131900) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.997093 -0.00422586 -0.0760812 0.616879 0.00358729 0.999957 -0.008528 0.203502 0.076114 0.00823028 0.997065 0.659273 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:175/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.1481 resInfo good: 364, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 758/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.996635 -0.0178612 -0.0799973 0.685745 0.018389 0.999814 0.00586625 0.1402 0.0798777 -0.00731758 0.996778 0.753275 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875592.232843 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875592.232843 to keyframe with id: 4760391774923390976 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875592.232843 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 905 size: 356 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId4760391774923390976 timestamp: 1311875592.232843 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 119 = 119 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2a5d2ba0 fh1 0x185b3f60fh->id: 89 119 570goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2a5d2ba0 fh1 0x2bb262e0fh->id: 94 119 570goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2a5d2ba0 fh1 0x1b9118e0fh->id: 107 119 570goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2a5d2ba0 fh1 0x2ce5c640fh->id: 109 119 570goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2a5d2ba0 fh1 0x1ec6dbe0fh->id: 116 119 570goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2a5d2ba0 fh1 0x252b1280fh->id: 117 119 570goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2a5d2ba0 fh1 0x226194c0fh->id: 118 119 570goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew119 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 20 out of 20 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 20 newEdgePixels: 20 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 135 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 23 lastEnergy: 44.3081 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 3 INF|LocalMapper.cpp[optimize,276]: Start Energy: 44.3081 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 3.25952e-13 4.45039e-13 1.97423e-12 2.47677e-12 0.00600603 -0.00516489 -0.00565677 0.000577668 0.00115922 0.000264103 -0.00211624 -0.00622306 -0.00114934 0.000601615 0.00144351 9.15064e-05 -0.0016582 -0.00165237 0.00633553 0.0013165 0.00132735 -0.000573966 -0.0080707 -0.010254 0.00520596 0.000526667 0.00187486 4.47688e-05 -0.00235513 -0.0269461 0.0248399 -0.00319977 0.00198823 -0.000885805 -0.00473008 -0.00790118 0.0272001 -0.00137314 0.001844 -0.00278671 -0.0376132 -0.0341519 -0.00636774 -0.00214225 0.00420783 0.000261483 0.149139 -0.11797 0.269528 -0.0134796 -0.00244682 0.00483093 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 135 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 40.478 0 0 newEnergyL 0 lastEnergy: 44.3081 0 0 lastEnergyL: 0mActiveResiduals: 135 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.36188e-13 -3.17492e-13 2.12951e-14 -5.07812e-13 -0.000599447 0.000191182 0.000450764 5.00376e-05 9.77268e-05 3.62341e-05 0.00104223 -0.00145531 -4.11237e-05 -0.000180999 -0.000123251 9.09005e-06 -0.00165256 -0.00122578 -0.0019436 -1.25023e-05 0.000144278 7.67723e-05 0.00331943 0.00113625 0.00266484 8.61367e-05 -0.000164382 7.82071e-05 -0.00250881 -0.0185852 -0.0132201 -0.00100876 0.000204775 0.00255129 0.000438606 -0.0492828 -0.0204239 -0.00512164 -0.000827386 0.00193075 0.0253291 -0.0172933 0.0237859 -0.000885764 -0.000894066 0.00273457 0.0593376 -0.0805401 -0.115691 -0.00815013 -0.0105696 -0.0031815 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 135 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 41.0505 0 0 newEnergyL 0 lastEnergy: 40.478 0 0 lastEnergyL: 0mActiveResiduals: 135 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -7.50314e-14 1.99102e-13 -9.80928e-15 -6.35327e-14 0.0377145 0.00977931 -0.0103071 0.000108188 -0.0070887 -0.000544804 0.0195928 0.00751075 -0.0123183 -0.000150385 -0.00707758 -0.000224117 -0.000630787 0.000413135 -0.00733543 0.000897363 -0.00677716 0.00151624 -0.00365511 0.00423435 0.00285077 0.00137954 -0.00700865 0.000768522 -0.0120155 0.00820449 0.0059526 0.00186562 -0.00462832 0.0049889 -0.00312736 -0.00207969 -0.00317189 0.000546808 -0.00644951 0.00435256 -0.0354714 -0.0235253 -0.0134823 -0.00174796 -0.00371853 0.00141653 0.00615172 0.0225343 0.0669195 0.00273877 -0.00319634 0.00405081 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 135 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 38.2676 0 0 newEnergyL 0 lastEnergy: 41.0505 0 0 lastEnergyL: 0mActiveResiduals: 135 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 4.4438e-13 3.91236e-14 4.8442e-13 -8.94357e-13 -0.0206615 -0.00234274 -0.0177364 -0.0034192 0.0171565 0.00111179 -0.0228364 -0.00197678 0.000122636 -0.00280786 0.0172829 0.000812238 -0.00787524 0.00122731 0.0223465 -0.00461526 0.0168721 -0.0021569 0.00454723 0.00484335 0.0343891 -0.00550593 0.0161282 -0.00111999 0.00740775 0.000830641 0.00801816 -0.00470392 0.013392 -0.00522439 -0.00897269 -0.0109439 0.0158461 -0.00622412 0.0148187 -0.00689566 0.0138465 0.0155769 0.00155101 0.000292134 0.0128287 -0.00398831 0.0580879 -0.0215108 -0.0760969 -0.00189522 0.00159585 -0.00399377 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 135 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 38.6186 0 0 newEnergyL 0 lastEnergy: 38.2676 0 0 lastEnergyL: 0mActiveResiduals: 135 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -4.37081e-14 1.76969e-14 1.884e-13 -1.52973e-12 0.0152939 0.0121973 -0.0108655 0.00385999 0.00235763 -0.00171105 0.00405902 0.0110714 -0.00586336 0.00365635 0.00211944 -0.00237488 -0.00596159 0.00640023 0.0009963 0.00158119 0.0015063 -0.00454581 -0.00151479 0.0113506 0.013866 0.00166891 0.00138901 -0.00484243 -0.00279093 0.0278838 0.0143297 0.00375327 -0.000767843 -0.00630417 0.00905395 -0.00142405 0.0063529 0.00120266 -0.00298161 -0.00433924 -0.0423609 -0.0297993 -0.0233828 -4.82292e-05 0.000934822 -0.00645137 0.0349746 -0.0229021 0.0330264 -0.00133555 -0.00556066 -0.00703863 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 135 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 37.4308 0 0 newEnergyL 0 lastEnergy: 38.6186 0 0 lastEnergyL: 0mActiveResiduals: 135 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -2.75095e-13 1.77904e-13 9.84279e-13 -2.55853e-13 -0.0452257 -0.00746361 0.0377407 0.00297869 0.00355782 -0.00410685 -0.0189581 -0.000795949 0.033981 0.0025183 0.00338642 -0.00466691 0.00774984 0.0140545 0.0117004 -0.00100398 0.00166863 -0.00612415 0.021311 0.0155512 0.00613518 -0.0010242 0.00122682 -0.0062101 0.0297626 -0.0189871 -0.0209478 -0.00305381 -0.00383258 -0.00700958 0.00405511 -0.0068035 -0.0202951 -0.00105211 -0.00064904 -0.00638225 0.0297446 0.000304525 -0.00971022 -0.00221294 -0.00441746 -0.00825574 -0.0544 -0.054589 -0.0489413 -0.00668538 0.00291275 -0.00995354 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 135 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 35.2824 0 0 newEnergyL 0 lastEnergy: 37.4308 0 0 lastEnergyL: 0mActiveResiduals: 135 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 35.2824 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 135 INF|LocalMapper.cpp[optimize,345]: End Energy: 35.2824 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.518972 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.518972 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 89 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 89 with idx: 0 and allID: 412 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 89<->89 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->89 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 89->94 INF|LocalMapper.cpp[marginalizeFrame,772]: 107<->89 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 89->107 INF|LocalMapper.cpp[marginalizeFrame,772]: 109<->89 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 89->109 INF|LocalMapper.cpp[marginalizeFrame,801]: 89 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 89 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 109 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 109 with idx: 2 and allID: 526 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->109 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 109->94 INF|LocalMapper.cpp[marginalizeFrame,772]: 107<->109 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 109->107 INF|LocalMapper.cpp[marginalizeFrame,772]: 109<->109 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->109 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 109->116 INF|LocalMapper.cpp[marginalizeFrame,801]: 109 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 109 size: 7 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 6 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6060 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2a5d2ba0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 119 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 79 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 72 with distance 0.314Found rest min at: 78 with distance 0.174 overall min: 0.174 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 891 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 119 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 901 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 571 keyframes 120 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 721 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!571 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 572 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.264769 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!572 INF|Input.cpp[getImages,132]: mNbReceivedImages!573 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 119 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.264769) and 570(1311875592.232843) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 2): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:175/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 119 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.264769) and 570(1311875592.232843) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998838 -0.0397708 0.0272361 -0.105288 0.037998 0.997304 0.0627743 -0.323554 -0.0296593 -0.0616664 0.997656 0.0696477 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999966 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:241/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 119 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.264769) and 570(1311875592.232843) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998918 -0.0369307 0.0282764 -0.10274 0.0350397 0.997291 0.0646784 -0.313646 -0.0305884 -0.0636176 0.997505 0.0810486 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999943 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:133/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.929666 resInfo good: 356, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 683/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999667 -0.0221761 0.0132156 -0.049263 0.0213936 0.998164 0.0566709 -0.258524 -0.0144481 -0.0563693 0.998305 0.0634933 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!571 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 592 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!572 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 573 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.300808 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!573 INF|Input.cpp[getImages,132]: mNbReceivedImages!574 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999667 -0.0221761 0.0132156 -0.049263 0.0213936 0.998164 0.0566709 -0.258524 -0.0144481 -0.0563693 0.998305 0.0634933 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 119 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.300808) and 570(1311875592.232843) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999667 -0.0221761 0.0132156 -0.049263 0.0213936 0.998164 0.0566709 -0.258524 -0.0144481 -0.0563693 0.998305 0.0634933 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999308 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:151/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 119 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.300808) and 570(1311875592.232843) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999365 -0.0325435 0.0145184 -0.0943457 0.0320323 0.998903 0.0341567 -0.172232 -0.0156141 -0.0336699 0.999311 -0.0317678 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999311 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:71/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 119 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.300808) and 570(1311875592.232843) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99997 -0.00626037 -0.00451035 -0.0192802 0.00635705 0.999743 0.0217499 -0.0628027 0.00437303 -0.0217779 0.999753 -0.0207087 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999099 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:179/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.558554 resInfo good: 356, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 532/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999999 0.00103431 0.000184098 -0.0660778 -0.00103672 0.999907 0.0135847 -0.0363035 -0.00017003 -0.0135849 0.999908 -0.0873969 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!572 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 571 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!573 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 574 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!574 INF|Input.cpp[getImages,132]: mNbReceivedImages!575 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.332565 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.9999 0.012425 -0.00670323 -0.0718038 -0.0124775 0.999891 -0.00785926 0.0773104 0.00660485 0.00794212 0.999947 -0.1593 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 119 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.332565) and 570(1311875592.232843) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.9999 0.012425 -0.00670323 -0.0718038 -0.0124775 0.999891 -0.00785926 0.0773104 0.00660485 0.00794212 0.999947 -0.1593 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999909 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:158/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 119 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.332565) and 570(1311875592.232843) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998732 0.00533752 -0.0500586 0.183711 -0.00533897 0.999986 0.000104597 0.0633782 0.0500584 0.000162797 0.998746 0.0247005 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:134/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 119 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.332565) and 570(1311875592.232843) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999705 0.00129892 -0.0242365 0.0886613 -0.00165105 0.999893 -0.0145147 0.118663 0.024215 0.0145505 0.999601 0.0393239 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:163/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.843612 resInfo good: 356, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 587/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.9997 -0.00307702 -0.0243065 0.113541 0.00288073 0.999963 -0.00810682 0.100398 0.0243306 0.00803437 0.999672 0.0850346 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!573 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 578 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!574 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 575 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!575 INF|Input.cpp[getImages,132]: mNbReceivedImages!576 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.364589 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 11 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999319 -0.00533069 -0.0365123 0.201532 0.0046396 0.999809 -0.0189861 0.167608 0.0366066 0.0188038 0.999153 0.173986 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 119 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.364589) and 570(1311875592.232843) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999319 -0.00533069 -0.0365123 0.201532 0.0046396 0.999809 -0.0189861 0.167608 0.0366066 0.0188038 0.999153 0.173986 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.99906 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:604/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 119 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.364589) and 570(1311875592.232843) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997116 0.0255498 -0.0714592 0.177505 -0.0269914 0.99945 -0.0192813 0.169493 0.0709272 0.0211545 0.997257 -0.10785 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999878 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:500/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 119 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.364589) and 570(1311875592.232843) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999058 -0.00359916 -0.0432436 0.15395 0.00409203 0.999928 0.0113145 0.0341687 0.0431998 -0.0114808 0.999 0.0823156 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:495/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.901227 resInfo good: 356, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2023/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99927 -0.00766298 -0.0374301 0.13635 0.00814415 0.999886 0.0127196 0.023695 0.0373284 -0.0130151 0.999218 0.0947865 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!574 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1977 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!575 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 576 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.400856 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!576 INF|Input.cpp[getImages,132]: mNbReceivedImages!577 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998645 -0.011971 -0.0506399 0.159372 0.0136766 0.999346 0.0334693 -0.0526777 0.0502061 -0.0341165 0.998156 0.106445 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 119 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.400856) and 570(1311875592.232843) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998645 -0.011971 -0.0506399 0.159372 0.0136766 0.999346 0.0334693 -0.0526777 0.0502061 -0.0341165 0.998156 0.106445 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:200/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 119 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.400856) and 570(1311875592.232843) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998567 -0.0527787 -0.00886146 0.00723922 0.0532917 0.995822 0.0741533 -0.247844 0.00491072 -0.0745193 0.997207 0.164408 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 2): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:200/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 119 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.400856) and 570(1311875592.232843) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998532 -0.0535176 -0.00839478 0.0101298 0.0539971 0.995726 0.0749319 -0.243579 0.00434872 -0.0752752 0.997153 0.159767 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999136 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:112/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.07638 resInfo good: 337, 19 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 663/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999176 -0.0278204 -0.0295614 0.0466868 0.0290997 0.998618 0.0437668 -0.10065 0.0283029 -0.0445909 0.998604 0.039495 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875592.400856 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875592.400856 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875592.400856 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1021 size: 396 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875592.400856 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization6 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 120 = 120 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cf1c3a0 fh1 0x2bb262e0fh->id: 94 120 575goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cf1c3a0 fh1 0x1b9118e0fh->id: 107 120 575goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cf1c3a0 fh1 0x1ec6dbe0fh->id: 116 120 575goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cf1c3a0 fh1 0x252b1280fh->id: 117 120 575goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cf1c3a0 fh1 0x226194c0fh->id: 118 120 575goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1cf1c3a0 fh1 0x2a5d2ba0fh->id: 119 120 575goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew120 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 10 out of 10 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 10 newEdgePixels: 10 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 161 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 34 lastEnergy: 55.8815 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 4 INF|LocalMapper.cpp[optimize,276]: Start Energy: 55.8815 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 8.59989e-13 -1.11312e-12 -3.39353e-12 2.85112e-13 0.0179704 -0.0148168 -0.0152357 -0.00303125 -0.0156281 0.00649706 0.00288102 -0.0198514 -0.0313075 0.00326309 -0.0130973 0.0104288 -0.0195787 -0.0215734 -0.0489831 0.00386529 -0.00725417 0.0135613 0.00250852 -0.0556142 -0.0468391 -0.00129065 -0.009133 0.0139812 -0.0220586 -0.0708819 -0.0813259 -0.000805829 -0.00705953 0.0174219 0.054259 -0.0672871 -0.0320313 -7.42479e-05 -0.00935397 0.0168976 0.101636 -0.0794868 -0.183204 -0.000312083 -0.0208931 0.014172 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 161 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 51.4427 0 0 newEnergyL 0 lastEnergy: 55.8815 0 0 lastEnergyL: 0mActiveResiduals: 161 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.99021e-13 8.47352e-14 -7.5917e-13 -9.82852e-15 0.000555584 0.000926458 -0.00125122 0.000105267 -0.000177879 -3.04212e-05 0.00188184 -0.000986957 -4.91234e-05 -0.000246484 -0.000426266 -3.20584e-05 0.00535227 -0.0215445 -0.00687996 -0.00134914 0.000121369 0.00331005 -0.0188462 0.00893172 0.013353 0.00203462 0.00386971 0.00257401 -0.0162983 0.056556 -0.0197416 0.00579612 0.00153217 -0.000602244 -0.0341262 -0.00215763 -0.00331004 0.00171055 0.00490443 0.00678717 -0.0419996 -0.0119205 0.0774259 -0.000608801 0.00960662 0.00837348 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 161 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 48.7841 0 0 newEnergyL 0 lastEnergy: 51.4427 0 0 lastEnergyL: 0mActiveResiduals: 161 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 2.12692e-13 5.54482e-15 -2.63283e-13 -6.64401e-13 -0.031287 -0.00766751 0.00822248 -0.0108633 0.0103801 0.00769969 -0.00577878 0.00184678 0.0145932 -0.00665271 0.0122566 0.00965814 -0.00250577 0.0284902 0.0231238 -0.00755718 0.0147131 0.00159582 0.012535 -0.00698854 -0.00505845 -0.0122646 0.0117117 0.00134816 -0.00860488 -0.0517152 0.00736316 -0.015792 0.0149561 0.00661153 0.0162838 0.0176526 0.0070983 -0.0105654 0.00920755 -0.00270441 0.0213064 0.00593716 -0.0614319 -0.010976 0.00466667 -0.00385044 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 161 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 47.561 0 0 newEnergyL 0 lastEnergy: 48.7841 0 0 lastEnergyL: 0mActiveResiduals: 161 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -5.07614e-13 6.34761e-14 -2.04466e-14 8.53627e-14 0.0205683 0.0127361 -0.02126 -0.000496799 -0.0044378 -0.0023262 -0.000473594 0.00458216 -0.0143482 -0.00118411 -0.00510448 -0.000710812 -0.0075337 -0.0116995 -0.0230091 -0.00142388 -0.00450639 0.00264179 -0.0184035 0.005854 0.00453991 0.00140068 -0.00128263 0.00430352 0.0109671 -0.0164674 0.0365619 -0.00272965 -0.00338571 0.00394761 -0.0245652 -0.00197594 -0.0200237 0.00119868 -0.000790871 0.00617897 0.0207576 0.0288206 0.0463722 0.0041929 -0.00152941 0.00882475 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 161 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 48.0879 0 0 newEnergyL 0 lastEnergy: 47.561 0 0 lastEnergyL: 0mActiveResiduals: 161 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 2.59531e-13 5.96155e-13 6.30041e-13 1.46122e-12 -0.0021849 0.000596866 0.0058499 0.00592799 0.00403969 -0.00427851 0.000477536 0.000324889 0.0152935 0.00229357 0.00275261 -0.00728591 -0.00211812 0.00700393 0.0113259 0.0049663 0.000561314 -0.00587262 0.0105945 0.0143067 0.00638075 0.00487847 -0.00195183 -0.0078552 -0.0112858 0.00326588 -0.0427514 0.00628589 -0.00108473 -0.00739695 0.04888 0.0182584 0.0179429 0.00676837 -0.00464474 -0.00523647 -0.0407324 -0.0526778 -0.0117255 -0.00250483 0.000146911 -0.0111659 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 161 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 46.1952 0 0 newEnergyL 0 lastEnergy: 48.0879 0 0 lastEnergyL: 0mActiveResiduals: 161 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 6.8435e-13 -5.48738e-13 3.62807e-13 9.38945e-15 -0.00822708 0.00266225 -0.0129922 0.00545198 -0.00364817 -0.00265713 -0.0166543 -0.00302702 -0.0174244 0.00377506 -0.00431451 -0.00396319 -0.0074535 0.00554063 -0.00328449 0.00624616 -0.00473643 -0.00123477 0.0043065 0.0105919 -0.0150841 0.00705121 -0.00628462 -0.000951732 0.0245624 -0.00269118 0.0341477 0.00232327 -0.0075021 -0.00233346 -0.0343597 -0.0105208 -0.0159135 0.00442878 -0.000107599 0.00546789 0.0350047 0.0116703 0.028261 0.0052814 -0.00488126 0.00312664 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 161 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 43.4782 0 0 newEnergyL 0 lastEnergy: 46.1952 0 0 lastEnergyL: 0mActiveResiduals: 161 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 43.4782 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 161 INF|LocalMapper.cpp[optimize,345]: End Energy: 43.4782 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.529627 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.529627 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 4481 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1cf1c3a0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 120 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 79 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 73 with distance 0.286Found rest min at: 78 with distance 0.196 overall min: 0.196 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 905 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 120 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 914 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 576 keyframes 121 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 599 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!576 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 577 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!577 INF|Input.cpp[getImages,132]: mNbReceivedImages!578 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.432538 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999843 -0.0141422 0.010684 -0.0630515 0.0140137 0.99983 0.0120059 -0.0524427 -0.0108519 -0.0118543 0.999871 -0.0117736 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 120 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.432538) and 575(1311875592.400856) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999843 -0.0141422 0.010684 -0.0630515 0.0140137 0.99983 0.0120059 -0.0524427 -0.0108519 -0.0118543 0.999871 -0.0117736 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999977 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:173/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 120 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.432538) and 575(1311875592.400856) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999874 -0.0131831 0.0088088 -0.0714487 0.0130974 0.999867 0.00972309 -0.0598256 -0.00893581 -0.0096065 0.999914 0.00447907 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999078 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:202/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 120 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.432538) and 575(1311875592.400856) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999544 0.0017548 -0.0301448 0.102703 -0.00158078 0.999982 0.00579572 0.00724736 0.0301544 -0.00574542 0.999529 0.0277558 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 5): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:212/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.63545 resInfo good: 396, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 712/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999961 -0.00874486 -0.00132295 -0.0193286 0.00876139 0.999877 0.0130462 -0.045071 0.0012087 -0.0130573 0.999914 0.0152463 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!576 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 488 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!577 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 578 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.463833 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999912 -0.0131104 -0.00202717 -0.0288523 0.0131476 0.999722 0.0195641 -0.0675941 0.00177011 -0.019589 0.999807 0.0230809 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 120 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.463833) and 575(1311875592.400856) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999912 -0.0131104 -0.00202717 -0.0288523 0.0131476 0.999722 0.0195641 -0.0675941 0.00177011 -0.019589 0.999807 0.0230809 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.99955 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:119/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 120 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.463833) and 575(1311875592.400856) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.995153 -0.0917985 -0.0352661 0.0816534 0.0948236 0.990783 0.0967375 -0.535545 0.0260607 -0.0996126 0.994685 -0.0626141 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:189/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 120 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.463833) and 575(1311875592.400856) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998308 -0.0575443 0.00832793 -0.0556464 0.0565016 0.99391 0.0946058 -0.435081 -0.0137212 -0.0939752 0.99548 0.0992048 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 17,0.999132 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:226/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.03167 resInfo good: 396, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 653/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999478 -0.0312633 -0.0080859 -0.0128508 0.0315978 0.998477 0.0452252 -0.21229 0.0066597 -0.0454571 0.998944 0.0258177 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875592.463833 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875592.463833 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875592.463833 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!578 INF|Input.cpp[getImages,132]: mNbReceivedImages!579 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 711 size: 407 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875592.463833 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 443 keyframeId: 94 score: -8.29872 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 506 keyframeId: 107 score: -13.1727 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -31.6574 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 565 keyframeId: 117 score: -31.8019 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -11.0619 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -4.83524 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 121 = 121 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x269c5b20 fh1 0x2bb262e0fh->id: 94 121 577goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x269c5b20 fh1 0x1b9118e0fh->id: 107 121 577goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x269c5b20 fh1 0x1ec6dbe0fh->id: 116 121 577goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x269c5b20 fh1 0x252b1280fh->id: 117 121 577goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x269c5b20 fh1 0x226194c0fh->id: 118 121 577goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x269c5b20 fh1 0x2a5d2ba0fh->id: 119 121 577goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x269c5b20 fh1 0x1cf1c3a0fh->id: 120 121 577goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew121 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 15 out of 15 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 15 newEdgePixels: 15 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 239 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 41 lastEnergy: 74.2911 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 5 INF|LocalMapper.cpp[optimize,276]: Start Energy: 74.2911 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -4.08466e-13 -5.73147e-13 9.57389e-14 -1.21255e-12 0.0204647 -0.00891898 0.0208814 -6.90828e-05 -0.00618813 0.00162249 0.026581 -0.0023744 0.0078434 0.00167864 -0.00569552 0.00219604 0.0232378 -0.000631612 0.0271907 0.000145541 -0.00527572 0.00187753 0.0114325 -0.00442082 0.0335971 -0.000277809 -0.00401938 0.00253039 -0.0473586 -0.0271937 -0.0266309 -0.000621908 0.000435067 0.00259505 0.0401619 -0.00831417 0.0167666 -0.00228275 -0.00771059 -0.0031258 0.0371991 -0.0194187 -0.0482958 -0.000464564 -0.00911517 0.00128333 0.0578034 -0.0121357 -0.00956112 -0.00206252 -0.0102716 -3.51973e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 239 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 67.0793 0 0 newEnergyL 0 lastEnergy: 74.2911 0 0 lastEnergyL: 0mActiveResiduals: 239 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.6166e-13 8.8368e-13 6.98295e-13 1.40422e-12 0.000310088 0.000861028 -0.000271207 5.98158e-05 -6.75471e-05 -0.000122892 -0.00327888 -0.000881153 -0.00499569 0.000115593 0.000108402 0.00012634 -0.0137667 -0.0150809 -0.0256787 -0.000536296 0.00110811 0.000931436 -0.000890202 -0.0244268 -0.0373086 -0.000213623 0.000128351 0.00392743 0.0343996 -0.021149 -0.0444803 -0.000835294 -0.00488205 0.00361 0.0218574 -0.0611875 0.0245355 -0.00492492 0.000578179 0.00652287 -0.00929688 -0.0406355 0.00327801 -0.00112752 0.00421724 0.00895453 -0.0308975 -0.0579769 -0.0414729 -0.00130457 0.00365949 0.00954915 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 239 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 66.9064 0 0 newEnergyL 0 lastEnergy: 67.0793 0 0 lastEnergyL: 0mActiveResiduals: 239 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -3.55378e-15 -5.77454e-13 -6.51417e-13 -4.8704e-13 -0.021913 -0.0248996 -0.00574761 -0.0183936 0.00341753 0.0170995 -0.00483479 -0.0198379 -0.00245979 -0.00686759 0.00828251 0.0229042 0.0071906 -0.0248169 -0.00381544 -0.0141886 0.0125022 0.0147443 0.0158888 0.000178923 0.00133269 -0.0136015 0.0117426 0.00999899 -0.0201648 -0.00774761 0.0641921 -0.0123319 0.0211332 0.0194201 0.00982384 0.0178046 0.00424114 -0.0103626 0.0113513 0.00850751 0.000277558 0.0502502 -0.0500309 -0.00809782 0.00844827 0.00200346 0.0151344 0.00499645 -0.0337775 -0.0121897 0.00805514 0.00665947 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 239 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 70.489 0 0 newEnergyL 0 lastEnergy: 66.9064 0 0 lastEnergyL: 0mActiveResiduals: 239 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -6.38342e-13 2.83211e-13 -3.24602e-13 2.24849e-13 0.00290074 0.00887681 0.00357073 0.00935096 0.00821443 -0.00701682 0.00518076 0.00648255 0.0225007 0.00252026 0.0056412 -0.0131976 -0.00163503 0.0031754 0.0201647 0.00598729 0.00353196 -0.0093849 -0.0118885 0.0122076 0.0151417 0.00794557 0.00400988 -0.00910028 -0.0102258 0.0199066 -0.0678752 0.00809558 -0.00136217 -0.0145781 0.00801303 -0.0310517 0.00347087 0.0027784 0.000240328 -0.00458096 -0.0203005 -0.0282752 0.0219593 0.0032457 0.00534931 -0.00251422 0.0338474 0.00371773 -0.00912488 0.00470941 -0.00373002 -0.00764088 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 239 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 62.8969 0 0 newEnergyL 0 lastEnergy: 70.489 0 0 lastEnergyL: 0mActiveResiduals: 239 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.37784e-13 -5.09861e-13 2.92463e-14 -4.7492e-13 0.0075738 -0.00603312 -0.00219886 0.000650212 -0.00280002 0.00166709 0.00338896 -0.00894385 0.00588291 0.00205357 -0.0021812 0.00184959 -0.00320215 0.00311637 0.0123431 0.00261113 -0.00192614 0.00160517 0.0188943 0.0097291 -0.00667613 0.00249949 -0.00576813 -0.000722471 -0.0130638 0.00403311 -0.0189349 0.00354241 -0.00158014 0.00180037 0.00380169 0.00785963 0.0358025 0.00389292 -0.000610822 0.00147631 -0.0055655 0.0190246 -0.0268936 0.00457387 -0.0043828 -0.00277942 -0.00852848 -0.0323227 -0.0030917 0.00111464 -0.000445133 0.00703381 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 239 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 61.9623 0 0 newEnergyL 0 lastEnergy: 62.8969 0 0 lastEnergyL: 0mActiveResiduals: 239 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 4.68729e-13 -1.21078e-13 -9.73982e-13 8.07095e-13 0.000276127 0.0082567 0.00567622 0.00327543 0.000995502 -0.00319684 0.00285765 0.0101236 -0.0090715 0.000800082 0.000158057 -0.00436957 0.00162776 0.00228831 -0.00910981 0.000498429 -0.000814377 -0.00617242 -0.00999321 -0.00492613 0.00901309 0.000208181 0.00167841 -0.00402157 -0.00444224 -0.00235606 -0.00172206 -0.00035547 -0.000153339 -0.00552161 -0.0128895 -0.0124831 -0.0117066 -0.00120467 0.000953295 -0.00220243 0.0228572 -0.0230396 0.0237484 -0.000749077 0.000543052 0.00332504 -0.00504947 0.0244197 0.000164865 0.0037076 0.00146102 -0.0022869 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 239 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 61.6396 0 0 newEnergyL 0 lastEnergy: 61.9623 0 0 lastEnergyL: 0mActiveResiduals: 239 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 61.6396 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 239 INF|LocalMapper.cpp[optimize,345]: End Energy: 61.6396 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.523406 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.523406 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 117 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 117 with idx: 3 and allID: 565 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->117 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 107<->117 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->117 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 117<->117 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->117 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->117 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 120<->117 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 121<->117 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 117 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 565: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 116/561: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 116 allId: 561 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.999924 0.00496449 0.0112525 0.00388479 -0.00456631 0.999372 -0.0351394 -0.0340012 -0.0114199 0.0350853 0.999319 0.0111864 worldPose: 0.674429 -0.0748453 -0.734537 -2.21896 -0.356728 0.837997 -0.412924 1.93715 0.646445 0.540517 0.53847 2.36669 after: 0.674429 -0.0748453 -0.734537 -2.21896 -0.356728 0.837997 -0.412924 1.93715 0.646445 0.540517 0.53847 2.36669 worldPose of new: 0.665741 -0.0520668 -0.744364 -2.21499 -0.357187 0.85361 -0.379167 1.9718 0.655139 0.518305 0.549685 2.37562 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.999924 0.00496449 0.0112525 0.00388479 -0.00456631 0.999372 -0.0351394 -0.0340012 -0.0114199 0.0350853 0.999319 0.0111864 INF|Mapper.cpp[changeRefFrame,578]: Updating: 566 from old kf id: 117/565 with new ref frame: 561/116 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 565 after changeRefFrame: 0.999924 0.00496449 0.0112525 0.00388479 -0.00456631 0.999372 -0.0351394 -0.0340012 -0.0114199 0.0350853 0.999319 0.0111864 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 117 to normal frame with refFrame: 116 frame id kf: 565 newref id: 561 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 117 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 5626 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x269c5b20 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 121 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 79 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 73 with distance 0.278Found rest min at: 78 with distance 0.204 overall min: 0.204 time: 0 INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 121 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 79 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 708 INF|LoopCloser.cpp[loopCloserLinear,98]: Inserted keyframe into DB -1 -1 4 insertedKfId: 121 1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 716 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 578 keyframes 122 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 635 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!578 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 579 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.500890 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999234 -0.0391314 7.39258e-05 -0.0267215 0.0390612 0.997551 0.058027 -0.309322 -0.00234442 -0.0579796 0.998315 0.0432079 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 121 to 4654072599700045824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.500890) and 577(1311875592.463833) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999234 -0.0391314 7.39258e-05 -0.0267215 0.0390612 0.997551 0.058027 -0.309322 -0.00234442 -0.0579796 0.998315 0.0432079 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:144/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 121 to 4654072599700045824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.500890) and 577(1311875592.463833) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999221 -0.0394537 0.000375379 -0.0253032 0.0393619 0.997461 0.0593545 -0.304553 -0.00271618 -0.0592935 0.998237 0.0403878 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.99999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:173/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 121 to 4654072599700045824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.500890) and 577(1311875592.463833) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999874 0.000524314 -0.0158713 0.0226963 -0.000361398 0.999947 0.010266 -0.0449241 0.0158759 -0.0102589 0.999821 0.00607134 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 9,0.999223 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:210/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.663823 resInfo good: 407, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 646/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999779 -0.00245186 -0.020887 0.0450546 0.00253965 0.999988 0.00417776 -0.0231146 0.0208765 -0.00422988 0.999773 -0.0066555 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!578 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!579 INF|Input.cpp[getImages,132]: mNbReceivedImages!580 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!579 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 580 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!580 INF|Input.cpp[getImages,132]: mNbReceivedImages!581 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.532190 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999115 -0.00481479 -0.0417749 0.0902948 0.00516593 0.999952 0.00830148 -0.0461424 0.0417329 -0.00850995 0.999093 -0.0122711 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 121 to 4654072599700045824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.532190) and 577(1311875592.463833) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999115 -0.00481479 -0.0417749 0.0902948 0.00516593 0.999952 0.00830148 -0.0461424 0.0417329 -0.00850995 0.999093 -0.0122711 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 1): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:143/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 121 to 4654072599700045824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.532190) and 577(1311875592.463833) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999136 -0.0038374 -0.0413836 0.0918771 0.00419549 0.999954 0.00856953 -0.0460719 0.0413489 -0.00873575 0.999107 -0.0156641 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999713 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:160/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 121 to 4654072599700045824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.532190) and 577(1311875592.463833) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999149 -0.00380172 -0.0410795 0.0930518 0.0042042 0.999944 0.00971565 -0.0414832 0.0410402 -0.00988008 0.999109 -0.0179579 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:177/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.679159 resInfo good: 407, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 607/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99975 0.00156621 -0.0222833 0.0198684 -0.00154052 0.999998 0.00117 0.00325826 0.0222851 -0.00113538 0.999751 -0.00877339 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!579 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!580 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 581 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.565061 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!581 INF|Input.cpp[getImages,132]: mNbReceivedImages!582 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999639 0.00958911 -0.025112 -0.0301765 -0.0097133 0.999941 -0.0048283 0.0563256 0.0250643 0.00507048 0.999673 -0.0128694 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 121 to 4654072599700045824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.565061) and 577(1311875592.463833) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999639 0.00958911 -0.025112 -0.0301765 -0.0097133 0.999941 -0.0048283 0.0563256 0.0250643 0.00507048 0.999673 -0.0128694 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 2): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:152/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 121 to 4654072599700045824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.565061) and 577(1311875592.463833) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.992708 0.035994 -0.115047 0.355578 -0.0491466 0.992309 -0.113615 0.482852 0.110073 0.118441 0.986841 -0.0425121 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999905 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:146/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 121 to 4654072599700045824 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.565061) and 577(1311875592.463833) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999707 -0.013489 -0.0201232 -0.00349584 0.0137416 0.999828 0.0124652 -0.0779302 0.0199516 -0.0127381 0.99972 0.0353731 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999886 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:78/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.02854 resInfo good: 407, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 498/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999099 0.00744455 -0.041782 0.0485238 -0.00830106 0.999758 -0.0203636 0.0758394 0.0416203 0.0206921 0.998919 -0.0434953 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875592.565061 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875592.565061 to keyframe with id: 4654072599700045824 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875592.565061 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 762 size: 505 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId4654072599700045824 timestamp: 1311875592.565061 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 122 = 122 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x278bc7c0 fh1 0x2bb262e0fh->id: 94 122 580goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x278bc7c0 fh1 0x1b9118e0fh->id: 107 122 580goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x278bc7c0 fh1 0x1ec6dbe0fh->id: 116 122 580goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x278bc7c0 fh1 0x226194c0fh->id: 118 122 580goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x278bc7c0 fh1 0x2a5d2ba0fh->id: 119 122 580goodE: 10 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x278bc7c0 fh1 0x1cf1c3a0fh->id: 120 122 580goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x278bc7c0 fh1 0x269c5b20fh->id: 121 122 580goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew122 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 13 out of 13 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 13 newEdgePixels: 13 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 243 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 58 lastEnergy: 73.8164 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 6 INF|LocalMapper.cpp[optimize,276]: Start Energy: 73.8164 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -4.85912e-13 4.0623e-13 7.15423e-13 -1.77915e-12 0.0108391 0.01207 -0.000231529 0.00506213 -0.00972986 -0.00831031 -0.00424706 0.0108163 -0.0116744 0.00109716 -0.0119117 -0.00756473 -0.00364568 0.00160512 0.00435713 0.000521957 -0.0145169 -0.00690032 0.0208163 0.0208713 0.00369679 0.0012494 -0.0177324 -0.00835343 0.0384154 0.0412578 0.0173063 0.00424234 -0.0164854 -0.00605183 0.0203385 0.0846732 0.0104612 0.0074027 -0.015425 -0.010419 0.0186436 0.0219541 0.00270647 0.00291979 -0.0142141 -0.00351438 0.0577114 0.021906 0.0263951 -0.00167621 -0.0197032 -0.0133277 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 243 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 67.3293 0 0 newEnergyL 0 lastEnergy: 73.8164 0 0 lastEnergyL: 0mActiveResiduals: 243 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 5.40992e-13 -3.01572e-13 -1.05917e-12 -3.11374e-13 0.000791409 0.00161953 -0.00156312 6.78884e-05 -0.000207657 -0.000186448 -0.000606391 0.00136963 -0.0018138 9.53433e-06 -0.000232614 -0.000146163 0.00433481 0.0252 0.0130707 0.00314616 0.000876662 0.0019131 -0.00542819 0.019331 0.000863128 0.00283416 0.00186924 0.00253215 -0.00684293 -0.00778604 0.0320973 -0.000637902 0.00404121 0.00520545 0.0377613 0.0178416 0.00331378 0.00221417 -0.00221219 0.00473509 0.0229498 0.0472137 0.0354946 0.00374587 0.000648691 0.00143986 0.0480451 -0.0126136 0.0524752 -0.00296995 -0.00150253 0.00459627 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 243 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 64.7666 0 0 newEnergyL 0 lastEnergy: 67.3293 0 0 lastEnergyL: 0mActiveResiduals: 243 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.87963e-13 2.23005e-13 8.56747e-13 -7.55114e-13 -0.000241747 0.00277938 0.0061116 0.00400507 -0.00104953 -0.00140238 0.000990504 0.00251507 0.00214627 0.00271015 -0.00143078 -0.00312772 -0.00197376 0.00276039 0.0103839 0.0030394 -0.00166928 -0.00241772 0.0113511 0.00422969 -0.0161572 0.00257715 -0.00517778 -0.00494171 0.010373 0.0375966 -0.0159587 0.00589957 -0.00474575 -0.00542563 -0.00688168 -0.00982743 0.0243327 0.000718931 -0.000438536 -0.00177982 -0.000919234 -0.0336915 -0.00889179 -0.00101454 -0.00298829 -0.000349419 -0.0125612 -0.0102604 0.0032169 0.00168224 -0.00016227 3.93508e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 243 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 63.1558 0 0 newEnergyL 0 lastEnergy: 64.7666 0 0 lastEnergyL: 0mActiveResiduals: 243 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -4.10947e-13 1.64753e-13 -9.55818e-13 1.3468e-12 0.000109159 0.010145 0.00292704 0.00232938 -0.000184619 -0.00175723 -0.00202278 0.0094826 0.00122757 0.000992534 -0.00062754 -0.00272366 -0.0012733 -0.000336133 -0.0163806 0.00115908 -0.002011 -0.00220894 0.00438714 -0.00456552 0.011473 -0.000566755 -0.00152086 -0.0025704 -0.00541354 -0.0157354 -0.0100827 -0.00100861 -0.000659086 -0.000953376 -0.020072 0.00438467 -0.023621 0.00119558 0.000122868 -0.00247459 0.014825 0.00712263 0.0276358 0.00179957 0.000341991 0.00158739 0.0081341 -0.00784847 0.0164895 -0.0014939 -0.00159897 -0.00313068 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 243 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 63.0448 0 0 newEnergyL 0 lastEnergy: 63.1558 0 0 lastEnergyL: 0mActiveResiduals: 243 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.17785e-13 -2.8013e-14 1.76982e-13 -9.34868e-13 0.00412919 -0.00391457 0.00461205 -0.00401025 -0.00106006 0.00306801 0.00611821 -0.00263111 0.00588975 -0.0016207 -0.000153382 0.0048432 0.00349362 -0.0102531 0.0179458 -0.00485161 0.00104505 0.00419754 -0.00651922 -0.000908013 -0.0250422 -0.00126407 0.00126263 0.00495538 0.00352317 0.0173436 0.00786506 -0.000814403 -0.000185214 0.0011635 0.0152208 -0.0114561 0.0190014 -0.00478733 -0.000931851 0.00223309 0.00730422 0.00490191 -0.00572747 -0.00543083 -0.00328129 -0.00476174 -0.031482 0.000330078 -0.0278689 -0.00317664 0.00184855 0.000177059 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 243 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 61.9993 0 0 newEnergyL 0 lastEnergy: 63.0448 0 0 lastEnergyL: 0mActiveResiduals: 243 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -4.39747e-13 3.25686e-13 1.01651e-12 1.56717e-13 0.0236705 0.00423637 0.00304657 0.00487899 -0.00698787 -0.00553844 0.0100486 0.00282939 -0.00199579 0.00233738 -0.00821567 -0.00559354 -0.00748115 0.00446803 -0.00363785 0.0045489 -0.00837809 -0.00304532 0.000616408 0.00859575 -0.0344937 0.00579149 -0.0106271 -0.00386631 -0.0210291 -0.0404968 0.00184739 0.000903582 -0.0045794 0.00163062 -0.00110197 0.0024641 0.00912407 0.0045898 -0.00670756 -0.000621693 -0.0257744 -0.00807736 -0.00151971 0.00628073 -0.00226405 0.00640931 0.0167583 0.0271738 0.0342258 0.00525506 -0.00863182 -0.00393588 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 243 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 62.1992 0 0 newEnergyL 0 lastEnergy: 61.9993 0 0 lastEnergyL: 0mActiveResiduals: 243 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 62.1992 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 243 INF|LocalMapper.cpp[optimize,345]: End Energy: 62.1992 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.514468 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.514468 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 94 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 94 with idx: 0 and allID: 443 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 94<->94 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 107<->94 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 94->107 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->94 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 94->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->94 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->94 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 120<->94 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 121<->94 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 94->121 INF|LocalMapper.cpp[marginalizeFrame,801]: 94 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 94 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 4800 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x278bc7c0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 122 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 80 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 74 with distance 0.248Found rest min at: 79 with distance 0.08 overall min: 0.08 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 74 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 706 INF|LoopCloser.cpp[loopCloserLinear,145]: No loop because too close!122 with: 0.248 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 715 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 581 keyframes 123 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 524 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!581 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 582 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.599787 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999888 -0.01006 -0.0111053 -0.000119168 0.00969346 0.999422 -0.0325766 0.0824825 0.0114266 0.0324653 0.999408 -0.0623215 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 122 to 6622839571970 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.599787) and 580(1311875592.565061) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999888 -0.01006 -0.0111053 -0.000119168 0.00969346 0.999422 -0.0325766 0.0824825 0.0114266 0.0324653 0.999408 -0.0623215 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:234/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 122 to 6622839571970 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.599787) and 580(1311875592.565061) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999864 -0.0160752 0.00362613 -0.0574573 0.0158521 0.998367 0.05489 -0.22112 -0.00450257 -0.0548251 0.998486 0.0528022 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 6): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:315/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 122 to 6622839571970 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.599787) and 580(1311875592.565061) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999935 0.00473426 -0.0103713 -0.00867159 -0.00474228 0.999988 -0.000749005 0.0205338 0.0103677 0.00079814 0.999946 0.00656544 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!582 INF|Input.cpp[getImages,132]: mNbReceivedImages!583 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999007 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:151/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.54604 resInfo good: 505, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 845/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.9999 -0.00260616 -0.0139241 0.0013208 0.00266269 0.999988 0.00404265 -0.00961819 0.0139134 -0.00407932 0.999895 -0.0144817 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!581 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!582 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 583 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!583 INF|Input.cpp[getImages,132]: mNbReceivedImages!584 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.631990 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999599 -0.00515524 -0.0278558 0.00286817 0.00538133 0.999953 0.00804776 -0.0192913 0.027813 -0.00819443 0.99958 -0.0289043 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 122 to 6622839571970 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.631990) and 580(1311875592.565061) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999599 -0.00515524 -0.0278558 0.00286817 0.00538133 0.999953 0.00804776 -0.0192913 0.027813 -0.00819443 0.99958 -0.0289043 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 9): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:328/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 122 to 6622839571970 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.631990) and 580(1311875592.565061) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99489 -0.0522108 0.0864188 -0.449946 0.0427156 0.993201 0.108292 -0.501373 -0.0914853 -0.104048 0.990356 0.0726414 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999622 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:114/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 122 to 6622839571970 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.631990) and 580(1311875592.565061) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999504 -0.0259925 0.0177977 -0.201546 0.0248241 0.997705 0.0629884 -0.292914 -0.0193941 -0.0625153 0.997856 -0.0137837 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999918 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:174/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.19833 resInfo good: 505, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 756/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999873 -0.011028 0.0114978 -0.183604 0.0106752 0.999483 0.0303138 -0.155647 -0.0118261 -0.0301872 0.999474 -0.0454039 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875592.631990 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875592.631990 to keyframe with id: 6622839571970 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875592.631990 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 732 size: 710 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId6622839571970 timestamp: 1311875592.631990 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 506 keyframeId: 107 score: -9.97144 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -9.37307 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -9.28853 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.72556 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 575 keyframeId: 120 score: -7.64157 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 577 keyframeId: 121 score: -7.00744 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 123 = 123 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28890000 fh1 0x1b9118e0fh->id: 107 123 582goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28890000 fh1 0x1ec6dbe0fh->id: 116 123 582goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28890000 fh1 0x226194c0fh->id: 118 123 582goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28890000 fh1 0x2a5d2ba0fh->id: 119 123 582goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28890000 fh1 0x1cf1c3a0fh->id: 120 123 582goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28890000 fh1 0x269c5b20fh->id: 121 123 582goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x28890000 fh1 0x278bc7c0fh->id: 122 123 582goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew123 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 7 out of 7 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 7 newEdgePixels: 7 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 288 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 53 lastEnergy: 90.1046 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 8 INF|LocalMapper.cpp[optimize,276]: Start Energy: 90.1046 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 4.15018e-13 -6.86017e-13 -1.59613e-12 -8.91461e-13 -0.0168296 -0.0116016 -0.00987866 -0.00440681 0.0102484 0.00631573 -0.000130515 0.0269828 -0.0110461 0.000886239 0.013236 0.00786383 0.043686 0.0455792 0.0195958 -0.000566937 0.00957403 0.00340932 0.0489844 0.0857385 0.00776021 0.00231133 0.00577821 -8.18873e-05 0.0135036 0.0675619 0.00810266 0.00113338 0.0100151 0.00135881 0.0663173 0.0886855 0.0454208 0.000691838 0.00480831 -0.0023551 -0.0105568 0.0424676 -0.0279399 -0.0010127 0.0106679 0.00140088 -0.0216456 0.0528824 -0.0215682 0.000825324 0.0134124 0.00145337 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 288 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 79.9462 0 0 newEnergyL 0 lastEnergy: 90.1046 0 0 lastEnergyL: 0mActiveResiduals: 288 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -3.24811e-13 2.60152e-13 2.78588e-13 1.66047e-13 0.000412633 0.000457807 0.000668367 7.14923e-06 0.000135456 -5.71384e-05 0.00194148 -0.00453313 -0.00638524 -0.000547632 -0.000389143 -0.00031092 -0.0207705 0.00406929 -0.0115018 0.00175369 0.00198474 0.00186456 -0.0417327 -0.025066 0.0305975 -0.00174099 0.0063682 0.00275642 -0.0339332 -0.022001 0.00997906 -0.00117493 0.00433259 0.00388774 0.00192023 -0.0132258 0.0388855 -0.000447378 0.00303457 0.00528713 -0.00712257 -0.024259 0.0206168 0.000716103 0.00410987 0.0113108 -0.0552695 -0.0535894 -0.0046568 -0.000834167 0.00853249 0.0122634 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 288 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 76.4275 0 0 newEnergyL 0 lastEnergy: 79.9462 0 0 lastEnergyL: 0mActiveResiduals: 288 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 2.84206e-13 -2.80068e-13 8.89118e-14 -2.94262e-13 -0.0162023 0.00288627 -0.00354651 -0.00122257 0.00705274 0.00299264 -0.0149459 0.00619176 -9.14392e-05 -0.00184267 0.00786541 0.000365937 0.0136937 -0.00404463 0.0179186 -0.00433273 0.00579763 -0.00233641 -0.000597832 0.00668404 -0.0346358 0.000146341 0.00327406 0.000657095 -0.00322347 -0.0060716 -0.00498737 -0.00121685 0.00592792 0.00217749 0.0440632 0.00771335 0.0380642 -0.00135087 0.00259009 0.00165667 -0.0405719 0.00585637 -0.0255494 -0.00265756 0.00653694 -0.00639081 0.016984 -0.0130271 0.0186997 -0.00468598 0.0045593 -0.000621979 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 288 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 74.1518 0 0 newEnergyL 0 lastEnergy: 76.4275 0 0 lastEnergyL: 0mActiveResiduals: 288 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.0795e-13 5.16873e-13 -2.79382e-15 5.06229e-13 0.00090325 0.0233832 -0.0148795 0.00870444 -0.00642432 -0.0129061 -0.00376943 0.0186573 -0.0071661 0.0118091 -0.00869758 -0.00817021 0.0158362 0.00850832 -0.0214898 0.0123462 -0.0122326 -0.00751637 -0.0280127 -0.0452796 0.00420005 0.00460431 -0.00531449 -0.00650142 2.02489e-05 -0.00558795 0.00249999 0.00740568 -0.00905693 -0.00910532 -0.0090057 -0.00311913 -0.0135872 0.00910643 -0.00716962 -0.00531572 0.0530517 0.0068853 0.0410656 0.0103353 -0.0108199 -0.00311549 -0.036216 0.00252321 0.0136993 0.0111182 -0.00207144 -0.00321456 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 288 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 76.1516 0 0 newEnergyL 0 lastEnergy: 74.1518 0 0 lastEnergyL: 0mActiveResiduals: 288 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 2.63736e-13 -3.27949e-13 2.17326e-13 -3.56179e-14 0.0184213 -0.00997991 0.0213138 -0.00623106 -0.000191362 0.00593486 0.0205478 -0.00779577 0.00284051 -0.00755494 0.000406711 0.00487946 -0.010628 -0.00414639 -0.0055169 -0.00725849 0.00394664 0.00477394 0.0163944 0.0326842 -0.0269277 -0.00323112 -0.000315022 0.00136352 0.0201253 -0.00149473 -0.00296645 -0.0066407 0.000775663 0.00366115 0.00966612 -0.0125322 0.021629 -0.00774141 0.00217535 0.00356786 -0.0324164 0.000459018 -0.0440993 -0.00685934 0.00292911 -0.00104008 -0.0341393 -0.00557029 0.027022 -0.00739784 0.0075476 0.00239744 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 288 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 69.754 0 0 newEnergyL 0 lastEnergy: 76.1516 0 0 lastEnergyL: 0mActiveResiduals: 288 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -2.46151e-13 3.10488e-13 -1.12155e-13 2.89286e-13 -0.00319171 0.0120005 -0.00448913 0.00380339 -0.00312195 -0.00646516 -0.00636077 0.0105644 -0.0100408 0.00579446 -0.00416752 -0.00464695 0.00979017 -0.0106555 -0.00918532 0.00286535 -0.00666831 -0.00344821 -0.0126218 -0.0273975 0.00740679 0.00126262 -0.00181633 -2.27839e-05 -0.0256953 -0.0113859 0.00257919 0.0025671 -0.00124221 -0.00202912 0.0241464 0.0127244 -0.000219287 0.00502916 -0.0058529 -0.00124482 0.0277876 -0.0150366 0.0292872 0.00282375 -0.00467936 0.00161696 -0.0187054 0.0316226 -0.0133974 0.00616976 -0.00310531 -0.00753846 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 288 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 71.5898 0 0 newEnergyL 0 lastEnergy: 69.754 0 0 lastEnergyL: 0mActiveResiduals: 288 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 71.5898 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 288 INF|LocalMapper.cpp[optimize,345]: End Energy: 71.5898 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.504746 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.504746 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 107 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 107 with idx: 0 and allID: 506 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 107<->107 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->107 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 107->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->107 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->107 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 120<->107 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 121<->107 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 107->121 INF|LocalMapper.cpp[marginalizeFrame,772]: 122<->107 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 123<->107 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 107 with: 2 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 107 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 4695 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x28890000 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 123 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 80 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 74 with distance 0.256Found rest min at: 79 with distance 0.128 overall min: 0.128 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 714 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 123 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 722 Input.cpp[readImages,206]: Got image from sensor!583 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 583 keyframes 124 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 534 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 584 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.664716 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!584 INF|Input.cpp[getImages,132]: mNbReceivedImages!585 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999963 -0.00653741 0.00551385 -0.114588 0.00637888 0.999579 0.0282941 -0.144601 -0.0056965 -0.0282579 0.999584 -0.0481284 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 123 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.664716) and 582(1311875592.631990) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999963 -0.00653741 0.00551385 -0.114588 0.00637888 0.999579 0.0282941 -0.144601 -0.0056965 -0.0282579 0.999584 -0.0481284 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:344/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 123 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.664716) and 582(1311875592.631990) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999971 -0.00765263 -0.000648593 -0.0484721 0.00766329 0.9998 0.0184557 -0.109109 0.000507228 -0.0184602 0.999829 0.0220286 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.99995 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:193/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 123 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.664716) and 582(1311875592.631990) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999972 -0.00747013 -0.000368535 -0.0471796 0.00747589 0.999783 0.0194647 -0.105624 0.000223051 -0.0194669 0.99981 0.0191805 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:297/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.667392 resInfo good: 710, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1048/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999814 0.00402414 -0.0188702 0.0188853 -0.00398182 0.999989 0.00227969 -0.0217565 0.0188792 -0.00220413 0.999819 -0.00332031 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!583 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!584 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 585 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.700839 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!585 INF|Input.cpp[getImages,132]: mNbReceivedImages!586 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999255 0.00808908 -0.0377243 0.0377421 -0.00791982 0.999958 0.00463408 -0.0435955 0.0377602 -0.00433186 0.999277 -0.00623553 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 123 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.700839) and 582(1311875592.631990) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999255 0.00808908 -0.0377243 0.0377421 -0.00791982 0.999958 0.00463408 -0.0435955 0.0377602 -0.00433186 0.999277 -0.00623553 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999429 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:172/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 123 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.700839) and 582(1311875592.631990) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999272 0.00877759 -0.0371263 0.0399075 -0.00863877 0.999955 0.00389808 -0.0455554 0.0371589 -0.00357451 0.999303 -0.0125391 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999915 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:208/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 123 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.700839) and 582(1311875592.631990) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999292 0.00856892 -0.036639 0.0418487 -0.00839336 0.999953 0.0049429 -0.0414739 0.0366796 -0.00463188 0.999316 -0.0163193 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999998 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:260/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.761037 resInfo good: 710, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 847/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999578 0.00892106 -0.0276273 0.0140097 -0.00905047 0.999949 -0.00456264 -0.00507028 0.0275852 0.00481076 0.999608 -0.0109419 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!584 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 449 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!585 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 586 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.731922 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!586 INF|Input.cpp[getImages,132]: mNbReceivedImages!587 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998805 0.0185283 -0.0452334 0.00470358 -0.0193641 0.999648 -0.0181114 0.0285299 0.0448819 0.0189657 0.998812 -0.0259602 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 123 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.731922) and 582(1311875592.631990) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998805 0.0185283 -0.0452334 0.00470358 -0.0193641 0.999648 -0.0181114 0.0285299 0.0448819 0.0189657 0.998812 -0.0259602 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 3): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:267/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 123 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.731922) and 582(1311875592.631990) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998811 0.0192574 -0.0447864 0.00670056 -0.0202388 0.999563 -0.0215635 0.0186296 0.0443515 0.0224443 0.998764 -0.0291969 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 5): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:355/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 123 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.731922) and 582(1311875592.631990) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998897 0.0161457 -0.044097 0.00921052 -0.0170812 0.999635 -0.0209214 0.0240749 0.0437431 0.0216515 0.998808 -0.0337171 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 6): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:428/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.09274 resInfo good: 710, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1244/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999013 0.0166832 -0.0411573 0.000799958 -0.0178971 0.99941 -0.0293042 0.0574186 0.0406442 0.0300119 0.998723 -0.0359364 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875592.731922 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875592.731922 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875592.731922 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 757 size: 705 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875592.731922 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -6.84568 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -7.29695 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -10.9422 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 575 keyframeId: 120 score: -14.0274 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 577 keyframeId: 121 score: -8.15619 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 580 keyframeId: 122 score: -12.9842 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 124 = 124 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x259dac20 fh1 0x1ec6dbe0fh->id: 116 124 585goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x259dac20 fh1 0x226194c0fh->id: 118 124 585goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x259dac20 fh1 0x2a5d2ba0fh->id: 119 124 585goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x259dac20 fh1 0x1cf1c3a0fh->id: 120 124 585goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x259dac20 fh1 0x269c5b20fh->id: 121 124 585goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x259dac20 fh1 0x278bc7c0fh->id: 122 124 585goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x259dac20 fh1 0x28890000fh->id: 123 124 585goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew124 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 23 out of 24 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 24 newEdgePixels: 24 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 395 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 70 lastEnergy: 98.3403 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 14 INF|LocalMapper.cpp[optimize,276]: Start Energy: 98.3403 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 3.08371e-13 -5.26251e-14 -1.14964e-13 2.58123e-13 0.00249162 -0.0362794 -4.77279e-05 -0.00901704 0.00413284 0.00769105 -0.00329161 0.0219841 -0.00983104 -0.00281698 0.00482173 0.00412467 0.0300449 -0.0417626 0.0215903 -0.00683268 0.00259494 0.00916643 0.0278366 -0.0630645 0.0525796 -0.00779067 0.00539615 0.0129266 -0.0014064 -0.0729308 0.0594666 -0.0108651 0.00730353 0.00860031 -0.00778009 -0.0740307 0.0258704 -0.0103693 0.0064259 0.00994013 0.0126848 -0.0729191 0.0369132 -0.0116591 0.00548331 0.00958969 -0.0134386 -0.0673872 0.0172162 -0.010932 0.00672179 0.00707898 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 395 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 97.2595 0 0 newEnergyL 0 lastEnergy: 98.3403 0 0 lastEnergyL: 0mActiveResiduals: 395 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.19194e-13 1.0034e-13 4.45753e-13 4.78803e-13 -0.000563456 0.00845397 0.00546911 0.00102226 0.000623348 7.05678e-05 -0.0135186 -0.0414386 0.000607366 -0.00320083 0.00164926 0.00360446 -0.0326917 -0.0167036 -0.00848358 -0.00130542 0.0027431 0.000275515 -0.040854 0.00315131 -0.0574048 -0.000187442 5.2492e-05 -0.00363335 0.00216928 -0.011209 -0.0177605 -0.000968147 -0.000544995 0.00171879 -0.0141234 -0.00635151 0.000387478 -0.000243648 0.00158144 0.00125638 -0.0290735 -0.016777 -0.00719839 -0.00143122 0.00272749 0.00122039 -0.0071239 -0.0139056 -0.000370627 -0.000865334 0.00110659 0.00232406 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 395 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 94.0453 0 0 newEnergyL 0 lastEnergy: 97.2595 0 0 lastEnergyL: 0mActiveResiduals: 395 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.1092e-13 -2.11269e-13 -1.68314e-14 6.42476e-14 0.00405827 -0.00332616 0.00159198 0.000672468 -0.00240475 -0.000127106 0.00644385 0.0108318 0.00817871 0.00185575 -0.0019827 -0.00129873 0.0106612 0.0288128 -0.0177941 0.0046207 -0.00301387 0.000467033 0.000322875 -0.0104362 0.0221929 0.00181479 0.00106812 0.00477627 -0.00796543 0.000248756 0.0183342 0.00122578 -8.04092e-05 -0.000369354 -0.016165 -3.11065e-06 -0.0139162 0.00113069 -0.000443753 -0.000963943 0.00612056 -0.0211702 -0.0131953 -0.00163298 -0.00292159 -0.000368503 -0.000618182 -0.00551764 -0.0041169 -4.12572e-05 -0.00186063 -0.00124857 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 395 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 94.0499 0 0 newEnergyL 0 lastEnergy: 94.0453 0 0 lastEnergyL: 0mActiveResiduals: 395 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -3.94353e-14 -2.02636e-14 -1.01127e-13 -4.42588e-13 -0.00128809 0.0181346 -0.00882528 0.0061286 -0.00201802 -0.00352696 0.00844817 -0.0101256 -0.00180827 0.00106103 -0.00361246 -0.00206052 -0.00577508 -0.0231722 0.0194209 -0.00105587 0.000349283 -0.000833375 -0.0041504 0.0196026 -0.0179797 0.00242792 -0.00256455 -0.00564092 0.0235358 0.0006173 0.00276317 0.00217539 -0.00303866 -3.89851e-05 0.0214765 -0.00217044 0.013669 0.00326629 -0.00201073 0.00279089 -0.0190376 -0.0151146 0.00789079 0.00213784 0.00156424 0.00196641 -0.0230877 0.0117358 -0.0178083 0.00485261 0.000479146 -0.00121489 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 395 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 92.2762 0 0 newEnergyL 0 lastEnergy: 94.0499 0 0 lastEnergyL: 0mActiveResiduals: 395 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 2.10737e-14 2.15191e-13 4.26244e-14 1.26448e-13 0.00614119 0.0130774 -0.0219668 0.00996028 -0.00737553 -0.00165793 -0.00333314 0.0113879 0.004773 0.00883993 -0.00464099 -0.00290504 -0.00885867 0.00597908 -0.00115389 0.00882093 -0.00312195 0.000531438 0.00571154 0.00349337 0.0186924 0.00805781 -0.00424332 -1.76015e-05 -0.0523362 -0.00444001 -0.0318386 0.00816334 -0.000695423 -0.00101532 0.00338395 -0.00745595 0.0240117 0.0049667 -0.00351592 -0.00196171 0.0240763 -0.0159019 -0.0074894 0.00447788 -0.00772111 -0.000400571 0.0238485 -0.00637263 0.0190864 0.0071324 -0.00537745 0.00356216 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 395 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 89.0691 0 0 newEnergyL 0 lastEnergy: 92.2762 0 0 lastEnergyL: 0mActiveResiduals: 395 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.48051e-13 -2.24954e-13 -4.51217e-13 -4.89178e-13 0.0137922 0.00706051 0.0370694 -0.00472692 0.0027712 -0.00159182 -0.00935865 -0.00247043 -0.0286051 -0.00323664 0.00159723 -0.00160565 0.0118731 -0.00307905 -0.00764153 -0.00402054 -0.000874343 -0.00206329 0.00612251 0.00228249 -0.0105384 -0.00435839 5.7846e-05 -0.00361724 0.0249454 0.00405949 0.0132505 -0.00384873 -0.000606877 -0.00162205 0.0199726 -0.00236376 0.00518833 -0.00249169 -0.00011787 0.00190573 -0.0283081 -0.00929098 0.0128041 -0.00376375 0.00558291 1.54907e-05 -0.0367461 0.00441872 -0.0252547 -0.00231722 0.00380392 -0.00432548 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 395 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 90.1639 0 0 newEnergyL 0 lastEnergy: 89.0691 0 0 lastEnergyL: 0mActiveResiduals: 395 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 90.1639 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 395 INF|LocalMapper.cpp[optimize,345]: End Energy: 90.1639 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.479594 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.479594 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 120 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 120 with idx: 3 and allID: 575 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->120 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->120 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->120 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 120<->120 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 121<->120 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 122<->120 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 123<->120 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 124<->120 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 120 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 575: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 119/570: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 118/567: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 117/565: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 116/561: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 116 allId: 561 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.996292 0.00753549 0.0857001 -0.561947 -0.0068805 0.999945 -0.00793558 -0.582253 -0.0857551 0.0073165 0.996289 -0.728378 worldPose: 0.713524 -0.062865 -0.697804 -1.99274 -0.342609 0.837458 -0.425773 2.0029 0.611148 0.542874 0.576009 1.33819 after: 0.713524 -0.062865 -0.697804 -1.99274 -0.342609 0.837458 -0.425773 2.0029 0.611148 0.542874 0.576009 1.33819 worldPose of new: 0.650603 -0.0622335 -0.756863 -2.21466 -0.371517 0.843148 -0.388686 2.00194 0.662337 0.534068 0.525434 2.40406 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.996292 0.00753549 0.0857001 -0.561947 -0.0068805 0.999945 -0.00793558 -0.582253 -0.0857551 0.0073165 0.996289 -0.728378 INF|Mapper.cpp[changeRefFrame,578]: Updating: 576 from old kf id: 120/575 with new ref frame: 561/116 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 575 after changeRefFrame: 0.996292 0.00753549 0.0857001 -0.561947 -0.0068805 0.999945 -0.00793558 -0.582253 -0.0857551 0.0073165 0.996289 -0.728378 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 120 to normal frame with refFrame: 116 frame id kf: 575 newref id: 561 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 120 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 5394 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x259dac20 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 124 Input.cpp[readImages,206]: Got image from sensor!586 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 80 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 75 with distance 0.26Found rest min at: 79 with distance 0.18 overall min: 0.18 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 722 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 124 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 729 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 586 keyframes 125 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 533 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 587 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.765069 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!587 INF|Input.cpp[getImages,132]: mNbReceivedImages!588 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999904 0.00235886 -0.0136692 -0.00281094 -0.00256301 0.999885 -0.0149365 0.0252294 0.0136324 0.0149701 0.999795 -0.00710043 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 124 to 147176352 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.765069) and 585(1311875592.731922) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999904 0.00235886 -0.0136692 -0.00281094 -0.00256301 0.999885 -0.0149365 0.0252294 0.0136324 0.0149701 0.999795 -0.00710043 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:435/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 124 to 147176352 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.765069) and 585(1311875592.731922) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999497 -0.0155094 -0.0276605 0.0408476 0.016723 0.998883 0.0441975 -0.196176 0.0269442 -0.0446379 0.99864 0.0240019 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:275/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 124 to 147176352 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.765069) and 585(1311875592.731922) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999482 -0.017586 -0.0269491 0.0439913 0.0187697 0.998841 0.0443211 -0.191144 0.0261385 -0.044804 0.998654 0.0229238 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:294/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.65181 resInfo good: 705, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1200/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999868 0.00220746 -0.016068 -0.0139386 -0.00229973 0.999981 -0.00572612 0.0108438 0.016055 0.00576232 0.999855 -0.0229116 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!586 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 449 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!587 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 588 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.801290 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!588 INF|Input.cpp[getImages,132]: mNbReceivedImages!589 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999474 0.004322 -0.0321441 -0.0274834 -0.00469104 0.999924 -0.0114143 0.0218506 0.0320923 0.0115591 0.999418 -0.0459811 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 124 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.801290) and 585(1311875592.731922) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999474 0.004322 -0.0321441 -0.0274834 -0.00469104 0.999924 -0.0114143 0.0218506 0.0320923 0.0115591 0.999418 -0.0459811 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 3): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:741/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 124 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.801290) and 585(1311875592.731922) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999495 0.00488209 -0.0313988 -0.024529 -0.00518699 0.99994 -0.00963631 0.0275015 0.0313499 0.00979431 0.99946 -0.0531764 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 10,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:591/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 124 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.801290) and 585(1311875592.731922) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99953 0.00238739 -0.0305607 -0.0213701 -0.00268923 0.999948 -0.0098396 0.031293 0.0305356 0.00991716 0.999484 -0.054377 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:278/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.805948 resInfo good: 705, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2068/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999604 -0.000505494 -0.028146 -0.0159165 0.000413502 0.999995 -0.0032741 0.0111791 0.0281475 0.00326117 0.999598 -0.0280647 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!587 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 515 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!588 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 589 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.832563 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!589 INF|Input.cpp[getImages,132]: mNbReceivedImages!590 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999185 -0.00318802 -0.0402265 -0.0178327 0.00315618 0.999995 -0.000855028 0.0114963 0.040229 0.000727369 0.99919 -0.0332422 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 124 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.832563) and 585(1311875592.731922) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999185 -0.00318802 -0.0402265 -0.0178327 0.00315618 0.999995 -0.000855028 0.0114963 0.040229 0.000727369 0.99919 -0.0332422 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999242 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:256/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 124 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.832563) and 585(1311875592.731922) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999908 -0.00668973 -0.0117827 -0.163174 0.00643238 0.999743 -0.0217454 0.0426849 0.0119251 0.0216676 0.999694 -0.0978979 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999837 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:266/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 124 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.832563) and 585(1311875592.731922) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999921 -0.00605887 -0.01101 -0.158649 0.00581174 0.999734 -0.0223408 0.0463847 0.0111424 0.022275 0.99969 -0.0914558 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999817 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:200/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.971859 resInfo good: 705, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1039/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999019 -0.00756701 -0.0436261 -0.00175601 0.00725404 0.999947 -0.00732769 0.0159674 0.0436793 0.00700403 0.999021 -0.0314421 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!588 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!589 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 590 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.867874 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!590 INF|Input.cpp[getImages,132]: mNbReceivedImages!591 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998146 -0.0146852 -0.0590666 0.0124212 0.0140304 0.999836 -0.0114865 0.0208671 0.0592256 0.0106365 0.998188 -0.0345811 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 124 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.867874) and 585(1311875592.731922) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998146 -0.0146852 -0.0590666 0.0124212 0.0140304 0.999836 -0.0114865 0.0208671 0.0592256 0.0106365 0.998188 -0.0345811 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 6): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:351/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 124 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.867874) and 585(1311875592.731922) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999559 -0.0034871 -0.0294913 -0.156412 0.00216278 0.998993 -0.0448187 0.116313 0.0296179 0.0447352 0.99856 -0.117932 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999991 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:401/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 124 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.867874) and 585(1311875592.731922) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99729 -0.0161136 -0.0717874 0.0495282 0.0168232 0.999815 0.00929038 -0.0689436 0.0716245 -0.0104729 0.997377 -0.0183211 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.99948 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:214/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.09349 resInfo good: 705, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1153/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998146 -0.0106162 -0.059925 0.000242907 0.0100677 0.999905 -0.00944725 0.00722604 0.0600196 0.00882643 0.998158 -0.0375061 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875592.867874 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875592.867874 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875592.867874 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 792 size: 1190 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875592.867874 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -7.05538 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -7.52403 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -9.21635 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 577 keyframeId: 121 score: -11.7966 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 580 keyframeId: 122 score: -10.4639 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 582 keyframeId: 123 score: -10.781 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 125 = 125 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3cdaa0 fh1 0x1ec6dbe0fh->id: 116 125 589goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3cdaa0 fh1 0x226194c0fh->id: 118 125 589goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3cdaa0 fh1 0x2a5d2ba0fh->id: 119 125 589goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3cdaa0 fh1 0x269c5b20fh->id: 121 125 589goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3cdaa0 fh1 0x278bc7c0fh->id: 122 125 589goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3cdaa0 fh1 0x28890000fh->id: 123 125 589goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3cdaa0 fh1 0x259dac20fh->id: 124 125 589goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew125 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 16 out of 17 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 17 newEdgePixels: 17 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 418 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 75 lastEnergy: 95.2052 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 18 INF|LocalMapper.cpp[optimize,276]: Start Energy: 95.2052 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 3.58968e-13 4.28942e-13 1.80693e-13 8.92082e-13 -0.0148946 -0.0223208 -0.0114062 -0.010496 0.00776299 0.00650657 -0.0215418 -0.0297926 0.0206036 -0.011128 0.0114101 0.00875051 -0.0215623 -0.0209704 0.00790112 -0.00857923 0.0086652 0.00527527 -0.0183958 -0.0419525 0.0108923 -0.0117268 0.00722158 0.00195562 0.0233709 -0.0539845 0.0445216 -0.014426 0.00513676 0.00437112 -0.0079649 -0.0592647 -0.0301447 -0.0131118 0.00423109 0.00392804 -0.0208609 -0.0553357 -0.00447258 -0.0129792 0.00791189 0.00583745 0.0325651 -0.0211852 -0.0129658 -0.0108527 0.000420494 -0.000501436 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 418 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 88.0448 0 0 newEnergyL 0 lastEnergy: 95.2052 0 0 lastEnergyL: 0mActiveResiduals: 418 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 5.75309e-14 1.32375e-13 8.91292e-13 -3.94034e-13 -0.00482515 -0.006886 -0.00140633 -0.000811527 0.000713227 -3.50499e-05 -0.00760561 -0.0082024 -0.0544654 0.000256856 -0.00251779 -0.0017154 0.0167163 -0.00618241 -0.0221288 0.00179684 -0.00167528 0.00394116 0.0166479 -0.0346533 -0.00251812 -0.00214063 -0.000402755 0.00566318 -0.00458029 -0.0255401 0.00399979 -0.000945217 0.00188712 0.00447274 -0.0145602 -0.0131437 0.0199902 0.000176506 0.00411237 0.00370512 0.014572 -0.0114645 0.0107674 -0.00123635 -0.000814063 -0.000572901 0.00793285 -0.0276422 0.0378434 -0.00238576 0.00150552 0.00394279 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 418 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 84.0698 0 0 newEnergyL 0 lastEnergy: 88.0448 0 0 lastEnergyL: 0mActiveResiduals: 418 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -3.81016e-13 -2.77935e-13 -4.12524e-13 -5.01241e-14 0.0113487 0.013226 0.00469848 0.00407486 -0.00218996 0.00320631 -0.0107561 -0.011066 -0.00429941 0.00140991 0.00047489 0.00379525 0.00225916 -0.0114567 0.00495561 -0.00020962 -0.000854751 0.000880168 -0.0102912 0.0035196 0.0180706 0.000685175 8.05876e-05 -0.00267407 0.0173391 -0.00888932 0.0232897 -0.000701233 -0.00188906 -5.5899e-05 0.00962976 -0.00282672 -0.0118554 0.000236013 -0.0037344 -0.00214137 0.00027209 -0.0147483 -0.00300745 0.000942259 -0.000817062 0.00425602 -0.0154261 0.0325892 -0.0342745 0.0048305 -0.00135323 -0.00469021 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 418 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 85.6087 0 0 newEnergyL 0 lastEnergy: 84.0698 0 0 lastEnergyL: 0mActiveResiduals: 418 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.41365e-13 1.93535e-13 2.58632e-13 -1.63351e-14 -0.0133193 -0.000998251 -0.00118894 -0.00166189 0.00131189 -0.00480089 0.0138301 0.00983658 -0.012449 0.00129827 -0.00266711 -0.00436459 -0.00394001 0.00357942 -0.00668912 0.001737 -0.000403088 -0.00126374 0.00538013 0.00506123 -0.0256974 0.000597269 -0.00192763 -0.00207182 0.00222429 -0.00249452 -0.0164192 0.000342747 -0.0017396 -0.00213485 -0.00739108 0.00536769 0.0175998 0.00144676 0.00259224 0.000304688 -0.00271942 0.0140797 0.00669772 0.00106395 0.000127366 -0.00469588 -0.000622155 -0.0341343 0.0381171 -0.0029264 0.00246852 0.00404785 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 418 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 84.3599 0 0 newEnergyL 0 lastEnergy: 85.6087 0 0 lastEnergyL: 0mActiveResiduals: 418 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 2.69451e-13 7.87092e-14 -1.31477e-13 1.75744e-13 0.0132159 -0.0212862 0.00164294 -0.00427601 -0.000893903 0.00827885 -0.00547137 -0.00861522 0.0284778 -0.00597128 0.00240773 0.00692525 -0.000794931 0.0195454 0.0114413 -0.00242034 0.00214384 0.00437888 -0.00539678 -0.0111505 0.0241929 -0.00411132 0.00266449 0.00543687 -0.000789002 0.00409786 0.0108546 -0.00366867 0.00190835 0.00453752 -0.00252613 -0.01321 -0.017915 -0.00527225 -0.000809296 0.00306358 -0.000311032 -0.00825693 -0.014487 -0.00434005 0.000231622 0.00565804 0.0117284 0.0373139 -0.0427433 -0.000573172 -0.00345864 -0.00234994 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 418 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 87.6814 0 0 newEnergyL 0 lastEnergy: 84.3599 0 0 lastEnergyL: 0mActiveResiduals: 418 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -2.68587e-14 -1.52512e-13 7.30884e-14 3.06749e-13 0.00296787 0.031458 0.0043796 0.00932592 -0.00117179 -0.00918461 -0.0137997 0.0226229 -0.042962 0.0123892 -0.00198481 -0.00951519 -0.0114942 -0.0263344 -0.00257347 0.00559244 -0.00188536 -0.00615352 0.0188155 -0.00162437 -0.0123395 0.00756262 -0.00337497 -0.0021928 -0.0200193 -0.00990449 -0.0196099 0.00790845 -0.000715725 -0.00393458 0.0261363 0.0196834 0.0261617 0.00899768 -0.00196294 -0.00365937 0.00408727 -0.000684271 0.0195994 0.00760649 -0.00102271 -0.00467831 -0.0144109 -0.0320678 0.0270243 0.00591605 0.00254466 0.00335399 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 418 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 90.0077 0 0 newEnergyL 0 lastEnergy: 87.6814 0 0 lastEnergyL: 0mActiveResiduals: 418 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 90.0077 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 418 INF|LocalMapper.cpp[optimize,345]: End Energy: 90.0077 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.466836 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.466836 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 121 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 121 with idx: 3 and allID: 577 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->121 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 121->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->121 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->121 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 121<->121 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 122<->121 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 123<->121 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 124<->121 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 125<->121 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 121 with: 1 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 121 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 5392 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2b3cdaa0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 125 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 80 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 75 with distance 0.276Found rest min at: 78 with distance 0.204 overall min: 0.204 time: 0 INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 125 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 80 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 712 INF|LoopCloser.cpp[loopCloserLinear,98]: Inserted keyframe into DB -1 -1 5 insertedKfId: 125 1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 721 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 590 keyframes 126 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 528 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!590 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 591 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.900861 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!591 INF|Input.cpp[getImages,132]: mNbReceivedImages!592 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999906 -0.00444495 -0.0129961 -0.0116267 0.00446248 0.999989 0.00132024 -0.0241692 0.0129901 -0.00137811 0.999915 -0.00542229 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 125 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.900861) and 589(1311875592.867874) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999906 -0.00444495 -0.0129961 -0.0116267 0.00446248 0.999989 0.00132024 -0.0241692 0.0129901 -0.00137811 0.999915 -0.00542229 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999331 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:520/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 125 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.900861) and 589(1311875592.867874) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999921 0.000849495 -0.0125211 -0.0115718 -0.000798823 0.999991 0.00405135 -0.0158972 0.0125244 -0.00404103 0.999913 0.000208165 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 10): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:859/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 125 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.900861) and 589(1311875592.867874) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999931 -0.000678565 -0.0117138 -0.00762084 0.000740002 0.999986 0.0052413 -0.010099 0.0117101 -0.00524961 0.999918 -0.00143477 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:484/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.541379 resInfo good: 1190, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2124/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999911 -0.00274788 -0.0130179 0.00844624 0.00282473 0.999979 0.00588837 -0.00786634 0.0130014 -0.00592462 0.999898 0.0108113 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!590 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!591 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 592 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.931923 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!592 INF|Input.cpp[getImages,132]: mNbReceivedImages!593 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999646 -0.00541834 -0.0260494 0.0167726 0.00572571 0.999915 0.0117392 -0.015645 0.0259836 -0.0118842 0.999592 0.0217779 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 125 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.931923) and 589(1311875592.867874) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999646 -0.00541834 -0.0260494 0.0167726 0.00572571 0.999915 0.0117392 -0.015645 0.0259836 -0.0118842 0.999592 0.0217779 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999243 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:519/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 125 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.931923) and 589(1311875592.867874) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99993 -0.00804371 0.00873308 -0.155858 0.0080832 0.999957 -0.00449601 -0.02455 -0.00869654 0.00456628 0.999952 -0.0326796 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999154 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:310/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 125 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.931923) and 589(1311875592.867874) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999945 -0.00887514 -0.00554922 -0.0630272 0.0089719 0.999804 0.0176625 -0.0781941 0.00539137 -0.0177113 0.999829 0.0596431 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999094 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:458/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.715207 resInfo good: 1190, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1551/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999683 -0.00724879 -0.0241278 -0.00337783 0.00720632 0.999972 -0.00184641 -0.00690846 0.0241405 0.00167195 0.999707 0.00142282 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!591 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 777 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!592 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 593 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875592.967906 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99931 -0.0118335 -0.0351994 -0.0151013 0.0115012 0.999887 -0.00962922 -0.00593154 0.0353094 0.00921774 0.999334 -0.008089 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 125 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.967906) and 589(1311875592.867874) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99931 -0.0118335 -0.0351994 -0.0151013 0.0115012 0.999887 -0.00962922 -0.00593154 0.0353094 0.00921774 0.999334 -0.008089 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999979 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:354/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 125 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.967906) and 589(1311875592.867874) on lvl: 1 Input.cpp[readImages,192]: readImages loop! INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999837 -0.00142027 -0.0180018 -0.107301 0.00134323 0.99999 -0.00429123 -0.0407041 0.0180077 0.00426635 0.999829 -0.0221313 INF|Input.cpp[getImages,128]: getimages!593 INF|Input.cpp[getImages,132]: mNbReceivedImages!594 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999075 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:568/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 125 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875592.967906) and 589(1311875592.867874) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999854 -0.00180491 -0.016992 -0.102467 0.00175023 0.999993 -0.00323226 -0.034003 0.0169977 0.00320205 0.99985 -0.0110043 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999067 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:519/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.998523 resInfo good: 1190, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1696/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999287 -0.00802243 -0.0368841 -0.0137197 0.0079231 0.999965 -0.00283858 -0.0361702 0.0369056 0.00254432 0.999316 -0.00648442 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!592 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1065 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!593 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 594 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.000976 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!594 INF|Input.cpp[getImages,132]: mNbReceivedImages!595 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998729 -0.00880714 -0.0496336 -0.0239379 0.00862713 0.999955 -0.00383982 -0.0654318 0.0496652 0.00340674 0.99876 -0.0145512 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 125 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.000976) and 589(1311875592.867874) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998729 -0.00880714 -0.0496336 -0.0239379 0.00862713 0.999955 -0.00383982 -0.0654318 0.0496652 0.00340674 0.99876 -0.0145512 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999735 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:514/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 125 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.000976) and 589(1311875592.867874) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998791 -0.00490928 -0.0489226 -0.0238071 0.00488225 0.999988 -0.000672024 -0.0526263 0.0489254 0.000432359 0.998802 -0.00462099 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999083 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:402/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 125 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.000976) and 589(1311875592.867874) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998819 -0.00553714 -0.0482635 -0.0211203 0.00555409 0.999985 0.00021708 -0.0479621 0.0482615 -0.000484883 0.998835 -0.00833429 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999708 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:556/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.02945 resInfo good: 1190, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1731/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.99883 -0.00431431 -0.0481668 -0.0214968 0.00360408 0.999884 -0.0148224 0.0115154 0.0482252 0.0146314 0.998729 -0.0248468 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875593.000976 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875593.000976 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875593.000976 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 791 size: 1605 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875593.000976 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -6.90986 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -7.50119 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -10.1266 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 580 keyframeId: 122 score: -11.3897 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 582 keyframeId: 123 score: -13.4271 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 585 keyframeId: 124 score: -12.7965 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 126 = 126 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x252c87c0 fh1 0x1ec6dbe0fh->id: 116 126 593goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x252c87c0 fh1 0x226194c0fh->id: 118 126 593goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x252c87c0 fh1 0x2a5d2ba0fh->id: 119 126 593goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x252c87c0 fh1 0x278bc7c0fh->id: 122 126 593goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x252c87c0 fh1 0x28890000fh->id: 123 126 593goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x252c87c0 fh1 0x259dac20fh->id: 124 126 593goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x252c87c0 fh1 0x2b3cdaa0fh->id: 125 126 593goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew126 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 42 out of 42 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 42 newEdgePixels: 42 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 481 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 89 lastEnergy: 107.901 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 22 INF|LocalMapper.cpp[optimize,276]: Start Energy: 107.901 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.12939e-13 -1.54582e-13 1.56396e-13 -1.29601e-12 -0.00681655 -0.0168765 -0.00389752 -0.00669221 0.00258075 0.00353764 -0.0287331 -0.0251738 0.0201947 -0.00876822 0.00659408 0.00462103 -0.0364401 0.010266 -0.0362096 -0.00548154 0.00358781 -0.00270276 -0.0219824 0.0104993 -0.0543948 -0.00497116 0.00107629 -0.00456796 -0.0508848 -0.0050001 -0.0715915 -0.004771 0.00231205 -0.0052786 -0.057009 0.00175359 -0.0775576 -0.00404124 0.00450234 -0.00245495 -0.0249503 0.0299023 -0.0859363 -0.0028376 -0.000250069 -0.0111003 -0.0325034 0.0256077 -0.0649889 -0.00277741 0.00213745 -0.0105046 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 481 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 102.863 0 0 newEnergyL 0 lastEnergy: 107.901 0 0 lastEnergyL: 0mActiveResiduals: 481 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.02975e-13 -3.97732e-13 -5.38705e-14 3.62382e-13 -0.00720605 -0.00710378 -0.00562819 -0.000897324 0.000536384 -0.000506238 0.0157519 0.0200895 -0.0670729 0.00142485 -0.00611972 -0.00543143 0.0418252 -0.0330061 0.0249534 -0.00176402 -0.00231345 0.00535924 0.0395407 -0.0279908 0.0506953 -0.00116292 -0.00010302 0.00796987 0.0254625 -0.0503917 0.0154223 -0.0045237 -0.00102951 0.00712423 0.0566056 -0.0216979 0.0411777 -0.00308219 -0.00436561 0.00186114 0.0190406 -0.0472156 0.0462012 -0.00423713 0.0010502 0.00882974 0.0180844 -0.06864 0.0386408 -0.00778509 0.000201069 0.00800435 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 481 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 94.6351 0 0 newEnergyL 0 lastEnergy: 102.863 0 0 lastEnergyL: 0mActiveResiduals: 481 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -9.04163e-13 1.85891e-13 -3.80172e-14 4.81816e-13 0.00568004 -0.00965317 -0.026388 -0.00377434 -0.00251741 0.00744165 0.00232145 -0.0294305 0.0346072 -0.00596062 0.00232674 0.0122363 0.00157532 0.000140158 0.00427841 -0.00397311 0.000439114 0.00469174 0.00806495 -0.000311831 0.00702196 -0.0047234 -0.000685622 0.00266892 0.000594287 0.0191713 0.00686842 -0.0017713 -0.000144137 0.00164018 -0.0195136 -0.00863646 -0.0112916 -0.00461836 0.00147413 0.00416125 0.00864517 0.00376363 -0.00723039 -0.00481815 -0.00214794 6.39328e-05 -0.00549808 0.0248816 -0.0113431 -0.00187712 -0.000318035 -0.000175073 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 481 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 95.5653 0 0 newEnergyL 0 lastEnergy: 94.6351 0 0 lastEnergyL: 0mActiveResiduals: 481 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 6.92273e-13 -1.90394e-13 4.857e-15 -1.04149e-12 -0.0049101 0.0148316 0.0140388 0.00655191 -0.000139117 -0.00756572 -0.00162285 0.0242427 -0.0332718 0.00774735 -0.00418595 -0.0131545 -0.00228835 -0.0224455 0.00343024 0.00354984 -0.00180996 -0.00462227 -0.00928208 0.00129545 -0.00615467 0.00716653 -0.00038433 -0.00182503 0.00304369 -0.0155675 0.000450966 0.00339328 -0.00126256 -0.00225583 0.00855866 0.0168716 -6.87804e-05 0.00732582 -0.00255479 -0.00525582 -0.00594327 -0.00985807 0.0153784 0.00592687 0.000504277 7.91791e-05 0.00907955 -0.00914455 0.00874621 0.00545407 -0.00215554 -0.00140283 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 481 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 94.1485 0 0 newEnergyL 0 lastEnergy: 95.5653 0 0 lastEnergyL: 0mActiveResiduals: 481 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -7.1655e-14 5.33902e-13 3.89707e-13 3.18402e-13 0.00426591 -0.015803 -0.0152859 -0.00658174 0.000997461 0.0071868 -0.00479174 -0.0258089 0.0333868 -0.00688178 0.00627867 0.0146235 -0.00092611 0.0127169 -0.00231563 -0.0052274 0.00251359 0.00265155 0.00393884 -0.00475047 -0.00545351 -0.00726583 0.000892987 0.000923433 -0.00616989 0.00928327 0.000141002 -0.00407236 0.00220846 0.00184933 -0.012115 -0.0115778 -0.00171357 -0.00639768 0.00369546 0.00523402 0.00905697 0.0123669 -0.0100123 -0.00563916 0.000290057 -0.000198 0.0075946 0.0234057 0.00263501 -0.00361068 0.00124344 0.00045995 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 481 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 97.0576 0 0 newEnergyL 0 lastEnergy: 94.1485 0 0 lastEnergyL: 0mActiveResiduals: 481 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -2.6896e-13 -7.74089e-13 -8.0369e-13 1.04736e-13 -0.00194138 0.00739065 0.0293821 0.00257892 0.00277965 -0.00565276 -0.00925106 0.0218963 -0.0305819 0.00475495 -0.00066874 -0.0108078 0.0191693 -0.00671976 0.0238349 0.00258463 -0.00113631 -0.00305179 -0.0229822 -0.00207784 -0.0061615 0.00384036 0.00288592 -0.000674621 0.020626 -0.00548998 -0.000141422 0.00125679 -0.00144322 -0.0018884 0.0171313 0.0212155 -0.000101366 0.00451462 -0.00172114 -0.00536379 -0.0139218 0.00189893 -0.0123139 0.00452773 0.00161993 -0.000797482 -0.00412736 -0.0390272 -0.00484364 -0.000771604 0.00136713 0.00205464 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 481 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 96.2359 0 0 newEnergyL 0 lastEnergy: 97.0576 0 0 lastEnergyL: 0mActiveResiduals: 481 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 96.2359 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 481 INF|LocalMapper.cpp[optimize,345]: End Energy: 96.2359 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.450588 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.450588 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 123 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 123 with idx: 4 and allID: 582 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->123 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->123 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->123 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 122<->123 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 123<->123 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 124<->123 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 125<->123 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 126<->123 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 123 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 582: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 122/580: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 121/577: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 121 allId: 577 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.998476 0.00969721 0.0543347 0.00738081 -0.0106227 0.999803 0.0167699 -0.0139265 -0.0541614 -0.0173215 0.998382 0.0298207 worldPose: 0.751513 -0.0571499 -0.657238 -1.9699 -0.3344 0.825775 -0.454172 2.02983 0.568687 0.561096 0.60147 1.53018 after: 0.751513 -0.0571499 -0.657238 -1.9699 -0.3344 0.825775 -0.454172 2.02983 0.568687 0.561096 0.60147 1.53018 worldPose of new: 0.714103 -0.0761435 -0.695888 -1.95548 -0.35056 0.821548 -0.449629 2.05726 0.605942 0.565031 0.559977 1.51687 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.998476 0.00969721 0.0543347 0.00738081 -0.0106227 0.999803 0.0167699 -0.0139265 -0.0541614 -0.0173215 0.998382 0.0298207 INF|Mapper.cpp[changeRefFrame,578]: Updating: 583 from old kf id: 123/582 with new ref frame: 577/121 INF|Mapper.cpp[changeRefFrame,578]: Updating: 584 from old kf id: 123/582 with new ref frame: 577/121 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 582 after changeRefFrame: 0.998476 0.00969721 0.0543347 0.00738081 -0.0106227 0.999803 0.0167699 -0.0139265 -0.0541614 -0.0173215 0.998382 0.0298207 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 123 to normal frame with refFrame: 121 frame id kf: 582 newref id: 577 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 123 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6055 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x252c87c0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 126 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 81 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 75 with distance 0.258Found rest min at: 80 with distance 0.174 overall min: 0.174 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 707 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 126 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 715 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 594 keyframes 127 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 526 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!594 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 595 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.032255 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!595 INF|Input.cpp[getImages,132]: mNbReceivedImages!596 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999904 0.00559981 -0.0126835 -0.00662761 -0.00580954 0.999846 -0.0165597 0.0651437 0.0125888 0.0166318 0.999782 -0.0290286 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 126 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.032255) and 593(1311875593.000976) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999904 0.00559981 -0.0126835 -0.00662761 -0.00580954 0.999846 -0.0165597 0.0651437 0.0125888 0.0166318 0.999782 -0.0290286 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999636 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:326/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 126 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.032255) and 593(1311875593.000976) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999947 0.00618214 -0.00826094 -0.0542554 -0.00652352 0.999098 -0.0419567 0.114781 0.0079941 0.0420084 0.999085 -0.0975184 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 6): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:864/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 126 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.032255) and 593(1311875593.000976) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999856 0.0134049 -0.0104477 -0.0220682 -0.0138578 0.998911 -0.0445494 0.15096 0.0098391 0.0446878 0.998953 -0.0307232 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999213 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:432/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.63965 resInfo good: 1604, 1 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1956/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999925 -0.00566725 -0.0108722 -0.00406724 0.00550916 0.999879 -0.0145158 0.0294801 0.0109531 0.0144548 0.999836 -0.0164624 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!594 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!595 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 596 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.068099 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!596 INF|Input.cpp[getImages,132]: mNbReceivedImages!597 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999699 -0.0114905 -0.0216595 -0.00812225 0.0108583 0.999518 -0.0290874 0.0591731 0.0219833 0.0288434 0.999342 -0.0325406 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 126 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.068099) and 593(1311875593.000976) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999699 -0.0114905 -0.0216595 -0.00812225 0.0108583 0.999518 -0.0290874 0.0591731 0.0219833 0.0288434 0.999342 -0.0325406 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999383 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:516/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 126 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.068099) and 593(1311875593.000976) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999692 -0.00581976 -0.0241356 -0.0184571 0.00482977 0.999153 -0.040875 0.0808608 0.024353 0.0407458 0.998873 -0.0257511 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999974 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:950/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 126 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.068099) and 593(1311875593.000976) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999518 -0.00965317 -0.0295002 0.0172463 0.00855462 0.999273 -0.0371409 0.0770077 0.0298373 0.0368706 0.998875 -0.00065839 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999934 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:820/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.842062 resInfo good: 1605, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2635/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999606 -0.012478 -0.0251502 -0.000393805 0.0119243 0.999686 -0.0220475 0.0268377 0.0254174 0.0217389 0.999441 -0.0105662 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!595 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!596 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 597 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.100331 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!597 INF|Input.cpp[getImages,132]: mNbReceivedImages!598 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999036 -0.0193913 -0.0393711 0.00321184 0.018229 0.999394 -0.0296686 0.0241753 0.0399225 0.0289223 0.998784 -0.00463725 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 126 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.100331) and 593(1311875593.000976) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999036 -0.0193913 -0.0393711 0.00321184 0.018229 0.999394 -0.0296686 0.0241753 0.0399225 0.0289223 0.998784 -0.00463725 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 4): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:673/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 126 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.100331) and 593(1311875593.000976) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999188 -0.0121533 -0.0384132 -0.0287115 0.00982979 0.998144 -0.0601064 0.133226 0.0390724 0.05968 0.997453 -0.0627027 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 11,0.999388 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1018/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 126 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.100331) and 593(1311875593.000976) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998948 -0.0116077 -0.0443556 0.0108905 0.0087862 0.997957 -0.063284 0.158736 0.0449996 0.0628277 0.997009 -0.0278537 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 9,0.999538 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:893/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.05541 resInfo good: 1605, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2952/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.99891 -0.0213646 -0.0414901 0.00685661 0.0200534 0.999294 -0.0317657 0.0437539 0.0421394 0.0308991 0.998634 -0.0225333 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875593.100331 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875593.100331 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875593.100331 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 818 size: 2018 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875593.100331 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -6.91373 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -7.49961 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -9.79371 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 580 keyframeId: 122 score: -11.3033 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 585 keyframeId: 124 score: -15.0342 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 589 keyframeId: 125 score: -13.3451 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 127 = 127 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2b4440 fh1 0x1ec6dbe0fh->id: 116 127 596goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2b4440 fh1 0x226194c0fh->id: 118 127 596goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2b4440 fh1 0x2a5d2ba0fh->id: 119 127 596goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2b4440 fh1 0x278bc7c0fh->id: 122 127 596goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2b4440 fh1 0x259dac20fh->id: 124 127 596goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2b4440 fh1 0x2b3cdaa0fh->id: 125 127 596goodE: 26 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2b4440 fh1 0x252c87c0fh->id: 126 127 596goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew127 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 40 out of 40 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 40 newEdgePixels: 40 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 529 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 87 lastEnergy: 112.999 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 25 INF|LocalMapper.cpp[optimize,276]: Start Energy: 112.999 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.60223e-12 1.65935e-13 -2.20673e-12 1.48136e-12 0.00143227 0.00921067 0.00603383 0.00186803 -0.00133515 -0.00127889 -0.00361287 -0.0159676 0.0133461 -0.00097228 9.84033e-05 0.00200437 -0.0356759 0.0323213 -0.0131022 0.00295609 0.00218175 -0.00281924 -0.0263396 0.0419145 -0.033653 0.00276055 -0.0015474 -0.00932063 -0.0323073 0.0229775 -0.0377918 0.00250818 -5.32249e-05 -0.00528501 -0.0201414 0.0222375 -0.0259391 0.00177747 -0.000913573 -0.00710633 -0.0321629 0.0507559 -0.0205893 0.00547569 0.000671631 -0.00934738 -0.0233243 0.0254278 -0.0360975 0.00362677 -2.36881e-05 -0.00571095 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 529 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 109.977 0 0 newEnergyL 0 lastEnergy: 112.999 0 0 lastEnergyL: 0mActiveResiduals: 529 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -2.46074e-13 3.70052e-13 3.23331e-13 8.48452e-13 -0.00480506 -0.00957803 -0.00121873 -0.00129035 0.000363234 -0.000412512 0.0128909 0.0381966 -0.0255759 0.00323159 -0.00318339 -0.00387022 0.0489867 -0.00140513 0.00642305 -0.000163307 -0.00447332 0.00114529 0.0336715 -0.0162052 0.0110928 -0.000876328 -0.0019463 0.00505158 0.041485 -0.000270465 0.0102091 0.000598093 -0.00310344 0.00401037 0.0233686 0.00860563 0.00289829 0.00202236 -0.00147184 0.00434122 0.0288967 -0.0132664 0.0155382 -0.0012185 -0.00172625 0.00510306 0.0380273 -0.00444304 0.0167913 0.000168706 -0.00307844 0.00588372 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 529 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 109.137 0 0 newEnergyL 0 lastEnergy: 109.977 0 0 lastEnergyL: 0mActiveResiduals: 529 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 2.3502e-13 5.32148e-14 1.22534e-13 -8.44992e-13 0.0132944 -0.00566103 0.0144508 -0.0021811 -0.00284547 0.00783411 -0.00220113 -0.00395274 -0.0157677 -0.00206202 -0.00215576 0.00634941 0.000542636 0.014257 -0.0031988 -0.000863662 -0.00140152 0.00428993 -0.00521831 0.00388995 -0.00791986 -0.0035203 -0.00252873 -0.00103829 -0.0146729 -0.00488655 -0.00014898 -0.00350333 -0.000487983 0.00153901 0.000809835 -0.00930662 0.000310545 -0.00542851 -0.00270546 -0.000559179 0.00513136 -0.00329679 0.00419756 -0.00356634 -0.00272096 0.00153504 -0.000422706 0.00829881 0.0080002 -0.00312679 -0.00204205 -0.00141632 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 529 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 108.53 0 0 newEnergyL 0 lastEnergy: 109.137 0 0 lastEnergyL: 0mActiveResiduals: 529 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 8.53927e-14 9.31507e-14 5.79104e-14 1.14835e-12 0.00358834 0.00381401 -0.0133922 0.00172772 -0.00216198 -0.00420409 -0.00315349 0.00308971 0.00728516 0.00248849 -0.000335745 -0.00200734 -0.00846878 -0.00613378 0.00596725 0.00118431 -6.53169e-05 -0.00195026 -0.00170905 -0.00122665 -0.00172769 0.00307554 -0.000193184 0.00234648 0.0171372 0.00236716 -0.00209239 0.00277171 -0.0025819 0.00151625 -0.00194178 0.00122461 0.00449359 0.00361744 0.000384137 0.00365745 -0.00101661 -0.00831582 0.00390087 0.00107509 -0.000244406 0.00153213 -0.00505976 0.0051468 -0.00477482 0.00394307 -0.000144483 0.00276806 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 529 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 107.256 0 0 newEnergyL 0 lastEnergy: 108.53 0 0 lastEnergyL: 0mActiveResiduals: 529 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.30953e-13 8.77001e-14 -1.18932e-13 -8.27373e-13 0.00706434 -0.00769492 0.0186996 -0.00395616 0.00358179 0.00434167 -0.0142264 -0.00404407 -0.00167395 -0.0032304 0.00500735 0.00359099 0.0252064 -0.000360408 0.00150527 -0.00302809 0.000497209 0.0025342 -0.00654327 -0.00488667 -0.00654656 -0.00505143 0.00230514 -0.00272419 -0.0112607 -0.00104458 0.00290504 -0.00376208 0.00390052 -0.00161093 0.00406117 0.0079196 -0.00682478 -0.00337956 0.00125068 -0.00407012 0.000128853 0.00136919 -0.0070057 -0.00279116 0.002326 -0.000802799 -0.000867512 0.00861139 -0.00139866 -0.00288646 0.00275816 -0.00313221 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 529 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 108.06 0 0 newEnergyL 0 lastEnergy: 107.256 0 0 lastEnergyL: 0mActiveResiduals: 529 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -8.36439e-14 -2.52652e-13 2.01551e-13 6.82138e-13 -0.0135338 -0.00654034 -0.0226618 -0.00175267 0.000825468 -0.00108434 0.0154723 -0.00727598 0.0275595 -0.00122201 0.0010035 0.00131215 -0.0248758 0.00894823 -0.00128545 0.000438891 0.00249227 -0.00214851 0.00838471 -0.0121482 -0.00160023 -0.000723633 -2.87315e-05 0.00387063 0.0125892 -0.00214383 -0.000936343 -0.00038492 -0.000532316 0.00279168 -0.00392741 -0.00877992 0.00766101 -0.000499062 0.00225721 0.00502399 0.0030529 0.00104744 0.00630387 -0.000859271 0.000596627 0.000887847 0.002878 0.0274871 -0.0109593 0.0037032 -0.000460018 0.00135489 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 529 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 106.667 0 0 newEnergyL 0 lastEnergy: 108.06 0 0 lastEnergyL: 0mActiveResiduals: 529 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 106.667 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 529 Input.cpp[readImages,206]: Got image from sensor!597 INF|LocalMapper.cpp[optimize,345]: End Energy: 106.667 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.452042 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.452042 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 124 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 124 with idx: 4 and allID: 585 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->124 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->124 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->124 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 122<->124 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 124<->124 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 125<->124 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 126<->124 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 127<->124 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 124 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 585: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 123/582: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 122/580: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 121/577: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 121 allId: 577 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.995559 -0.00445099 0.0940334 -0.000520795 0.00115794 0.999385 0.0350456 -0.00977256 -0.0941315 -0.0347811 0.994952 0.040308 worldPose: 0.776348 -0.0550714 -0.627894 -1.98316 -0.305727 0.838242 -0.451532 2.03129 0.551193 0.54251 0.633931 1.53361 after: 0.776348 -0.0550714 -0.627894 -1.98316 -0.305727 0.838242 -0.451532 2.03129 0.551193 0.54251 0.633931 1.53361 worldPose of new: 0.714103 -0.0761435 -0.695888 -1.95548 -0.35056 0.821548 -0.449629 2.05726 0.605942 0.565031 0.559977 1.51687 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.995559 -0.00445099 0.0940334 -0.000520795 0.00115794 0.999385 0.0350456 -0.00977256 -0.0941315 -0.0347811 0.994952 0.040308 INF|Mapper.cpp[changeRefFrame,578]: Updating: 586 from old kf id: 124/585 with new ref frame: 577/121 INF|Mapper.cpp[changeRefFrame,578]: Updating: 587 from old kf id: 124/585 with new ref frame: 577/121 INF|Mapper.cpp[changeRefFrame,578]: Updating: 588 from old kf id: 124/585 with new ref frame: 577/121 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 585 after changeRefFrame: 0.995559 -0.00445099 0.0940334 -0.000520795 0.00115794 0.999385 0.0350456 -0.00977256 -0.0941315 -0.0347811 0.994952 0.040308 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 124 to normal frame with refFrame: 121 frame id kf: 585 newref id: 577 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 124 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6015 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2c2b4440 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 127 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 81 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 75 with distance 0.246Found rest min at: 80 with distance 0.224 overall min: 0.224 time: 0 INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 127 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 81 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 708 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 127 into DB 0.246 75 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 75 and real id(108) current kf: 127(596) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.840358 0.0945553 0.533721 -0.462548 0.0635668 0.96068 -0.270284 -0.242503 -0.538292 0.261062 0.801304 -0.36973 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 108 currFrame: 127 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00163523 edge: 127 to 108 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 127 to 108 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 518(1311875590.496902) and 596(1311875593.100331) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.99964 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:525/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 127 to 108 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 518(1311875590.496902) and 596(1311875593.100331) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.96565 0.122876 -0.228959 0.915266 -0.139109 0.988687 -0.0561012 0.375178 0.219475 0.0860242 0.971818 -0.00396206 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999958 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:266/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 127 to 108 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 518(1311875590.496902) and 596(1311875593.100331) on lvl: 0 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 598 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.969215 0.118761 -0.215682 0.88161 -0.132344 0.989961 -0.0496156 0.346177 0.207625 0.0766324 0.975202 0.0283643 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.99995 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:350/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.969394 0.126407 -0.210465 0.856533 -0.141737 0.988123 -0.0593631 0.394183 0.200462 0.0873771 0.975797 0.0261701 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 107 end 110 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 24852 o[1]: 688 o[2]: 37 o[3]: 0 histWeights: 1 1 1.25 1.5overlap: 734.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 2018 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 108 and 127 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 127 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 127 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 4756 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 597 keyframes 128 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 538 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!598 INF|Input.cpp[getImages,132]: mNbReceivedImages!599 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.131966 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999864 -0.00757558 -0.01466 0.00330125 0.00754328 0.999969 -0.00225713 -0.00430167 0.0146766 0.00214623 0.99989 0.00364521 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 127 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.131966) and 596(1311875593.100331) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999864 -0.00757558 -0.01466 0.00330125 0.00754328 0.999969 -0.00225713 -0.00430167 0.0146766 0.00214623 0.99989 0.00364521 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999904 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1235/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 127 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.131966) and 596(1311875593.100331) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999847 -0.00929894 -0.0148062 0.00198463 0.00922039 0.999943 -0.00536467 -0.0124703 0.0148552 0.00522733 0.999876 0.00208401 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999968 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1012/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 127 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.131966) and 596(1311875593.100331) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999863 -0.00857573 -0.0141907 0.00452521 0.00852014 0.999956 -0.00397309 -0.00824688 0.0142241 0.00385164 0.999891 0.00449186 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 8,0.999755 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1316/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.625674 resInfo good: 2018, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4026/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999804 -0.00850687 -0.0178561 0.0207637 0.00842666 0.999954 -0.0045625 -0.0014405 0.0178941 0.00441114 0.99983 0.00100137 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!597 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!598 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 599 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.168853 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999218 -0.0170905 -0.0356669 0.0415176 0.0167696 0.999816 -0.00927449 -0.00271053 0.0358189 0.00866911 0.999321 0.00236777 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 127 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.168853) and 596(1311875593.100331) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999218 -0.0170905 -0.0356669 0.0415176 0.0167696 0.999816 -0.00927449 -0.00271053 0.0358189 0.00866911 0.999321 0.00236777 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!599 INF|Input.cpp[getImages,132]: mNbReceivedImages!600 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 7): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1256/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 127 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.168853) and 596(1311875593.100331) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998844 -0.0205726 -0.0434421 0.0608588 0.0201722 0.99975 -0.0096344 -0.0346991 0.0436295 0.00874694 0.999009 -0.00821583 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:940/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 127 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.168853) and 596(1311875593.100331) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998884 -0.0197862 -0.0428968 0.0627069 0.0194501 0.999777 -0.00823682 -0.0305686 0.0430502 0.00739328 0.999046 -0.0090373 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 8,0.999783 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1138/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.869865 resInfo good: 2018, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3806/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999321 -0.0147298 -0.033778 0.0299131 0.0143391 0.999828 -0.0117799 -0.00893201 0.0339457 0.0112876 0.99936 -0.003817 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!598 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!599 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 600 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.199929 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!600 INF|Input.cpp[getImages,132]: mNbReceivedImages!601 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998545 -0.0210607 -0.0496457 0.0391842 0.0201341 0.999615 -0.0190899 -0.0163337 0.0500286 0.0180625 0.998584 -0.00854079 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 127 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.199929) and 596(1311875593.100331) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998545 -0.0210607 -0.0496457 0.0391842 0.0201341 0.999615 -0.0190899 -0.0163337 0.0500286 0.0180625 0.998584 -0.00854079 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1210/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 127 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.199929) and 596(1311875593.100331) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998524 -0.0195006 -0.0506936 0.0335754 0.018457 0.99961 -0.0209751 -0.022515 0.0510828 0.0200085 0.998494 -0.0200132 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999566 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:893/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 127 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.199929) and 596(1311875593.100331) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998564 -0.018713 -0.0501906 0.0352614 0.0177363 0.999646 -0.019835 -0.019096 0.050544 0.0189163 0.998543 -0.0217153 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 9,0.999672 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1379/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.06885 resInfo good: 2018, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3946/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998741 -0.0138501 -0.0482241 0.0279824 0.0124152 0.999475 -0.0299292 0.0253738 0.0486133 0.0292928 0.998388 -0.0264145 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875593.199929 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875593.199929 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875593.199929 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 862 size: 2179 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875593.199929 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -7.0419 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -7.65965 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -9.85908 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 580 keyframeId: 122 score: -10.6923 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 589 keyframeId: 125 score: -11.7621 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 593 keyframeId: 126 score: -11.0121 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 128 = 128 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3be6e0 fh1 0x1ec6dbe0fh->id: 116 128 599goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3be6e0 fh1 0x226194c0fh->id: 118 128 599goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3be6e0 fh1 0x2a5d2ba0fh->id: 119 128 599goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3be6e0 fh1 0x278bc7c0fh->id: 122 128 599goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3be6e0 fh1 0x2b3cdaa0fh->id: 125 128 599goodE: 30 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3be6e0 fh1 0x252c87c0fh->id: 126 128 599goodE: 23 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3be6e0 fh1 0x2c2b4440fh->id: 127 128 599goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew128 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 49 out of 49 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 49 newEdgePixels: 49 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 606 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 105 lastEnergy: 131.221 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 30 INF|LocalMapper.cpp[optimize,276]: Start Energy: 131.221 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.75792e-12 -7.69808e-13 -3.8963e-12 8.06599e-13 -0.00569423 0.00992867 0.00177966 0.0056379 0.000119335 -0.00607748 -0.034612 0.0160968 -0.0388591 0.00568101 -0.000659612 -0.00962391 -0.0039925 -0.0171552 0.0149688 0.0014285 0.000292316 -0.00361168 -0.0346851 0.020482 0.00333761 0.00466463 0.00147814 -0.0101629 -0.00404878 -0.00401203 -0.00755101 0.00244203 -0.00244785 -0.0103525 -0.0242136 0.00816148 -0.0213079 0.00627429 0.000434466 -0.00675236 -0.0241206 0.042141 -0.0237441 0.0102896 0.00076848 -0.00917258 0.0217524 0.0140066 -0.0181551 0.007285 -0.00483483 -0.00768998 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 606 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 125.026 0 0 newEnergyL 0 lastEnergy: 131.221 0 0 lastEnergyL: 0mActiveResiduals: 606 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -3.42478e-13 1.04694e-13 -2.312e-13 -3.11968e-13 -0.00365091 0.00391878 0.00522443 6.32171e-05 0.00033995 -0.0010692 0.0347019 -0.0114648 0.0443024 -0.000756015 -0.000156173 0.00543233 -0.0143189 0.0255799 -0.0272429 0.00230037 6.02169e-05 -0.00185452 0.027605 0.0149482 -0.00480081 0.00153502 -0.00211769 0.0025489 0.0068536 0.0305308 -0.00975746 0.00422966 0.000154397 0.00326934 0.0149418 -0.00760985 0.0037361 -0.00190097 -0.000662396 0.00322883 0.0238409 0.0510234 -0.0122381 0.00610236 -0.00295411 0.000393724 0.0153706 0.0751092 -0.0121624 0.00847902 -0.00154136 -0.000443735 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 606 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 121.592 0 0 newEnergyL 0 lastEnergy: 125.026 0 0 lastEnergyL: 0mActiveResiduals: 606 Input.cpp[readImages,206]: Got image from sensor!600 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.22691e-12 -8.94873e-13 -1.98665e-12 4.90789e-13 0.0183105 0.00279284 0.0145887 0.00129199 -0.00348891 0.00214386 -0.00808722 0.0115478 -0.0180787 0.00223992 -0.00310263 -0.00293807 0.0217024 -0.0049051 0.00914515 0.00197019 -0.00385097 0.00242104 -0.010402 0.000998449 0.0101305 0.0012291 -0.00102404 -0.000887816 -0.00603365 -0.00869455 -0.00408778 -0.000165828 -0.00249401 -0.00158635 0.00148121 0.00553763 -0.00567584 0.00251372 -0.0030082 -0.000965189 -0.00792937 -0.00946009 -0.00231373 0.000175913 -0.00156847 -0.00106035 -0.00406056 0.00195161 -0.0094413 0.00231175 -0.00262598 -0.00158975 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 606 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 119.212 0 0 newEnergyL 0 lastEnergy: 121.592 0 0 lastEnergyL: 0mActiveResiduals: 606 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 5.13265e-13 3.25932e-13 9.86292e-13 -2.5913e-13 -0.0151427 -0.00872287 -0.0121178 -0.00493407 0.00304318 0.002051 0.0152304 -0.0333959 0.0258496 -0.00903786 0.00190555 0.00627097 -0.0107564 -0.0106028 0.00546139 -0.00776347 0.00344189 2.1565e-05 0.0276809 0.000443494 -0.00616108 -0.00442322 -0.000697475 0.00339237 -0.00524641 0.00236593 -5.31566e-05 -0.00442254 0.00350447 0.00328456 -0.00993928 0.0131932 -0.00382065 -0.00366293 0.00329823 0.00199592 -0.000544431 0.000916022 -0.00300385 -0.0052933 0.00202563 0.00312224 -0.000167286 0.0361417 -0.00641293 -0.00147862 0.00210735 0.00132713 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 606 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 120.913 0 0 newEnergyL 0 lastEnergy: 119.212 0 0 lastEnergyL: 0mActiveResiduals: 606 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.56732e-14 -6.44272e-14 3.27293e-13 1.01412e-13 0.0235443 0.00173892 0.0182556 0.00164053 -0.00338928 -0.00184482 -0.0211771 0.0264272 -0.021071 0.00532421 -0.000827221 -0.00327596 0.0147552 0.002246 0.00382894 0.00467232 -0.0018798 0.00425278 -0.0189233 -0.00174028 0.00838966 0.00206182 0.000564833 -0.00185727 0.000769622 -0.0121297 0.00270538 0.0008906 -0.00210721 -0.00152299 0.0116844 0.00238631 -0.00361421 0.00297101 -0.00329503 -0.00235804 -0.00521411 -0.00270909 -0.00322647 0.00245117 -0.000936357 -0.00219711 -0.000775901 -0.0156188 -0.00640886 0.00125867 -0.00179916 -0.00145747 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 606 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 119.143 0 0 newEnergyL 0 lastEnergy: 120.913 0 0 lastEnergyL: 0mActiveResiduals: 606 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -7.56034e-14 7.04188e-14 -8.36565e-13 -1.15143e-13 -0.00853012 0.000423075 -0.0163142 -0.000302626 0.000286926 0.000169252 0.0092603 -0.0181806 0.0232849 -0.00201641 0.00161966 0.00349922 0.00678541 0.00550684 0.0205033 -0.00313454 -0.000608326 -0.00599374 0.00747678 0.00292065 -0.0135773 -8.61278e-05 -0.000303796 0.00184041 -0.00521834 0.0140903 -0.00552025 0.00129237 0.0019532 0.00226074 -0.0120402 -0.0200354 -0.00468939 -0.00339768 0.0023638 0.00361131 0.00409812 0.0039641 -0.00701798 -0.000416119 5.82293e-05 0.00245829 0.000700567 0.010233 0.00161807 0.000230251 0.000960836 0.00248812 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 606 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 119.394 0 0 newEnergyL 0 lastEnergy: 119.143 0 0 lastEnergyL: 0mActiveResiduals: 606 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 119.394 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 606 INF|LocalMapper.cpp[optimize,345]: End Energy: 119.394 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.445712 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.445712 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 601 INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 125 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 125 with idx: 4 and allID: 589 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->125 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 125->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->125 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->125 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 122<->125 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 125<->125 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 126<->125 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 127<->125 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 125->127 INF|LocalMapper.cpp[marginalizeFrame,772]: 128<->125 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 125 with: 2 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 125 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6790 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2b3be6e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 128 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 83 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 75 with distance 0.248Found rest min at: 81 with distance 0.128 overall min: 0.128 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 75 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 699 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 128 into DB 0.248 75 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 75 and real id(108) current kf: 128(599) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.815963 0.105316 0.568431 -0.467617 0.0541776 0.965008 -0.256561 -0.208985 -0.57556 0.240141 0.781705 -0.353774 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 108 currFrame: 128 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00185556 edge: 128 to 108 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 128 to 108 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 518(1311875590.496902) and 599(1311875593.199929) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 16,0.999763 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1264/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 128 to 108 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 518(1311875590.496902) and 599(1311875593.199929) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998699 -0.0116287 -0.0496566 0.183191 0.00732801 0.996274 -0.0859288 0.0118919 0.0504709 0.0854531 0.995063 -0.499589 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999946 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:416/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 128 to 108 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 518(1311875590.496902) and 599(1311875593.199929) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998696 -0.0122734 -0.0495517 0.182107 0.00794189 0.996204 -0.0866823 0.0104687 0.0504275 0.0861758 0.995003 -0.504766 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999815 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:462/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.999137 -0.0188483 -0.0370206 0.138439 0.0157795 0.996548 -0.0815059 -0.0204149 0.038429 0.0808514 0.995985 -0.500083 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 107 end 110 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!601 INF|Input.cpp[getImages,132]: mNbReceivedImages!602 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 25273 o[1]: 525 o[2]: 41 o[3]: 1 histWeights: 1 1 1.25 1.5overlap: 577.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 2179 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 108 and 128 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 128 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 128 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 5774 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 600 keyframes 129 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 450 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.231992 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99996 -0.000329358 -0.00894112 -0.0230822 0.000206264 0.999905 -0.0137647 0.0165539 0.00894481 0.0137623 0.999865 -0.0224934 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 128 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.231992) and 599(1311875593.199929) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99996 -0.000329358 -0.00894112 -0.0230822 0.000206264 0.999905 -0.0137647 0.0165539 0.00894481 0.0137623 0.999865 -0.0224934 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 8): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1429/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 128 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.231992) and 599(1311875593.199929) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999971 0.000406873 -0.00765435 -0.0181381 -0.0005174 0.999896 -0.0144433 0.0153153 0.00764767 0.0144469 0.999866 -0.0210698 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999224 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:158/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 128 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.231992) and 599(1311875593.199929) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999997 -0.00137196 0.00217807 -0.0287482 0.00138187 0.999989 -0.0045584 -0.0073908 -0.00217179 0.00456139 0.999987 0.0291909 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999931 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1191/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.535094 resInfo good: 2179, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3225/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999924 -0.00301746 -0.0119494 0.0139091 0.00296363 0.999985 -0.00451983 -0.00641489 0.0119629 0.00448408 0.999918 -0.000921588 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!600 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!601 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 602 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.268484 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!602 INF|Input.cpp[getImages,132]: mNbReceivedImages!603 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999317 -0.00921177 -0.0357996 0.0418134 0.00872738 0.999869 -0.0136636 -0.0191088 0.0359207 0.0133419 0.999266 -0.00235111 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 128 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.268484) and 599(1311875593.199929) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999317 -0.00921177 -0.0357996 0.0418134 0.00872738 0.999869 -0.0136636 -0.0191088 0.0359207 0.0133419 0.999266 -0.00235111 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 6): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1195/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 128 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.268484) and 599(1311875593.199929) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999776 -0.00618739 -0.0202547 -0.00517247 0.0056042 0.999572 -0.028724 0.0167562 0.0204238 0.028604 0.999382 -0.0177547 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.99948 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1138/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 128 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.268484) and 599(1311875593.199929) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999624 -0.00316805 -0.0272346 0.0272309 0.00228345 0.999471 -0.0324508 0.0437847 0.027323 0.0323764 0.999102 -0.0120166 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 11,0.999559 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1636/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.830945 resInfo good: 2179, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4432/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999651 -0.00554701 -0.0258373 0.0249867 0.00494555 0.999717 -0.023285 0.0147139 0.0259591 0.0231491 0.999395 -0.012846 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!601 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!602 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 603 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.300236 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999178 -0.00833512 -0.0396702 0.0361769 0.0066642 0.999093 -0.0420676 0.0360868 0.0399848 0.0417687 0.998327 -0.0242174 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 128 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.300236) and 599(1311875593.199929) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999178 -0.00833512 -0.0396702 0.0361769 0.0066642 0.999093 -0.0420676 0.0360868 0.0399848 0.0417687 0.998327 -0.0242174 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999389 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1104/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 128 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.300236) and 599(1311875593.199929) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999484 -0.00769331 -0.0311722 -0.0144879 0.00663274 0.9994 -0.0339847 0.0312284 0.0314149 0.0337604 0.998936 -0.0490453 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!603 INF|Input.cpp[getImages,132]: mNbReceivedImages!604 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.99975 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:488/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 128 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.300236) and 599(1311875593.199929) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99974 -0.00505504 -0.0222145 -0.0316425 0.00416366 0.999191 -0.0399906 0.0646256 0.0223987 0.0398877 0.998953 -0.0129805 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 10,0.999932 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1356/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.834327 resInfo good: 2179, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3395/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999439 -0.0117103 -0.0313773 0.00374739 0.011075 0.999732 -0.0203444 -0.00344728 0.0316071 0.0199855 0.999301 -0.0220262 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!602 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 452 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!603 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 604 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.332066 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!604 INF|Input.cpp[getImages,132]: mNbReceivedImages!605 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999158 -0.0178554 -0.0369344 -0.0173295 0.0172205 0.9997 -0.0174376 -0.021765 0.0372346 0.0167869 0.999166 -0.0312697 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 128 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.332066) and 599(1311875593.199929) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999158 -0.0178554 -0.0369344 -0.0173295 0.0172205 0.9997 -0.0174376 -0.021765 0.0372346 0.0167869 0.999166 -0.0312697 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 10): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1409/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 128 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.332066) and 599(1311875593.199929) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998403 -0.0208504 -0.0525027 0.0314203 0.0193252 0.999381 -0.0293917 -0.0094044 0.0530831 0.0283301 0.998188 -0.0337902 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 13,0.9995 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1551/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 128 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.332066) and 599(1311875593.199929) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998312 -0.0122191 -0.0567714 0.0462838 0.00993725 0.999138 -0.0403032 0.0507264 0.0572149 0.0396711 0.997573 -0.0398364 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 8,0.999904 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1129/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.06978 resInfo good: 2179, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4604/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998561 -0.0163038 -0.0510974 0.0331999 0.0150011 0.999555 -0.0257764 0.000915226 0.0514949 0.0249728 0.998361 -0.0251322 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875593.332066 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875593.332066 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875593.332066 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 827 size: 2757 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875593.332066 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -6.9697 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -7.67466 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -9.83915 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 580 keyframeId: 122 score: -10.6579 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 593 keyframeId: 126 score: -16.7467 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 596 keyframeId: 127 score: -16.5745 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 129 = 129 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xb106540 fh1 0x1ec6dbe0fh->id: 116 129 603goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xb106540 fh1 0x226194c0fh->id: 118 129 603goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xb106540 fh1 0x2a5d2ba0fh->id: 119 129 603goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xb106540 fh1 0x278bc7c0fh->id: 122 129 603goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xb106540 fh1 0x252c87c0fh->id: 126 129 603goodE: 23 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xb106540 fh1 0x2c2b4440fh->id: 127 129 603goodE: 33 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xb106540 fh1 0x2b3be6e0fh->id: 128 129 603goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew129 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 71 out of 73 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 73 newEdgePixels: 73 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 671 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 110 lastEnergy: 145.79 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 37 INF|LocalMapper.cpp[optimize,276]: Start Energy: 145.79 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -8.84532e-13 -1.52873e-12 -3.89671e-12 -4.52999e-13 -0.0120898 0.0053107 -0.00287545 0.00270924 0.00303408 -0.00198214 -0.0397036 0.0195751 -0.0435471 0.00380968 0.00255682 -0.00576492 -0.0488494 0.00811937 -0.0242722 0.00387677 0.00563698 0.000640926 -0.0645396 0.00438406 -0.0401797 0.00280265 0.00500763 -0.00509305 -0.0235666 0.0269094 -0.052054 0.00584269 0.00154256 -0.00754133 -0.020542 0.00865871 -0.03486 0.00356958 0.0024337 -0.00606961 -0.0234186 0.0310699 -0.0490289 0.00592119 0.00195984 -0.00885131 -0.00800449 0.0403403 -0.0581427 0.00814656 0.000241691 -0.0082501 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 671 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 138.408 0 0 newEnergyL 0 lastEnergy: 145.79 0 0 lastEnergyL: 0mActiveResiduals: 671 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.43688e-12 -1.70458e-12 6.134e-13 -9.29085e-13 -0.00272051 0.0070234 0.0102017 0.000625542 0.000692458 -0.000167853 0.0366966 0.00641395 0.0480745 -0.00103842 -0.00121021 -8.08106e-05 0.0245923 0.0278821 -0.0108905 0.000888434 -0.0037418 -0.00438999 0.0497826 0.0229891 0.0139734 0.000918742 -0.00363619 0.0004464 0.0162377 0.0247984 0.0111611 0.00142785 -0.00103637 0.000743929 0.0233447 0.0229533 0.0128513 0.00088589 -0.00220416 5.48322e-05 0.0182041 0.0144609 0.0193413 0.000119914 -0.000979258 0.0014341 0.017192 0.0645508 0.000769189 0.00655544 -0.00224952 -0.00191608 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 671 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 136.953 0 0 newEnergyL 0 lastEnergy: 138.408 0 0 lastEnergyL: 0mActiveResiduals: 671 Input.cpp[readImages,206]: Got image from sensor!604 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.68841e-12 1.51853e-12 -2.06775e-12 1.65604e-12 0.0117156 0.00224465 -0.00401614 0.00291776 -0.00788934 -0.000943253 0.0021017 0.0104889 -0.0185138 0.0038899 -0.00834053 -0.00309424 -0.00754165 -0.00660263 0.0098931 0.00372196 -0.00289713 0.00391163 -0.0211168 -0.0104922 -0.00610231 0.00257596 -0.00364446 0.000476275 0.00927908 0.00618294 0.0014223 0.00423994 -0.00658158 -0.000110391 -0.00493636 -0.00663384 0.00790216 0.00304291 -0.00440408 0.00104226 0.00380903 0.0316204 -0.0038565 0.00766226 -0.00635717 -0.00167582 0.000799538 -0.0286924 0.0138305 0.0001792 -0.00497903 0.00185224 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 671 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 136.221 0 0 newEnergyL 0 lastEnergy: 136.953 0 0 lastEnergyL: 0mActiveResiduals: 671 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.76347e-12 -7.45535e-13 1.86101e-12 -1.36389e-12 -0.0158502 0.00259601 -0.0102873 -2.29195e-05 0.00549751 -0.00136995 0.00335635 -0.0114704 0.0213041 -0.00259699 0.00541358 0.000338677 0.00630904 0.00108587 -0.0111829 -0.00186784 0.00135806 -0.00415363 0.00567918 0.00484804 0.00373395 -0.000732044 0.00363716 -0.00077312 -0.00349261 -0.0107704 -0.000602102 -0.00218267 0.00435698 0.001013 0.00733764 0.0131234 -0.00556071 0.000127891 0.00263091 -0.00134256 0.00292265 -0.0182118 0.00641602 -0.00344179 0.00401977 0.00124836 -0.00654842 0.0193109 -0.00209695 0.00115048 0.00471883 -0.0011727 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 671 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 133.626 0 0 newEnergyL 0 lastEnergy: 136.221 0 0 lastEnergyL: 0mActiveResiduals: 671 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.0245e-12 7.27462e-13 -4.33984e-14 9.06343e-13 0.0278422 0.000548491 0.0153174 0.00127368 -0.00860235 8.07016e-05 -0.00602495 0.0149561 -0.0305008 0.00395467 -0.00809495 -0.00157381 0.0136917 -0.000671657 0.0188035 0.00304615 -0.0047914 0.00447967 -0.0101264 -0.0138668 -0.00530242 0.00119796 -0.00483363 0.00110966 0.00026527 0.00958611 0.000120865 0.00343986 -0.00564524 -0.00104924 -0.0108324 -0.0122727 0.00127698 0.0013955 -0.00417742 0.00106187 -0.00803078 0.0149651 -0.00957256 0.00458027 -0.00514662 -0.001192 -0.00481065 -0.0152926 0.000654377 0.000958493 -0.00480266 0.00104881 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 671 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 136.784 0 0 newEnergyL 0 lastEnergy: 133.626 0 0 lastEnergyL: 0mActiveResiduals: 671 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.14589e-12 -1.06527e-12 1.5653e-12 -1.81524e-12 -0.0228671 -0.00238401 -0.0193715 -0.0020255 0.00493105 0.00108711 0.0102265 -0.0197259 0.0273063 -0.00519024 0.00494049 0.00201209 -0.00941665 -0.00617895 -0.0169748 -0.0043478 0.00184027 -0.00375195 0.000449192 0.0176868 0.00355878 -0.000705232 0.00380716 0.000242885 4.67787e-07 -0.0104275 -0.000354745 -0.00397493 0.00338491 0.00249207 0.0094954 0.019243 -0.000596354 -0.000953788 0.0021182 -0.000306397 0.00884112 -0.0137438 0.00995888 -0.00499691 0.00268203 0.00213663 -0.00158182 0.016245 0.00288218 -0.00151234 0.0032697 -0.000326464 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 671 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 135.771 0 0 newEnergyL 0 lastEnergy: 136.784 0 0 lastEnergyL: 0mActiveResiduals: 671 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 135.771 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 671 INF|LocalMapper.cpp[optimize,345]: End Energy: 135.771 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.453214 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.453214 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 605 INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 126 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 126 with idx: 4 and allID: 593 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->126 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->126 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->126 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 122<->126 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 126<->126 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 127<->126 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 128<->126 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 129<->126 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 126 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 593: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 125/589: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 125 allId: 589 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.998918 0.00533719 0.0462022 0.0183998 -0.00589452 0.999911 0.011935 -0.0129531 -0.0461345 -0.0121945 0.998861 0.0196927 worldPose: 0.83797 -0.0267895 -0.545058 -1.99737 -0.278675 0.83774 -0.469609 2.00841 0.469197 0.545412 0.694536 1.57587 after: 0.83797 -0.0267895 -0.545058 -1.99737 -0.278675 0.83774 -0.469609 2.00841 0.469197 0.545412 0.694536 1.57587 worldPose of new: 0.811738 -0.0382318 -0.582769 -2.00133 -0.295599 0.833704 -0.466433 2.03383 0.503689 0.550887 0.665447 1.56064 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.998918 0.00533719 0.0462022 0.0183998 -0.00589452 0.999911 0.011935 -0.0129531 -0.0461345 -0.0121945 0.998861 0.0196927 INF|Mapper.cpp[changeRefFrame,578]: Updating: 594 from old kf id: 126/593 with new ref frame: 589/125 INF|Mapper.cpp[changeRefFrame,578]: Updating: 595 from old kf id: 126/593 with new ref frame: 589/125 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 593 after changeRefFrame: 0.998918 0.00533719 0.0462022 0.0183998 -0.00589452 0.999911 0.011935 -0.0129531 -0.0461345 -0.0121945 0.998861 0.0196927 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 126 to normal frame with refFrame: 125 frame id kf: 593 newref id: 589 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 126 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 7036 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0xb106540 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 129 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 84 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 75 with distance 0.254Found rest min at: 83 with distance 0.154 overall min: 0.154 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: -1 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 698 INF|LoopCloser.cpp[loopCloserLinear,106]: Too similar to be added but not a valid LC candidate insertedKfId: 129 dist: -1 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 705 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 604 keyframes 130 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.368126 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!605 INF|Input.cpp[getImages,132]: mNbReceivedImages!606 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 6 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999788 -0.00649475 -0.019518 0.0317868 0.00649355 0.999979 -0.00012465 -0.0135188 0.0195184 -2.11797e-06 0.999809 0.0052435 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 129 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.368126) and 603(1311875593.332066) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999788 -0.00649475 -0.019518 0.0317868 0.00649355 0.999979 -0.00012465 -0.0135188 0.0195184 -2.11797e-06 0.999809 0.0052435 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999297 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:658/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 129 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.368126) and 603(1311875593.332066) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999905 0.00373672 -0.0132754 -0.0118871 -0.00401564 0.99977 -0.0210458 0.0269729 0.0131937 0.0210971 0.99969 -0.019181 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999642 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1142/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 129 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.368126) and 603(1311875593.332066) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999814 -0.000926954 -0.0192767 0.0199401 0.000665 0.999907 -0.0135911 0.00738999 0.0192876 0.0135757 0.999722 -0.00839247 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 8,0.999998 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1809/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.600681 resInfo good: 2757, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4206/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999889 -0.000736103 -0.0148745 0.00698254 0.000612383 0.999965 -0.00832047 -0.00670217 0.0148801 0.00831044 0.999855 -0.00565915 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!604 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!605 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 606 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.400108 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!606 INF|Input.cpp[getImages,132]: mNbReceivedImages!607 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999556 -0.00159571 -0.029739 0.0140534 0.00110087 0.999861 -0.0166486 -0.0133528 0.0297614 0.0166084 0.999419 -0.0112693 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 129 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.400108) and 603(1311875593.332066) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999556 -0.00159571 -0.029739 0.0140534 0.00110087 0.999861 -0.0166486 -0.0133528 0.0297614 0.0166084 0.999419 -0.0112693 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999521 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:574/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 129 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.400108) and 603(1311875593.332066) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999563 -0.00176527 -0.0295211 0.0146152 0.00128853 0.999869 -0.0161604 -0.0117363 0.0295458 0.0161153 0.999434 -0.0148671 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.99973 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:596/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 129 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.400108) and 603(1311875593.332066) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999527 0.00538009 -0.0302685 0.0222873 -0.00615118 0.999657 -0.0254398 0.0339268 0.0301213 0.025614 0.999218 -0.0187985 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999796 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:744/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.808321 resInfo good: 2757, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2495/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999616 0.00368776 -0.0274561 0.0121081 -0.00418671 0.999827 -0.0181375 0.0131985 0.0273845 0.0182455 0.999458 -0.0163991 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!605 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!606 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 607 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!607 INF|Input.cpp[getImages,132]: mNbReceivedImages!608 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.432093 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 11 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999165 0.00798595 -0.0400761 0.0174582 -0.0091079 0.999569 -0.0278916 0.0331804 0.0398361 0.0282333 0.998807 -0.0268756 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 129 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.432093) and 603(1311875593.332066) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999165 0.00798595 -0.0400761 0.0174582 -0.0091079 0.999569 -0.0278916 0.0331804 0.0398361 0.0282333 0.998807 -0.0268756 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999965 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4954/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 129 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.432093) and 603(1311875593.332066) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999571 0.00891373 -0.0278962 -0.0258717 -0.00994926 0.999258 -0.0372047 0.0346317 0.0275439 0.0374663 0.998918 -0.0165397 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999781 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5194/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 129 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.432093) and 603(1311875593.332066) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999068 0.00467217 -0.042909 0.0341483 -0.00566414 0.999719 -0.0230256 -0.00712523 0.0427894 0.0232471 0.998814 -0.0166124 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2546/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.944643 resInfo good: 2757, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 14875/14 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999228 0.00703309 -0.0386436 0.0201743 -0.00781072 0.999769 -0.020009 -0.0108607 0.038494 0.0202954 0.999053 -0.015259 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!606 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1074 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!607 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 608 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.468631 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!608 INF|Input.cpp[getImages,132]: mNbReceivedImages!609 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998043 0.0136535 -0.0610212 0.0360102 -0.0151196 0.999606 -0.0236293 -0.0590715 0.0606746 0.0245057 0.997857 -0.0128562 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 129 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.468631) and 603(1311875593.332066) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998043 0.0136535 -0.0610212 0.0360102 -0.0151196 0.999606 -0.0236293 -0.0590715 0.0606746 0.0245057 0.997857 -0.0128562 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1221/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 129 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.468631) and 603(1311875593.332066) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99862 0.00227032 -0.0524648 0.0270792 -0.0042674 0.999269 -0.0379846 -0.0387286 0.0523402 0.0381561 0.9979 -0.0355511 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999216 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1391/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 129 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.468631) and 603(1311875593.332066) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998679 0.00625343 -0.0510047 0.0299938 -0.00806123 0.999344 -0.0353156 -0.03286 0.0507504 0.0356801 0.998074 -0.0248682 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999755 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:523/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.13215 resInfo good: 2757, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3866/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998719 0.0101448 -0.0495658 0.0246601 -0.0120383 0.999203 -0.0380537 -0.013954 0.0491402 0.0386017 0.998046 -0.0219041 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875593.468631 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875593.468631 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875593.468631 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 998 size: 2962 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875593.468631 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -6.96262 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -7.68212 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -9.82368 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 580 keyframeId: 122 score: -10.3121 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 596 keyframeId: 127 score: -17.5402 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 599 keyframeId: 128 score: -16.1199 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 130 = 130 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x25a92d60 fh1 0x1ec6dbe0fh->id: 116 130 607goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x25a92d60 fh1 0x226194c0fh->id: 118 130 607goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x25a92d60 fh1 0x2a5d2ba0fh->id: 119 130 607goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x25a92d60 fh1 0x278bc7c0fh->id: 122 130 607goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x25a92d60 fh1 0x2c2b4440fh->id: 127 130 607goodE: 37 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x25a92d60 fh1 0x2b3be6e0fh->id: 128 130 607goodE: 30 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x25a92d60 fh1 0xb106540fh->id: 129 130 607goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew130 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 91 out of 93 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 93 newEdgePixels: 93 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 745 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 134 lastEnergy: 183.008 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 46 INF|LocalMapper.cpp[optimize,276]: Start Energy: 183.008 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.05155e-13 3.44562e-13 -2.84596e-13 -6.94802e-13 -0.000509299 -0.0090485 0.00682555 -0.00298595 0.00534041 0.000541368 -0.0323869 0.0178331 -0.050585 0.0029154 0.00579703 0.00253315 -0.0239544 0.000640033 0.0207283 -0.000456724 0.00808374 0.00291693 -0.0262644 -0.0354218 -0.010139 -0.00414083 0.00548219 0.00197683 0.0173561 -0.0223518 0.000884815 -0.00396411 0.00172342 0.000603977 -0.0193708 -0.00631351 -0.0150991 -0.00191625 0.00527847 -0.00191896 -0.00444559 -0.0172344 -0.0121056 -0.00271918 0.00403578 0.000127208 0.000902561 -0.0351278 -0.0019674 -0.00520947 0.00373727 0.00155414 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 745 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 174.983 0 0 newEnergyL 0 lastEnergy: 183.008 0 0 lastEnergyL: 0mActiveResiduals: 745 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.5676e-13 -1.16681e-12 -1.24544e-12 3.13114e-13 0.000917251 0.00950989 0.00966141 0.00135633 0.00066402 0.000980892 0.0167683 -0.0136404 0.0356097 -0.00296664 -1.92882e-05 -0.00112729 0.0245001 -0.00644414 -0.00427517 -0.0025561 -0.00401642 -0.00471348 0.0280505 0.00295262 0.0171543 -0.00162532 -0.00265511 -0.00387239 0.00571664 0.0217781 0.0158569 0.00108997 -0.00114834 -0.00675388 0.0148932 -0.0108909 0.0245023 -0.00227269 -0.00162836 -0.00361945 0.0119007 -0.00319423 0.0281809 -0.00149793 -0.00141691 -0.00483358 0.00241413 0.016684 0.0194527 0.00170582 -0.00057217 -0.00604188 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 745 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 172.775 0 0 newEnergyL 0 lastEnergy: 174.983 0 0 lastEnergyL: 0mActiveResiduals: 745 Input.cpp[readImages,206]: Got image from sensor!608 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -3.89493e-13 1.17957e-12 1.12486e-12 3.39592e-13 0.0117368 -0.000952101 0.0144275 -0.00319755 -0.00109904 -0.00108849 -0.0141646 0.00429782 -0.0178662 -0.00044503 -0.000115848 0.000344341 -0.0124564 0.000106366 0.00138706 -2.86738e-05 0.00127291 0.00271429 -0.00245654 -0.00104982 -0.00320176 -0.00113688 -0.000982461 0.000673851 0.0150207 -0.0167636 0.00236103 -0.00300823 -0.00258184 0.00240216 -0.000930474 0.0215498 -0.00332399 0.00159229 -0.00112112 -0.000876745 0.0085034 0.00536553 0.00362432 -6.44588e-05 -0.00184415 0.00129877 -0.00817453 -0.0122178 0.00600183 -0.0026418 4.52836e-05 0.00101291 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 745 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 170.074 0 0 newEnergyL 0 lastEnergy: 172.775 0 0 lastEnergyL: 0mActiveResiduals: 745 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.40967e-12 -1.08687e-12 6.39539e-13 -1.91688e-12 -0.0197154 0.000927911 -0.0164529 0.00206341 0.00356727 0.00116421 0.0147144 -0.00627402 0.020683 0.000127197 0.00271234 0.000696699 -0.000399916 0.00385192 -0.015362 0.000530608 0.000537381 -0.00274268 0.00400321 -0.00725937 0.00459093 -0.000920577 0.00192827 -0.000785166 -0.00604466 0.0209431 -0.00467622 0.00257672 0.00238983 -0.00357396 0.00813676 -0.0114068 0.00374425 -0.00141061 0.00122351 -0.000848364 -0.00606825 -0.00800463 0.00817249 -0.00148453 0.00290936 -0.00231631 0.00248894 0.00694501 0.000871207 0.00140695 0.00189844 -0.0010754 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 745 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 169.561 0 0 newEnergyL 0 lastEnergy: 170.074 0 0 lastEnergyL: 0mActiveResiduals: 745 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.15299e-12 2.3143e-13 -1.0681e-12 2.5983e-13 0.0163803 -0.0060935 0.0103948 -0.00288576 -0.00389378 0.00183398 -0.00777851 0.00427752 -0.014638 -0.00173455 -0.00361955 0.00125105 -0.0138479 -0.00241423 0.0142333 -0.00151299 0.000732635 0.00333074 0.00477342 0.0163372 -0.00692026 0.000765492 -0.00329265 0.00147756 0.00741723 -0.0122236 0.00015119 -0.00321092 -0.00338607 0.00329153 -0.00454537 0.00830767 -0.00322938 -0.000614659 -0.0021204 0.00156736 0.00302394 0.00064602 -0.00263378 -0.000923414 -0.0026843 0.00297092 -0.00389427 -0.00890341 0.0004934 -0.00280821 -0.00212022 0.00208983 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 745 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 168.169 0 0 newEnergyL 0 lastEnergy: 169.561 0 0 lastEnergyL: 0mActiveResiduals: 745 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.72391e-12 -9.24771e-14 2.17393e-12 -9.92452e-13 -0.0174393 0.0157916 -0.0320087 0.0052892 0.00225734 -0.00328249 0.00867034 -0.0145613 0.0259883 0.00196237 0.00351044 -0.00113612 0.0140988 -0.00205067 -0.0195857 0.00306022 -0.00198405 -0.00378442 -0.00556669 -0.0139425 0.0057135 0.00107199 0.00263858 -0.00166649 -0.00890409 0.00124445 0.00685878 0.00385591 0.00362362 -0.000984621 0.00768009 -0.00790536 0.00328439 0.00269669 0.00130985 0.000368362 -0.00396975 0.00908983 0.00470385 0.00375484 0.0020786 -0.0019306 -0.00313587 0.0111981 0.00592492 0.00435918 0.00232543 -0.00121863 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 745 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 172.946 0 0 newEnergyL 0 lastEnergy: 168.169 0 0 lastEnergyL: 0mActiveResiduals: 745 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 172.946 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 745 INF|LocalMapper.cpp[optimize,345]: End Energy: 172.946 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.48574 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.48574 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 609 INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 127 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 127 with idx: 4 and allID: 596 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->127 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 127->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->127 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->127 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 122<->127 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 127<->127 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 128<->127 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 127->128 INF|LocalMapper.cpp[marginalizeFrame,772]: 129<->127 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 130<->127 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 127 with: 2 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 127 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 8140 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x25a92d60 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 130 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 84 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 76 with distance 0.242Found rest min at: 83 with distance 0.266 overall min: 0.242 time: 0 INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 130 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 84 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 740 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 130 into DB 0.242 76 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 76 and real id(109) current kf: 130(607) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.764966 0.0575066 0.641498 -0.490913 0.105569 0.971341 -0.212962 -0.23903 -0.63536 0.230631 0.736972 -0.380523 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 109 currFrame: 130 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.764966 0.0575066 0.641498 -0.490913 0.105569 0.971341 -0.212962 -0.23903 -0.63536 0.230631 0.736972 -0.380523 avg 1.43444 eye: 0.00151738 edge: 130 to 109 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 1 < 2961 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 130 and 109 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 130 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 130 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1052 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 608 keyframes 131 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 549 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.500010 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!609 INF|Input.cpp[getImages,132]: mNbReceivedImages!610 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999907 0.0043185 -0.0129085 0.0128373 -0.00455971 0.999814 -0.018716 0.00030887 0.0128253 0.0187731 0.999742 -0.00707124 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 130 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.500010) and 607(1311875593.468631) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999907 0.0043185 -0.0129085 0.0128373 -0.00455971 0.999814 -0.018716 0.00030887 0.0128253 0.0187731 0.999742 -0.00707124 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999979 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1622/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 130 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.500010) and 607(1311875593.468631) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999934 0.00700145 -0.00914621 -0.0183735 -0.00720929 0.999712 -0.022892 0.0391536 0.0089833 0.0229564 0.999696 -0.0225831 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999661 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1665/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 130 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.500010) and 607(1311875593.468631) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999974 -0.000670576 -0.00715815 -0.0145681 0.000620532 0.999975 -0.00699118 -0.0135623 0.00716267 0.00698655 0.99995 -0.0132079 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1258/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.571968 resInfo good: 2962, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5076/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999988 0.000170803 -0.00486863 -0.0183109 -0.000211348 0.999965 -0.00832842 -0.00556141 0.00486704 0.00832935 0.999953 -0.010636 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!608 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!609 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 610 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!610 INF|Input.cpp[getImages,132]: mNbReceivedImages!611 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.532064 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999953 0.000301045 -0.0097384 -0.0365708 -0.00046322 0.999861 -0.0166551 -0.0110302 0.00973203 0.0166589 0.999814 -0.0214069 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 130 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.532064) and 607(1311875593.468631) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999953 0.000301045 -0.0097384 -0.0365708 -0.00046322 0.999861 -0.0166551 -0.0110302 0.00973203 0.0166589 0.999814 -0.0214069 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999396 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1528/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 130 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.532064) and 607(1311875593.468631) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999444 -0.00248499 -0.0332487 0.0402676 0.00155576 0.999608 -0.0279447 0.0384052 0.0333051 0.0278775 0.999056 -0.0237038 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999672 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1511/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 130 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.532064) and 607(1311875593.468631) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999852 -0.00127746 -0.0171607 -0.0108792 0.000925006 0.999789 -0.0205307 0.0195905 0.0171833 0.0205118 0.999642 -0.0160001 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999925 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:986/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.693645 resInfo good: 2962, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4636/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99979 -0.00267723 -0.0203317 0.00433826 0.00237575 0.999887 -0.0148375 0.00480362 0.0203692 0.0147861 0.999683 -0.0154163 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!609 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 469 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!610 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 611 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.568120 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!611 INF|Input.cpp[getImages,132]: mNbReceivedImages!612 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999344 -0.00562469 -0.035771 0.0270305 0.00486156 0.999759 -0.0213851 0.0152588 0.0358827 0.0211972 0.999131 -0.0197779 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 130 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.568120) and 607(1311875593.468631) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999344 -0.00562469 -0.035771 0.0270305 0.00486156 0.999759 -0.0213851 0.0152588 0.0358827 0.0211972 0.999131 -0.0197779 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999905 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1212/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 130 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.568120) and 607(1311875593.468631) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997537 -0.00358489 -0.0700475 0.131262 0.000506935 0.999035 -0.0439094 0.0602698 0.0701374 0.0437657 0.996577 -0.0358888 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999385 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1157/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 130 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.568120) and 607(1311875593.468631) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999414 -0.00300119 -0.0340868 0.00957027 0.0019002 0.999477 -0.0322863 0.0226988 0.0341659 0.0322026 0.998897 -0.0165806 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999405 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:575/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.873484 resInfo good: 2962, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3574/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999454 -0.00363169 -0.0328343 0.00663043 0.00280582 0.999679 -0.0251638 0.00213014 0.0329152 0.0250579 0.999144 -0.0185721 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!610 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!611 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 612 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.600188 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!612 INF|Input.cpp[getImages,132]: mNbReceivedImages!613 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998961 -0.00471452 -0.0453212 0.00896398 0.00310621 0.999365 -0.035492 -0.000509168 0.0454597 0.0353143 0.998342 -0.0217264 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 130 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.600188) and 607(1311875593.468631) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998961 -0.00471452 -0.0453212 0.00896398 0.00310621 0.999365 -0.035492 -0.000509168 0.0454597 0.0353143 0.998342 -0.0217264 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999911 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:872/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 130 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.600188) and 607(1311875593.468631) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998919 -0.00238393 -0.0464238 0.00624122 0.000832619 0.999441 -0.033407 0.0015519 0.0464776 0.0333322 0.998363 -0.02745 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999956 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1827/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 130 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.600188) and 607(1311875593.468631) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998949 -0.00199431 -0.0458018 0.00838752 0.000526981 0.999487 -0.0320263 0.00297515 0.0458422 0.0319685 0.998437 -0.0288636 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999867 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:625/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.03147 resInfo good: 2962, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4020/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998935 -0.0020692 -0.0460943 0.0133739 0.000576102 0.999475 -0.0323819 0.00711379 0.0461372 0.0323209 0.998412 -0.026398 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875593.600188 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875593.600188 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875593.600188 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 913 size: 4086 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875593.600188 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -6.89868 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -7.6661 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -10.1726 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 580 keyframeId: 122 score: -10.5404 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 599 keyframeId: 128 score: -13.03 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 603 keyframeId: 129 score: -11.4723 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 131 = 131 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x19bbeea0 fh1 0x1ec6dbe0fh->id: 116 131 611goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x19bbeea0 fh1 0x226194c0fh->id: 118 131 611goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x19bbeea0 fh1 0x2a5d2ba0fh->id: 119 131 611goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x19bbeea0 fh1 0x278bc7c0fh->id: 122 131 611goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x19bbeea0 fh1 0x2b3be6e0fh->id: 128 131 611goodE: 35 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x19bbeea0 fh1 0xb106540fh->id: 129 131 611goodE: 34 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x19bbeea0 fh1 0x25a92d60fh->id: 130 131 611goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew131 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 122 out of 123 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 123 newEdgePixels: 123 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 822 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 121 lastEnergy: 242.035 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 39 INF|LocalMapper.cpp[optimize,276]: Start Energy: 242.035 0 0 lastEnergyL: 0 Input.cpp[readImages,206]: Got image from sensor!612 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 4.31018e-14 -2.32577e-12 -2.4836e-12 -1.81333e-12 0.0093557 -0.0107165 0.022018 -0.00121502 -0.000580366 0.00201399 -0.0115595 -0.0020951 -0.0427457 -0.000510884 -0.00322691 -0.00205822 -0.0321993 0.0120306 -0.0304407 0.00157056 0.00190286 0.000605787 -0.0257461 0.0173616 -0.0264668 0.00294285 0.000983687 0.000312507 0.00499512 0.0110885 -0.029402 0.000343551 -0.0023543 -0.00467021 0.00567866 0.0123938 -0.0367434 0.00165778 -0.0020136 -0.00373333 0.00680806 0.00586117 -0.0429281 0.000761829 -0.0023198 -0.00402816 0.0067034 0.016048 -0.043991 0.0019251 -0.00214219 -0.00589397 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 822 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 228.449 0 0 newEnergyL 0 lastEnergy: 242.035 0 0 lastEnergyL: 0mActiveResiduals: 822 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -5.28294e-14 5.56809e-13 -9.69802e-13 1.8659e-12 -0.000685623 -0.00200816 -0.0144011 -0.000145229 -0.000926647 -0.000663489 0.0141487 0.0020899 0.0452551 -0.000651397 0.00151743 0.00151952 0.0271628 -0.027645 0.0588315 -0.00401904 -0.000934886 0.000845944 0.0397866 -0.0228604 0.0531467 -0.00423127 -0.00243553 0.00126067 0.0103859 0.00535825 0.0554577 -0.000286154 -0.0011525 -0.000499202 0.00653344 -0.00905176 0.0597885 -0.00202626 -0.000674853 0.000674031 -0.00731984 -0.013006 0.0607057 -0.00183051 0.000998899 0.000910996 -0.0106798 -0.00645538 0.0619103 -0.00117205 0.000952158 -0.000394799 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 822 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 222.94 0 0 newEnergyL 0 lastEnergy: 228.449 0 0 lastEnergyL: 0mActiveResiduals: 822 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -2.45401e-13 3.65855e-13 2.06658e-12 -8.03602e-13 -0.00671419 -0.0109201 0.000726367 -0.00285219 -0.000671365 0.00400883 0.0169663 -0.00456816 0.00755958 -0.00416025 -0.0043065 0.0012388 0.00142644 0.00741151 0.00914601 -0.00157746 0.000219737 0.00314807 -0.0114691 0.0204157 0.00745278 -0.000419014 0.000800147 0.000111144 0.00227325 -0.0100876 -0.00141417 -0.00433289 -0.001477 0.0013234 0.00489673 0.00118583 -0.00359943 -0.00265305 -0.00187089 0.000456724 0.00120755 -0.00724686 -0.0114669 -0.00373769 -0.00160348 0.000430959 0.00186134 0.00583347 -0.00885865 -0.00233428 -0.00154571 -0.00072139 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 822 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 219.758 0 0 newEnergyL 0 lastEnergy: 222.94 0 0 lastEnergyL: 0mActiveResiduals: 822 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -9.34276e-13 -1.13339e-13 -5.324e-13 1.8266e-12 -0.00769594 -0.0013436 -0.0282346 0.00255004 0.000313723 -0.00234746 0.0118968 -2.01935e-05 0.0238191 0.0017299 0.00148317 -0.00134176 0.00547476 0.00794654 -0.0116732 0.00292349 -0.00141334 -0.00263972 0.0128473 -0.0217741 -0.00381066 8.14864e-05 -0.00101527 0.00114615 -0.00238785 0.00196406 -0.00301545 0.00286641 0.000943542 4.17696e-05 -0.00363111 0.00531359 0.00162726 0.00286897 0.00113862 7.81902e-05 -0.0154445 0.00259611 0.00380867 0.00272725 0.00272144 0.000151531 -0.0089344 0.00165877 0.00931554 0.00237156 0.00208422 0.000579913 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 822 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 216.218 0 0 newEnergyL 0 lastEnergy: 219.758 0 0 lastEnergyL: 0mActiveResiduals: 822 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.76837e-12 -4.08518e-14 2.8569e-12 -2.76927e-12 0.0154973 -0.000506803 0.0428305 -0.00209335 -0.00140868 0.00142696 -0.0116165 0.0145191 -0.0437241 8.54844e-05 -0.00382311 -0.00261009 0.00324017 -0.0028345 0.0113098 -0.00120866 -0.000760017 0.00157582 -0.00478369 0.0094627 0.0020326 -0.000182979 -0.000908625 -0.00106424 0.0058149 -0.00257095 -0.000654916 -0.00145085 -0.00247564 -0.0010267 2.92832e-05 -0.00943519 -0.00160443 -0.00195917 -0.00150036 -0.00103645 0.000821565 -0.00559056 -0.00589518 -0.00176999 -0.00185824 -0.00206795 -0.00134856 -0.00159869 -0.00664019 -0.000943594 -0.0014687 -0.00204492 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 822 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 211.021 0 0 newEnergyL 0 lastEnergy: 216.218 0 0 lastEnergyL: 0mActiveResiduals: 822 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 613 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.39847e-12 1.49044e-13 -1.35503e-12 2.4604e-12 -0.0124484 0.00848871 -0.0418521 0.00317516 -0.000774012 -0.00317749 0.00902742 -0.0133036 0.0240215 0.00189534 0.00182691 0.00234072 -0.0162748 -0.00709107 -0.0254441 0.0010126 -0.000140537 -0.00294458 0.0155427 -0.00870691 -0.00645995 0.00102769 -0.00228968 0.000379427 -0.00350062 0.000775784 0.00742854 0.00234822 0.00101397 0.0018249 0.00122835 0.00626228 0.0112496 0.00257065 0.000199527 0.00193055 -0.00903473 0.00467275 0.0133925 0.00250638 0.0013569 0.002023 -0.00665929 0.0045387 0.0171251 0.00242939 0.00110424 0.002572 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 822 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 213.875 0 0 newEnergyL 0 lastEnergy: 211.021 0 0 lastEnergyL: 0mActiveResiduals: 822 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 213.875 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 822 INF|LocalMapper.cpp[optimize,345]: End Energy: 213.875 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.513218 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.513218 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 128 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 128 with idx: 4 and allID: 599 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->128 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 128->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->128 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->128 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 122<->128 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 128<->128 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 129<->128 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 130<->128 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 128->130 INF|LocalMapper.cpp[marginalizeFrame,772]: 131<->128 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 128 with: 2 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 128 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 7763 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x19bbeea0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 131 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 86 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 10 with distance 0.222Found rest min at: 84 with distance 0.152 overall min: 0.152 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 10 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 704 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 131 into DB 0.222 10 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 10 and real id(25) current kf: 131(611) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.023817 0.0436324 -0.998764 -1.26213 -0.0667345 0.996888 0.0419591 1.17122 0.997486 0.0656527 0.0266547 -2.046 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 25 currFrame: 131 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.001687 edge: 131 to 25 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 0 < 4086 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 131 and 25 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 131 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 131 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1060 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 612 keyframes 132 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 523 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.633755 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!613 INF|Input.cpp[getImages,132]: mNbReceivedImages!614 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999917 -0.00134784 -0.0128204 0.00416532 0.00129875 0.999992 -0.0038365 -0.0117543 0.0128255 0.00381953 0.99991 -0.0142877 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 131 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.633755) and 611(1311875593.600188) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999917 -0.00134784 -0.0128204 0.00416532 0.00129875 0.999992 -0.0038365 -0.0117543 0.0128255 0.00381953 0.99991 -0.0142877 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999483 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:852/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 131 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.633755) and 611(1311875593.600188) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999971 0.00156188 -0.00741001 -0.021541 -0.00171042 0.999797 -0.0200825 0.0285852 0.00737714 0.0200946 0.999771 0.00416735 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999235 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1470/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 131 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.633755) and 611(1311875593.600188) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999957 -0.00158437 -0.00915458 -0.00315315 0.0015102 0.999966 -0.0081028 -0.00273404 0.00916711 0.00808863 0.999925 0.00257693 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999976 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1522/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.532049 resInfo good: 4086, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4669/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999935 -0.00122724 -0.011323 0.00668913 0.00117226 0.999987 -0.00486076 -0.0084924 0.0113289 0.00484718 0.999924 -0.000295616 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!612 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!613 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 614 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.668191 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999416 -0.00384588 -0.0339447 0.020107 0.00335113 0.999888 -0.0146201 -0.0254492 0.0339971 0.0144978 0.999317 -0.000782737 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 131 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.668191) and 611(1311875593.600188) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999416 -0.00384588 -0.0339447 0.020107 0.00335113 0.999888 -0.0146201 -0.0254492 0.0339971 0.0144978 0.999317 -0.000782737 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!614 INF|Input.cpp[getImages,132]: mNbReceivedImages!615 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.99936 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1921/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 131 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.668191) and 611(1311875593.600188) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999846 -0.00257441 -0.0173549 -0.0223041 0.00232929 0.999897 -0.0141291 -0.0331227 0.0173895 0.0140865 0.99975 0.00381531 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999253 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:521/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 131 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.668191) and 611(1311875593.600188) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999736 -0.00375573 -0.0226533 -0.00147661 0.00340829 0.999876 -0.0153565 -0.0172761 0.0227082 0.0152752 0.999625 0.00173891 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999994 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1747/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.774604 resInfo good: 4083, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5043/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999694 -0.00178763 -0.0246654 0.0118845 0.00138492 0.999866 -0.0163343 -0.00979949 0.0246913 0.0162952 0.999562 -0.00188492 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!613 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!614 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 615 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.701715 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!615 INF|Input.cpp[getImages,132]: mNbReceivedImages!616 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999275 -0.00250072 -0.0379961 0.0171012 0.00144421 0.999612 -0.0278076 -0.0110865 0.0380509 0.0277325 0.998891 -0.0034196 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 131 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.701715) and 611(1311875593.600188) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999275 -0.00250072 -0.0379961 0.0171012 0.00144421 0.999612 -0.0278076 -0.0110865 0.0380509 0.0277325 0.998891 -0.0034196 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999739 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2446/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 131 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.701715) and 611(1311875593.600188) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999203 -0.000648976 -0.0399158 0.00661358 -0.000506294 0.999581 -0.0289257 -0.0129789 0.0399179 0.0289229 0.998784 -0.013348 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.9999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1894/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 131 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.701715) and 611(1311875593.600188) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999268 -0.000389705 -0.0382598 0.0102455 -0.000743923 0.999561 -0.029611 -0.00100647 0.0382545 0.0296178 0.998829 -0.00766244 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999995 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1834/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.959502 resInfo good: 4086, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7090/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999203 -0.00131645 -0.0398863 0.0187775 0.000296538 0.999673 -0.0255656 -0.00988893 0.0399069 0.0255334 0.998877 -0.0082766 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!614 Input.cpp[readImages,206]: Got image from sensor!615 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 468 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 616 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.733926 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!616 INF|Input.cpp[getImages,132]: mNbReceivedImages!617 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99848 -0.000986051 -0.0551016 0.025767 -0.000932233 0.999395 -0.034777 -0.00992513 0.0551025 0.0347756 0.997875 -0.0145632 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 131 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.733926) and 611(1311875593.600188) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99848 -0.000986051 -0.0551016 0.025767 -0.000932233 0.999395 -0.034777 -0.00992513 0.0551025 0.0347756 0.997875 -0.0145632 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999998 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:854/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 131 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.733926) and 611(1311875593.600188) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99848 -0.000986145 -0.0551016 0.0257667 -0.000932145 0.999395 -0.0347771 -0.00992533 0.0551026 0.0347756 0.997875 -0.0145617 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999917 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2127/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 131 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.733926) and 611(1311875593.600188) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998669 -0.000448993 -0.0515707 0.0204809 -0.00149012 0.999293 -0.0375564 0.00896738 0.0515511 0.0375833 0.997963 -0.00870285 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999893 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:611/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.0768 resInfo good: 4086, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4467/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998638 -0.000729835 -0.0521767 0.0259758 -0.000941816 0.999487 -0.0320065 -0.0058158 0.0521733 0.032012 0.998125 -0.0100613 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875593.733926 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875593.733926 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875593.733926 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 909 size: 4401 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875593.733926 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -6.96283 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -7.65757 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -10.191 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 580 keyframeId: 122 score: -10.5652 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 603 keyframeId: 129 score: -11.6618 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 607 keyframeId: 130 score: -10.7008 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 132 = 132 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x26216460 fh1 0x1ec6dbe0fh->id: 116 132 615goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x26216460 fh1 0x226194c0fh->id: 118 132 615goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x26216460 fh1 0x2a5d2ba0fh->id: 119 132 615goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x26216460 fh1 0x278bc7c0fh->id: 122 132 615goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x26216460 fh1 0xb106540fh->id: 129 132 615goodE: 41 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x26216460 fh1 0x25a92d60fh->id: 130 132 615goodE: 43 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x26216460 fh1 0x19bbeea0fh->id: 131 132 615goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew132 Input.cpp[readImages,206]: Got image from sensor!616 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 149 out of 150 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 150 newEdgePixels: 150 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 947 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 169 lastEnergy: 285.51 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 55 INF|LocalMapper.cpp[optimize,276]: Start Energy: 285.51 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 9.25102e-13 -5.62197e-13 -3.66909e-13 -3.10555e-12 0.00883115 -0.0020266 0.035199 -0.00144666 0.00336227 0.000510536 -0.0226653 0.0201004 -0.0300492 0.00192614 0.002586 -0.00143669 -0.00462513 0.0231081 -0.00949093 0.00203913 0.00230677 0.00028381 -0.0078752 0.0315441 -0.0110198 0.00207772 0.00237746 -0.0042362 0.010084 0.0197012 -0.0149942 0.00129544 0.000469125 -0.00564285 0.0300832 0.0273985 -0.0167463 0.00200749 -0.00202846 -0.00588198 0.0196453 0.0215547 -0.0187123 0.00176088 -0.00030015 -0.00545089 0.0284026 0.0293955 -0.0205371 0.00344926 -0.00158301 -0.00606025 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 947 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 272.535 0 0 newEnergyL 0 lastEnergy: 285.51 0 0 lastEnergyL: 0mActiveResiduals: 947 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.35049e-13 -1.3555e-12 6.50664e-13 -3.27937e-14 0.00198059 0.00526585 -0.00990186 0.00073233 -0.000786913 -0.000180922 0.0204688 -0.00613192 0.070089 -0.00221798 0.00173907 0.0011819 -0.00185664 0.00736799 0.0126587 -0.000307783 0.000234621 -0.00161799 0.0336432 -0.0278727 0.0510197 -0.00329328 -0.0013266 0.00513002 0.00654908 -0.00396707 0.0635606 -0.00155133 -0.000314533 0.0027113 0.0134696 0.0029221 0.072405 -0.000739846 -0.00137437 0.00226228 0.0016716 -0.00539508 0.0684081 -0.00148286 -0.000502662 0.00216706 0.00026628 -0.00803407 0.0671905 -0.00151668 -0.000907954 0.00192464 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 947 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 267.291 0 0 newEnergyL 0 lastEnergy: 272.535 0 0 lastEnergyL: 0mActiveResiduals: 947 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.77639e-13 1.65476e-12 3.26509e-12 8.62358e-15 0.00307874 -0.00737719 0.0228328 -0.00166916 -0.000297573 0.00167825 0.00166226 0.000115222 -0.0151294 -0.00168298 -0.00310855 -0.000905918 0.00881842 -0.0204685 0.028539 -0.00290142 0.000245825 0.00327204 -0.00219919 0.0155918 0.00549012 0.000563094 6.74812e-05 -0.000669637 -0.00770861 0.00465914 -0.0116439 -0.000156492 -5.822e-05 -0.00107327 0.0065359 0.00347879 -0.00876713 -0.000622487 -0.00156663 -0.000939452 0.00476394 0.00399864 -0.0118917 -0.000468129 -0.00136169 -0.00140645 0.00198349 0.0037582 -0.00991123 -0.000388913 -0.000608492 -0.00127184 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 947 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 617 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 260.117 0 0 newEnergyL 0 lastEnergy: 267.291 0 0 lastEnergyL: 0mActiveResiduals: 947 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.09162e-12 -1.38257e-12 -5.81404e-12 1.46773e-12 -0.0161259 0.00562112 -0.0331151 0.00482821 0.00187083 -0.00418738 0.0112124 0.0033536 0.0214232 0.00362938 0.00173468 -0.00390955 0.00513112 0.00237596 -0.0197653 0.00391481 -0.00131617 -0.00425223 0.00727932 -0.0158269 -0.00977721 0.00209674 -0.000565472 -0.00124968 -0.00857143 -0.00541201 0.00267848 0.0034998 0.00257502 -0.000383929 -0.000779912 0.00135846 0.00977341 0.00435124 0.00162962 -0.000239167 -0.00931815 0.0040538 0.0128813 0.00454097 0.00272659 -0.000803465 -0.00629046 -0.00153658 0.0109446 0.00381599 0.00202295 -0.000392414 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 947 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 258.31 0 0 newEnergyL 0 lastEnergy: 260.117 0 0 lastEnergyL: 0mActiveResiduals: 947 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -7.24595e-15 2.00088e-12 2.89917e-12 -1.92445e-12 0.0135618 -0.0182688 0.0287239 -0.00737451 -0.00278687 0.0075032 0.00250225 -0.000591182 -0.0149132 -0.00551904 -0.00402141 0.00580973 -0.0129713 0.00704445 0.0250415 -0.00406528 0.00174729 0.00559116 0.0016595 0.0258824 0.00058518 -0.00240038 -0.00205274 0.0018467 -0.00147987 -0.00567819 -0.00671889 -0.00653725 -0.00252465 0.00181549 0.00206165 -0.00203642 -0.00807759 -0.00641588 -0.00279309 0.000943461 0.00924161 0.000981236 -0.0137135 -0.00598369 -0.00398893 0.000467953 0.00424033 -0.00280405 -0.0113212 -0.00640975 -0.00288417 0.00046043 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 947 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 253.985 0 0 newEnergyL 0 lastEnergy: 258.31 0 0 lastEnergyL: 0mActiveResiduals: 947 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 4.11949e-13 -3.21168e-13 3.63149e-13 2.27872e-12 -0.0245261 0.0191902 -0.0576692 0.0103663 0.00130469 -0.00669875 0.00910193 -0.0121635 0.0379273 0.00610019 0.00278801 -0.00341893 -0.00159081 -0.0230848 -0.0221059 0.00514554 -0.000257189 -0.00172113 0.00395058 -0.0189036 0.00590941 0.00509058 0.00155316 -0.000441269 -0.000501863 0.00585397 0.00611062 0.00789336 0.00197256 -0.000979178 0.00492314 0.00812367 0.00970293 0.00832754 0.00108927 -0.000283754 -0.0107898 0.0119745 0.0145488 0.0088032 0.00334943 -0.000584394 -0.00194318 0.00506377 0.0109275 0.00783729 0.00169621 6.14709e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 947 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 250.115 0 0 newEnergyL 0 lastEnergy: 253.985 0 0 lastEnergyL: 0mActiveResiduals: 947 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 250.115 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 947 INF|LocalMapper.cpp[optimize,345]: End Energy: 250.115 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.517483 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.517483 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 129 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 129 with idx: 4 and allID: 603 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->129 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->129 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->129 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 122<->129 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 129<->129 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 130<->129 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 131<->129 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 132<->129 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 129 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 603: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 128/599: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 128 allId: 599 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.998357 0.0191527 0.0540055 -0.0330588 -0.0200311 0.999675 0.0157717 0.0224369 -0.0536859 -0.0168276 0.998416 0.0483071 worldPose: 0.900997 0.0629332 -0.429236 -2.06642 -0.277355 0.844365 -0.458391 2.00493 0.333584 0.53206 0.778225 1.66165 after: 0.900997 0.0629332 -0.429236 -2.06642 -0.277355 0.844365 -0.458391 2.00493 0.333584 0.53206 0.778225 1.66165 worldPose of new: 0.877541 0.038095 -0.477986 -2.01518 -0.285483 0.842417 -0.456983 1.99866 0.385254 0.537479 0.750131 1.62609 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.998357 0.0191527 0.0540055 -0.0330588 -0.0200311 0.999675 0.0157717 0.0224369 -0.0536859 -0.0168276 0.998416 0.0483071 INF|Mapper.cpp[changeRefFrame,578]: Updating: 604 from old kf id: 129/603 with new ref frame: 599/128 INF|Mapper.cpp[changeRefFrame,578]: Updating: 605 from old kf id: 129/603 with new ref frame: 599/128 INF|Mapper.cpp[changeRefFrame,578]: Updating: 606 from old kf id: 129/603 with new ref frame: 599/128 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 603 after changeRefFrame: 0.998357 0.0191527 0.0540055 -0.0330588 -0.0200311 0.999675 0.0157717 0.0224369 -0.0536859 -0.0168276 0.998416 0.0483071 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 129 to normal frame with refFrame: 128 frame id kf: 603 newref id: 599 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 129 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 9132 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x26216460 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 132 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 87 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 11 with distance 0.222Found rest min at: 86 with distance 0.18 overall min: 0.18 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 11 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 710 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 132 into DB 0.222 11 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 11 and real id(26) current kf: 132(615) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.0510277 0.100298 -0.993648 -1.2434 -0.0302902 0.994642 0.0988429 1.1118 0.998238 0.025054 0.0537923 -2.13265 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 26 currFrame: 132 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!617 INF|Input.cpp[getImages,132]: mNbReceivedImages!618 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000977465 edge: 132 to 26 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 132 to 26 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 52(1311875574.149437) and 615(1311875593.733926) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 13,0.999983 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2465/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 132 to 26 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 52(1311875574.149437) and 615(1311875593.733926) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.883828 -0.358826 -0.300152 1.43232 0.409974 0.903138 0.127528 -0.789818 0.225318 -0.235767 0.945328 0.668678 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999196 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:311/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 132 to 26 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 52(1311875574.149437) and 615(1311875593.733926) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.880824 -0.364087 -0.302638 1.45185 0.415901 0.900475 0.127164 -0.792314 0.22622 -0.237876 0.944584 0.680845 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 0,0.99998 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:844/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.880823 -0.364091 -0.302636 1.45187 0.415905 0.900474 0.127165 -0.7923 0.226216 -0.237877 0.944585 0.680835 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 25 end 28 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 22653 o[1]: 417 o[2]: 32 o[3]: 3 histWeights: 1 1 1.25 1.5overlap: 461.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 4401 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 26 and 132 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 132 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 132 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 7012 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 616 keyframes 133 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 448 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.768301 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,206]: Got image from sensor!617 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99995 0.000875442 -0.00992234 6.50358e-05 -0.000946393 0.999974 -0.00714823 0.00890453 0.00991583 0.00715727 0.999925 0.00112709 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 132 to 13979605974197993472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.768301) and 615(1311875593.733926) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99995 0.000875442 -0.00992234 6.50358e-05 -0.000946393 0.999974 -0.00714823 0.00890453 0.00991583 0.00715727 0.999925 0.00112709 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999943 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1168/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 132 to 13979605974197993472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.768301) and 615(1311875593.733926) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999788 0.003591 -0.0202843 0.0195699 -0.00392781 0.999855 -0.016589 0.00909295 0.0202218 0.0166652 0.999657 -0.012597 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999891 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:820/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 132 to 13979605974197993472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.768301) and 615(1311875593.733926) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999961 -0.000176253 -0.00882973 -0.0055897 8.24499e-05 0.999944 -0.0106228 -0.00688602 0.00883111 0.0106217 0.999905 0.00548072 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 618 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999727 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1207/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.650392 resInfo good: 4401, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4064/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999887 -0.0026687 -0.0147907 0.014001 0.00258506 0.999981 -0.00567109 -0.0207642 0.0148056 0.00563222 0.999875 -0.000515775 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!616 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 467 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.802005 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!618 INF|Input.cpp[getImages,132]: mNbReceivedImages!619 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999548 -0.00542035 -0.0295628 0.0280634 0.00508581 0.999922 -0.0113796 -0.0414888 0.0296222 0.0112241 0.999498 -0.000941142 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 132 to 14029890927313551616 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.802005) and 615(1311875593.733926) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999548 -0.00542035 -0.0295628 0.0280634 0.00508581 0.999922 -0.0113796 -0.0414888 0.0296222 0.0112241 0.999498 -0.000941142 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999706 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1943/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 132 to 14029890927313551616 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.802005) and 615(1311875593.733926) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999591 0.00287176 -0.0284653 0.0101776 -0.00366698 0.999603 -0.027924 0.00919172 0.0283739 0.028017 0.999205 -0.00488726 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2216/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 132 to 14029890927313551616 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.802005) and 615(1311875593.733926) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99968 0.00169333 -0.0252229 0.00588136 -0.00219834 0.999797 -0.0200073 -0.0096317 0.0251839 0.0200563 0.999482 -0.00411375 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999982 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1764/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.818798 resInfo good: 4401, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6793/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99963 0.00101515 -0.0271948 0.0153809 -0.00149702 0.999842 -0.0177045 -0.0131955 0.0271725 0.0177387 0.999473 -0.00445809 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!617 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!618 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 619 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.834319 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!619 INF|Input.cpp[getImages,132]: mNbReceivedImages!620 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999204 0.00454823 -0.039638 0.016838 -0.00572731 0.999543 -0.0296837 -0.0055852 0.0394849 0.0298871 0.998773 -0.0082909 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 132 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.834319) and 615(1311875593.733926) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999204 0.00454823 -0.039638 0.016838 -0.00572731 0.999543 -0.0296837 -0.0055852 0.0394849 0.0298871 0.998773 -0.0082909 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 1): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1531/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 132 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.834319) and 615(1311875593.733926) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999217 0.00459789 -0.0393094 0.017956 -0.00577625 0.999536 -0.0299155 -0.00635213 0.0391536 0.0301191 0.998779 -0.0117869 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999174 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1883/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 132 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.834319) and 615(1311875593.733926) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999361 0.000880134 -0.0357318 0.0134043 -0.0019771 0.999527 -0.0306763 -0.000496694 0.0356879 0.0307273 0.99889 -0.00775088 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999215 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1096/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.943191 resInfo good: 4401, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5486/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999302 -0.000288459 -0.0373473 0.0219805 -0.00073815 0.999622 -0.0274714 -0.00837502 0.0373412 0.0274798 0.998925 -0.00742233 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!618 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!619 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 620 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!620 INF|Input.cpp[getImages,132]: mNbReceivedImages!621 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.870172 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998871 -0.00169091 -0.0474828 0.0286045 -7.87475e-05 0.999306 -0.0372429 -0.0035191 0.0475128 0.0372046 0.998178 -0.0102721 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 132 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.870172) and 615(1311875593.733926) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998871 -0.00169091 -0.0474828 0.0286045 -7.87475e-05 0.999306 -0.0372429 -0.0035191 0.0475128 0.0372046 0.998178 -0.0102721 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3161/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 132 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.870172) and 615(1311875593.733926) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998859 -7.51906e-05 -0.0477543 0.0250478 -0.00178703 0.999239 -0.038952 -0.00965778 0.0477209 0.0389928 0.998099 -0.0103894 Input.cpp[readImages,206]: Got image from sensor!620 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 11,0.999482 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3021/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 132 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.870172) and 615(1311875593.733926) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999028 -0.000764176 -0.0440771 0.0158752 -0.000777258 0.999389 -0.0349436 -0.0149287 0.0440769 0.0349439 0.998417 -0.00684922 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1460/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.07608 resInfo good: 4401, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8531/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998853 -0.000162247 -0.0478789 0.0346406 -0.00154253 0.999366 -0.035567 -0.00950772 0.0478543 0.0356001 0.99822 -0.00759342 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875593.870172 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875593.870172 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875593.870172 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 621 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1784 size: 4969 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875593.870172 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -7.11621 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -7.74472 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -9.98708 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 580 keyframeId: 122 score: -10.2509 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 607 keyframeId: 130 score: -12.3639 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 611 keyframeId: 131 score: -11.7614 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 133 = 133 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2b33a0 fh1 0x1ec6dbe0fh->id: 116 133 619goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2b33a0 fh1 0x226194c0fh->id: 118 133 619goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2b33a0 fh1 0x2a5d2ba0fh->id: 119 133 619goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2b33a0 fh1 0x278bc7c0fh->id: 122 133 619goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2b33a0 fh1 0x25a92d60fh->id: 130 133 619goodE: 55 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2b33a0 fh1 0x19bbeea0fh->id: 131 133 619goodE: 50 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2b33a0 fh1 0x26216460fh->id: 132 133 619goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew133 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 145 out of 145 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 145 newEdgePixels: 145 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1007 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 424 lastEnergy: 295.429 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 64 INF|LocalMapper.cpp[optimize,276]: Start Energy: 295.429 0 0 lastEnergyL: 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!621 INF|Input.cpp[getImages,132]: mNbReceivedImages!622 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 5.13446e-12 -2.0988e-12 -9.95317e-14 -4.8764e-12 0.0213966 -0.00463821 0.034632 -0.00638032 5.86231e-05 0.00221592 0.0174693 0.0166468 -0.00550527 -0.00354753 -0.00191969 -0.000105463 -0.0209674 0.0299895 -0.000642266 -0.00197523 0.00266318 -0.00127242 -0.00502122 0.0432987 0.0133518 -0.000786609 0.00130658 -0.00123215 -0.0194049 0.0254426 0.0332867 -0.00216803 0.00332633 -0.00151507 -0.00520537 0.0151654 0.0221133 -0.00330068 0.000401161 -0.000605271 -0.0127723 0.0141274 0.0278765 -0.00356453 0.00152812 -0.00107629 -0.00202985 0.0199939 0.030087 -0.00250748 0.000178267 -0.00327609 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1007 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 284.29 0 0 newEnergyL 0 lastEnergy: 295.429 0 0 lastEnergyL: 0mActiveResiduals: 1007 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.75322e-13 -1.17621e-12 2.07948e-12 -2.7738e-12 -0.00306345 -0.00027134 -0.00654538 -0.000242948 1.97137e-05 -0.0010757 0.0152823 -0.00952303 0.0451954 -0.00112724 0.00161985 0.00365731 -0.000353069 -0.00897584 -0.0212008 0.00148686 4.902e-05 0.00454148 0.0183574 -0.0395232 0.00354897 -0.00406655 -0.00166077 0.00194385 0.00720393 7.90019e-05 -0.00899988 0.000448041 -0.00117224 -0.00091019 0.000881594 -0.00869003 -0.00785774 -0.000860367 -0.000182941 -0.000808581 0.00112066 -0.00840473 -0.00762999 -0.000753712 -0.000187794 -0.000695685 -0.0115087 0.0215071 0.00118203 0.00333387 0.00188909 -0.00236676 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1007 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 283.412 0 0 newEnergyL 0 lastEnergy: 284.29 0 0 lastEnergyL: 0mActiveResiduals: 1007 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 2.52492e-13 6.24475e-13 7.11113e-13 1.2291e-12 0.00372331 0.00552068 0.020467 -0.00333699 -0.000580053 0.0047548 -0.016323 -0.0048479 -0.0291505 -0.00423141 -0.0015577 0.000900169 -0.0298868 -0.00552794 -0.0174636 -0.00415761 0.000857784 0.000831176 -0.00582858 0.0181051 -0.00434154 -0.00153798 -0.000941456 0.00097299 0.00321772 -0.00938573 0.0131702 -0.00544259 -0.00190678 0.00174407 0.00769568 0.0018418 0.0109497 -0.0039677 -0.00285516 0.000883121 0.00317525 -0.00280153 0.0123307 -0.0046614 -0.00226715 0.000959172 0.0160953 -0.00463009 0.0113104 -0.00515432 -0.0041649 -6.23763e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1007 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 276.631 0 0 newEnergyL 0 lastEnergy: 283.412 0 0 lastEnergyL: 0mActiveResiduals: 1007 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.33229e-12 6.63911e-13 -4.15517e-13 9.04672e-13 -0.00588286 -0.00399225 -0.0189542 0.0040756 0.00149964 -0.00355183 0.00866047 0.00803398 0.0213777 0.00432377 0.00236668 -0.00147363 0.000765904 -0.000353996 -0.00220203 0.00406411 0.00190257 0.000517892 0.0217769 -0.0215747 0.011604 0.000753191 -4.46182e-05 -0.000250584 0.000965947 0.00772047 -0.00584231 0.004973 0.00170231 -0.000791882 -0.00321746 0.00341171 -0.00439523 0.00421442 0.00246644 -0.000721016 -0.00443802 -0.00472005 -0.00462831 0.00337338 0.00278322 8.57338e-05 -0.012693 0.0125741 -0.00431135 0.00588271 0.00393359 -0.000178998 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1007 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 274.203 0 0 newEnergyL 0 lastEnergy: 276.631 0 0 lastEnergyL: 0mActiveResiduals: 1007 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.67437e-12 -5.43958e-13 1.41034e-12 -1.35981e-12 -8.27747e-05 0.00843533 0.0156211 -0.0024177 -0.000363411 0.00388874 -0.0137078 -0.00859899 -0.0312358 -0.00297279 -0.0014968 0.00228945 -0.0271348 -0.0172061 -0.0169254 -0.00386293 0.00046674 0.00157155 -0.00105678 0.0230205 -0.00486758 -0.000474477 -0.00174889 -0.000769434 0.00642808 -0.00699554 0.0124184 -0.00435561 -0.0024079 0.000412929 0.0041575 0.00035633 0.0111915 -0.00322543 -0.00241733 -8.9418e-05 0.00377333 0.00438549 0.0121959 -0.00284946 -0.00251128 -0.000559279 0.0054382 -0.00670361 0.0146298 -0.00447291 -0.00276562 -0.000633077 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1007 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 269.22 0 0 newEnergyL 0 lastEnergy: 274.203 0 0 lastEnergyL: 0mActiveResiduals: 1007 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.67957e-12 1.80055e-12 3.51209e-13 2.25456e-12 -0.00921046 -0.0110022 -0.0244832 0.00240176 0.00106951 -0.00441486 0.0266545 0.019862 0.0346214 0.00360403 0.000212135 -0.00409266 0.0158233 0.0259142 -0.00605377 0.00473722 -0.000629433 -0.00400766 0.0132708 -0.0191293 0.00948168 0.000182563 0.000394243 -0.00130399 -0.0105279 -0.000430967 -0.00578501 0.00361681 0.00321256 -0.000748055 -0.00881301 -0.00448777 -0.00724634 0.00301205 0.00313476 -0.000473073 -0.00660042 -0.0120582 -0.00915766 0.00223623 0.0029948 0.000184985 -0.00658972 0.00194719 -0.0110259 0.00428188 0.00316375 -4.93993e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1007 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 268.501 0 0 newEnergyL 0 lastEnergy: 269.22 0 0 lastEnergyL: 0mActiveResiduals: 1007 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 268.501 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1007 INF|LocalMapper.cpp[optimize,345]: End Energy: 268.501 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.519471 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.519471 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 130 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 130 with idx: 4 and allID: 607 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->130 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 130->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->130 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->130 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 122<->130 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 130<->130 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 131<->130 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 130->131 INF|LocalMapper.cpp[marginalizeFrame,772]: 132<->130 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 130->132 INF|LocalMapper.cpp[marginalizeFrame,801]: 130 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 130 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 9546 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2c2b33a0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 133 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 88 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 45 with distance 0.214Found rest min at: 87 with distance 0.16 overall min: 0.16 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 45 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 707 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 133 into DB 0.214 45 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 45 and real id(73) current kf: 133(619) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.932011 -0.0199149 -0.361884 -1.6552 0.0554884 0.994558 0.0881755 -0.0584313 0.358158 -0.102261 0.928044 -0.257474 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 73 currFrame: 133 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.932011 -0.0199149 -0.361884 -1.6552 0.0554884 0.994558 0.0881755 -0.0584313 0.358158 -0.102261 0.928044 -0.257474 avg 0.0012842 eye: 0.000702994 edge: 133 to 73 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 1940 < 3029 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 133 and 73 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 133 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 133 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1194 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 620 keyframes 134 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 523 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.901061 Input.cpp[readImages,206]: Got image from sensor!621 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999934 -0.00482797 -0.0103787 0.00977594 0.00482149 0.999988 -0.000649185 -0.0286221 0.0103817 0.000599102 0.999946 -0.00628364 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 133 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.901061) and 619(1311875593.870172) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999934 -0.00482797 -0.0103787 0.00977594 0.00482149 0.999988 -0.000649185 -0.0286221 0.0103817 0.000599102 0.999946 -0.00628364 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 622 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 3): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2871/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 133 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.901061) and 619(1311875593.870172) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999965 0.00102836 -0.00825071 0.00272481 -0.00106224 0.999991 -0.00410324 -0.0404684 0.00824642 0.00411186 0.999958 -0.00300458 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999976 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2681/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 133 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.901061) and 619(1311875593.870172) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999988 0.00185419 -0.00442824 -0.00422767 -0.00189477 0.999956 -0.00917812 -0.0159382 0.00441102 0.0091864 0.999948 0.000589426 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!622 INF|Input.cpp[getImages,132]: mNbReceivedImages!623 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999752 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1658/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.553275 resInfo good: 4969, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8134/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999971 0.00106861 -0.00749521 0.00765158 -0.0011469 0.999945 -0.0104494 -0.00847061 0.00748363 0.0104577 0.999917 -0.00492264 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!620 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.933145 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999885 0.00205874 -0.0150007 0.0153308 -0.00237191 0.999779 -0.0208889 -0.0168981 0.0149544 0.020922 0.999669 -0.0098762 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 133 to 93454336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.933145) and 619(1311875593.870172) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999885 0.00205874 -0.0150007 0.0153308 -0.00237191 0.999779 -0.0208889 -0.0168981 0.0149544 0.020922 0.999669 -0.0098762 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999421 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1149/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 133 to 93454336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.933145) and 619(1311875593.870172) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999894 0.000450401 -0.0145428 0.0157253 -0.00077005 0.999758 -0.0219817 -0.0202176 0.0145294 0.0219906 0.999653 -0.00923781 Input.cpp[readImages,206]: Got image from sensor!622 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999998 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3430/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 133 to 93454336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.933145) and 619(1311875593.870172) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999954 0.00251494 -0.00930945 0.00296117 -0.0027743 0.999605 -0.0279535 0.00909031 0.00923548 0.027978 0.999566 -0.00773575 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 623 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3259/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.697996 resInfo good: 4969, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8711/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999943 0.00131469 -0.010574 0.0096122 -0.00156667 0.999714 -0.0238571 -0.00204891 0.0105396 0.0238723 0.999659 -0.00908045 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!621 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 903 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875593.969180 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!623 INF|Input.cpp[getImages,132]: mNbReceivedImages!624 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999906 0.00151944 -0.0136557 0.0115874 -0.00202738 0.999304 -0.0372591 0.00442734 0.0135896 0.0372833 0.999212 -0.0131457 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 133 to 293315712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.969180) and 619(1311875593.870172) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999906 0.00151944 -0.0136557 0.0115874 -0.00202738 0.999304 -0.0372591 0.00442734 0.0135896 0.0372833 0.999212 -0.0131457 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999583 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1947/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 133 to 293315712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.969180) and 619(1311875593.870172) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999874 -0.00743216 -0.0140613 0.00808807 0.0069036 0.999281 -0.0372723 0.00181217 0.0143282 0.0371705 0.999206 -0.00945948 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999877 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2299/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 133 to 293315712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875593.969180) and 619(1311875593.870172) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999838 -0.00904237 -0.0155471 0.0184869 0.00858359 0.999533 -0.0293266 -0.0179547 0.0158051 0.0291884 0.999449 -0.0115795 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999769 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1586/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.805537 resInfo good: 4969, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6730/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999868 -0.00821984 -0.0140003 0.0157985 0.00777046 0.999462 -0.0318552 -0.00558749 0.0142546 0.0317422 0.999394 -0.0111031 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!622 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!623 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 624 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.000761 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999413 -0.027365 -0.0206221 0.028292 0.0263509 0.998503 -0.0479387 -0.0124406 0.021903 0.0473671 0.998637 -0.0151617 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 133 to 680050016 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.000761) and 619(1311875593.870172) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999413 -0.027365 -0.0206221 0.028292 0.0263509 0.998503 -0.0479387 -0.0124406 0.021903 0.0473671 0.998637 -0.0151617 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!624 INF|Input.cpp[getImages,132]: mNbReceivedImages!625 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999904 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2492/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 133 to 680050016 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.000761) and 619(1311875593.870172) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99976 -0.0165931 -0.0143247 -0.00913357 0.0159897 0.999021 -0.0412572 -0.0257375 0.0149952 0.0410182 0.999046 -0.00552649 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 10,0.999768 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3023/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 133 to 680050016 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.000761) and 619(1311875593.870172) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999685 -0.0152527 -0.0199081 0.0158919 0.0143536 0.998904 -0.0445502 -0.00549986 0.0205658 0.0442504 0.998809 -0.0113301 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999358 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1048/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.92683 resInfo good: 4969, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7517/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999671 -0.0155489 -0.0204059 0.02031 0.014651 0.998949 -0.0434361 -0.00599455 0.0210599 0.0431229 0.998848 -0.0130509 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!623 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 467 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!624 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 625 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!625 INF|Input.cpp[getImages,132]: mNbReceivedImages!626 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.033217 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999379 -0.0229495 -0.0267252 0.0248372 0.0214514 0.998253 -0.0550549 -0.0063474 0.027942 0.0544475 0.998126 -0.0149729 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 133 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.033217) and 619(1311875593.870172) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999379 -0.0229495 -0.0267252 0.0248372 0.0214514 0.998253 -0.0550549 -0.0063474 0.027942 0.0544475 0.998126 -0.0149729 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 7): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3038/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 133 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.033217) and 619(1311875593.870172) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999465 -0.0174896 -0.0276404 0.019283 0.0160325 0.998514 -0.0520863 -0.00542118 0.0285103 0.0516153 0.99826 -0.0185244 Input.cpp[readImages,206]: Got image from sensor!625 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 11,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3735/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 133 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.033217) and 619(1311875593.870172) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999499 -0.0176982 -0.0262523 0.0211432 0.0163698 0.998616 -0.049982 -0.00560899 0.0271005 0.0495272 0.998405 -0.0192064 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1461/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.00601 resInfo good: 4969, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9201/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999471 -0.0182737 -0.0269117 0.0256658 0.0168822 0.998553 -0.0510543 7.13402e-05 0.0278057 0.050573 0.998333 -0.0195096 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875594.033217 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875594.033217 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875594.033217 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 626 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 959 size: 5506 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875594.033217 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -7.1417 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -7.78234 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -10.1347 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 580 keyframeId: 122 score: -10.441 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 611 keyframeId: 131 score: -15.7867 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 615 keyframeId: 132 score: -14.768 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 134 = 134 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xb113840 fh1 0x1ec6dbe0fh->id: 116 134 624goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xb113840 fh1 0x226194c0fh->id: 118 134 624goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xb113840 fh1 0x2a5d2ba0fh->id: 119 134 624goodE: 10 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xb113840 fh1 0x278bc7c0fh->id: 122 134 624goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xb113840 fh1 0x19bbeea0fh->id: 131 134 624goodE: 73 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xb113840 fh1 0x26216460fh->id: 132 134 624goodE: 30 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0xb113840 fh1 0x2c2b33a0fh->id: 133 134 624goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew134 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 185 out of 188 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 188 newEdgePixels: 188 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1086 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 176 lastEnergy: 337.878 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 53 INF|LocalMapper.cpp[optimize,276]: Start Energy: 337.878 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.02011e-11 -8.78884e-12 -4.504e-12 -5.44733e-12 0.0111191 0.00988748 0.0181861 0.00033072 -0.000986279 -0.000175761 0.00738576 -0.0328289 -0.0106311 -0.00286698 -0.00234207 0.00153678 -0.016677 0.00616543 0.023647 -0.000460895 0.00196892 -0.00124731 0.0306422 0.014402 0.0514096 0.00122436 -0.000796458 0.00214874 0.00804713 0.0182728 0.0631845 0.00137092 -0.00184338 0.00103947 0.00282159 0.0204975 0.0669043 0.00180349 -0.00156044 0.00166726 -0.00346984 0.00302355 0.0670123 -0.000539263 -0.00156238 0.00205377 -0.00278478 0.00866182 0.072779 0.000890911 -0.00168892 0.00211371 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1086 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 322.433 0 0 newEnergyL 0 lastEnergy: 337.878 0 0 lastEnergyL: 0mActiveResiduals: 1086 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!626 INF|Input.cpp[getImages,132]: mNbReceivedImages!627 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -7.07831e-13 1.97401e-12 2.70481e-13 3.35385e-12 -0.000621686 -0.00794257 -0.0106006 -0.000818218 -0.000622175 -0.000378644 0.0270752 0.0224506 0.0388666 0.000547158 -0.000787685 -0.00125888 0.0426263 0.00305127 0.0264937 0.000210881 -0.00305386 0.00165766 0.00469164 -0.0016677 0.00691609 -0.000290147 0.000109873 0.00120993 -0.0047401 -7.8255e-05 0.00593371 -0.000369877 0.000751813 0.00150641 -0.007074 -0.000233423 0.00593628 -0.000309645 0.000964582 0.00146866 -0.00207702 0.0121984 0.00382681 0.00133722 0.000169572 0.00102728 -0.00838138 0.0108475 0.00568805 0.00114119 0.00080074 0.000446843 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1086 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 311.108 0 0 newEnergyL 0 lastEnergy: 322.433 0 0 lastEnergyL: 0mActiveResiduals: 1086 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 9.22597e-13 1.12733e-12 4.14912e-12 -9.90275e-13 0.00358265 0.0125636 -0.00285693 0.000193946 -0.00197298 0.00186024 -0.00616346 5.60004e-05 -0.0212968 -7.56625e-05 -0.00225775 0.00109811 -0.0293865 0.0092935 -0.0291251 -0.000272077 -0.000344583 -0.00188734 0.0226522 0.000899015 -0.00023081 -0.00175493 -0.00471285 -0.000777407 0.000558539 -0.00671592 0.0107234 -0.00195386 -0.00205041 0.000292729 -0.000366583 -0.00113363 0.00982242 -0.00129027 -0.00207638 -0.000104212 -0.0104809 -0.0153906 0.0123866 -0.00324712 -0.000808489 0.000187367 -0.00668786 -0.0077255 0.0137705 -0.00227241 -0.00140879 -0.000334031 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1086 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 303.496 0 0 newEnergyL 0 lastEnergy: 311.108 0 0 lastEnergyL: 0mActiveResiduals: 1086 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.22981e-12 1.12906e-12 1.37396e-12 1.29117e-12 -0.00156877 3.70285e-05 -0.0245804 0.00534476 -0.00248771 -0.00577532 0.0131839 0.0106402 0.0151951 0.00655733 -0.001578 -0.00525781 0.0211801 -0.017924 0.0216389 0.00419738 -0.00222377 -0.00112486 -0.00214031 0.00108287 -0.00534445 0.00597825 -0.0010408 -0.00278088 -0.00652924 -0.00394016 -0.00465398 0.00618703 9.60498e-05 0.000800143 -0.0102021 -0.00698586 -0.00348543 0.00570874 0.000619943 0.000905129 -0.00266871 0.00549585 -0.00753588 0.00732233 -0.000710293 0.000634518 -0.00443698 0.0109081 -0.00444759 0.00808593 -0.000380494 0.000493224 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1086 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 298.586 0 0 newEnergyL 0 lastEnergy: 303.496 0 0 lastEnergyL: 0mActiveResiduals: 1086 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 5.71419e-13 6.71594e-13 4.21667e-12 -3.62422e-12 0.0134274 -0.00258264 0.0391491 -0.00700289 0.00266049 0.00647673 -0.028392 0.00181423 -0.0342284 -0.0052514 0.00301688 0.00491225 -0.0241391 0.00885307 -0.0386479 -0.00526984 0.00189949 0.00131295 0.0106545 0.00313458 0.0101731 -0.00665947 0.000447878 0.00168434 0.00402216 -0.00353539 0.00897678 -0.00770315 0.000575157 -0.000905961 0.00387891 0.00277164 0.00695673 -0.0068717 0.00054609 -0.00164146 0.00140965 -0.00534851 0.00984295 -0.00781924 0.00128259 -0.00191927 0.00492571 -0.00608085 0.00813956 -0.00800598 0.000626407 -0.00240956 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1086 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 290.828 0 0 newEnergyL 0 lastEnergy: 298.586 0 0 lastEnergyL: 0mActiveResiduals: 1086 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.06484e-12 -6.94494e-13 -6.03551e-13 1.21686e-12 -0.0063045 -0.00062027 -0.0286146 0.00278212 -0.0020024 -0.00405282 0.0157732 0.00254506 0.0271418 0.00291476 -0.000926296 -0.00228851 0.0197637 0.00185319 0.0244817 0.00336453 -0.001451 -0.000214306 -0.0177122 0.00732341 -0.0162876 0.00426622 6.08096e-05 -0.00267312 0.00531583 -0.00732114 -0.00600562 0.0025861 -0.00173557 0.000661213 0.000398788 -0.00393573 -0.00194746 0.00309693 -0.000926144 0.000697478 -0.00141768 -0.0052069 -0.00406768 0.00281513 -0.00115423 0.00120837 -0.00925169 0.00416663 -0.00283224 0.00408916 0.000104455 0.00125767 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1086 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 288.591 0 0 newEnergyL 0 lastEnergy: 290.828 0 0 lastEnergyL: 0mActiveResiduals: 1086 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 288.591 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1086 INF|LocalMapper.cpp[optimize,345]: End Energy: 288.591 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.517407 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.517407 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 131 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 131 with idx: 4 and allID: 611 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->131 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 131->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->131 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->131 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 122<->131 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 131<->131 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 132<->131 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 131->132 INF|LocalMapper.cpp[marginalizeFrame,772]: 133<->131 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 131->133 INF|LocalMapper.cpp[marginalizeFrame,801]: 131 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 131 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 9312 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0xb113840 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 134 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 89 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 47 with distance 0.194Found rest min at: 88 with distance 0.152 overall min: 0.152 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 47 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 709 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 134 into DB 0.194 47 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 47 and real id(75) current kf: 134(624) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.963949 -0.00594509 -0.266022 -1.66342 0.0223037 0.998037 0.0585147 -0.0301621 0.265152 -0.0623384 0.962189 -0.101467 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 75 currFrame: 134 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.963949 -0.00594509 -0.266022 -1.66342 0.0223037 0.998037 0.0585147 -0.0301621 0.265152 -0.0623384 0.962189 -0.101467 avg 0.000644055 eye: 0.000681587 edge: 134 to 75 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 3343 < 2163 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 134 and 75 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 134 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 134 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1322 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 625 keyframes 135 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.069352 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,206]: Got image from sensor!626 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999963 -0.00392807 -0.00760339 0.00807403 0.00390158 0.999986 -0.00349611 -0.00935249 0.00761702 0.00346632 0.999965 -0.0128876 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 134 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.069352) and 624(1311875594.033217) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999963 -0.00392807 -0.00760339 0.00807403 0.00390158 0.999986 -0.00349611 -0.00935249 0.00761702 0.00346632 0.999965 -0.0128876 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999814 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1093/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 134 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.069352) and 624(1311875594.033217) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999966 -0.0031128 -0.00758708 0.00800926 0.0030839 0.999988 -0.0038174 -0.0105348 0.00759887 0.00379388 0.999964 -0.00959122 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 627 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999805 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3253/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 134 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.069352) and 624(1311875594.033217) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99999 -0.00250864 -0.00362605 0.000371037 0.00249528 0.99999 -0.00368577 -0.00326523 0.00363526 0.00367669 0.999987 -0.00466162 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2276/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.306218 resInfo good: 5506, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7861/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99999 -0.00283983 -0.003349 0.00413098 0.00283073 0.999992 -0.00271991 -0.00323077 0.0033567 0.00271041 0.999991 0.00045592 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!625 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!627 INF|Input.cpp[getImages,132]: mNbReceivedImages!628 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.101291 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999913 -0.00854649 -0.0100236 0.0124157 0.00846456 0.999931 -0.00818797 -0.00966086 0.0100928 0.00810242 0.999916 0.00138313 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 134 to 13983140942735998976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.101291) and 624(1311875594.033217) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999913 -0.00854649 -0.0100236 0.0124157 0.00846456 0.999931 -0.00818797 -0.00966086 0.0100928 0.00810242 0.999916 0.00138313 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 5): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2908/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 134 to 13983140942735998976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.101291) and 624(1311875594.033217) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999932 -0.00482718 -0.0106572 0.00880373 0.0047292 0.999946 -0.00919998 -0.012934 0.010701 0.00914895 0.999901 -0.00682892 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999627 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3229/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 134 to 13983140942735998976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.101291) and 624(1311875594.033217) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99994 -0.00498102 -0.00973097 0.0106468 0.00489416 0.999948 -0.00892946 -0.00616416 0.00977494 0.0088813 0.999913 -0.00756872 Input.cpp[readImages,206]: Got image from sensor!627 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999985 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2521/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.524068 resInfo good: 5506, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9602/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999937 -0.00539855 -0.00981366 0.0141587 0.00533634 0.999966 -0.00635421 -0.01104 0.00984762 0.00630144 0.999932 -0.00615375 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!626 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 628 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!628 INF|Input.cpp[getImages,132]: mNbReceivedImages!629 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.137080 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999686 -0.0105852 -0.0227132 0.034401 0.0102763 0.999854 -0.0136707 -0.0265106 0.0228546 0.013433 0.999649 -0.0192616 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 134 to 13979605974197993472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.137080) and 624(1311875594.033217) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999686 -0.0105852 -0.0227132 0.034401 0.0102763 0.999854 -0.0136707 -0.0265106 0.0228546 0.013433 0.999649 -0.0192616 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999997 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2317/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 134 to 13979605974197993472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.137080) and 624(1311875594.033217) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999754 -0.00389746 -0.0218556 0.0311586 0.00363921 0.999923 -0.0118435 -0.0212732 0.0219001 0.011761 0.999691 -0.0165023 Input.cpp[readImages,206]: Got image from sensor!628 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 10,0.999208 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3429/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 134 to 13979605974197993472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.137080) and 624(1311875594.033217) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999909 -0.00267394 -0.0132502 0.00619404 0.00249856 0.999909 -0.0132354 -0.00840718 0.0132844 0.0132011 0.999825 -0.0136367 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999121 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:835/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.648627 resInfo good: 5506, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7742/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999871 -0.00377097 -0.0156231 0.017834 0.00357748 0.999917 -0.0123947 -0.00869872 0.0156686 0.0123372 0.999801 -0.0148816 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!627 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 629 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!629 INF|Input.cpp[getImages,132]: mNbReceivedImages!630 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.169608 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999768 -0.00217851 -0.0214418 0.0215637 0.0017835 0.999829 -0.0184244 -0.00631085 0.0214782 0.0183819 0.9996 -0.0235737 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 134 to 14029890927313551616 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.169608) and 624(1311875594.033217) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999768 -0.00217851 -0.0214418 0.0215637 0.0017835 0.999829 -0.0184244 -0.00631085 0.0214782 0.0183819 0.9996 -0.0235737 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999932 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2799/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 134 to 14029890927313551616 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.169608) and 624(1311875594.033217) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999873 -0.00400987 -0.0154313 -0.0065319 0.00387837 0.999956 -0.00854195 -0.0296432 0.0154649 0.00848102 0.999844 -0.0172568 Input.cpp[readImages,206]: Got image from sensor!629 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999807 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2606/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 134 to 14029890927313551616 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.169608) and 624(1311875594.033217) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999795 -0.00446649 -0.0197368 0.0133836 0.00423523 0.999922 -0.0117433 -0.0136381 0.0197877 0.0116573 0.999736 -0.020496 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999957 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1861/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.683654 resInfo good: 5506, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8364/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99979 -0.00401857 -0.0200734 0.0171916 0.00375377 0.999906 -0.0132121 -0.00528705 0.0201246 0.0131339 0.999711 -0.0199611 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!628 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 477 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 630 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!630 INF|Input.cpp[getImages,132]: mNbReceivedImages!631 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.200720 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99969 -0.00426972 -0.024523 0.0165712 0.00392642 0.999894 -0.0140302 -0.00187136 0.0245803 0.0139295 0.999601 -0.0250407 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 134 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.200720) and 624(1311875594.033217) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99969 -0.00426972 -0.024523 0.0165712 0.00392642 0.999894 -0.0140302 -0.00187136 0.0245803 0.0139295 0.999601 -0.0250407 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999514 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2674/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 134 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.200720) and 624(1311875594.033217) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999761 -0.00526133 -0.0212001 0.0069829 0.00501191 0.999918 -0.0118009 -0.0280374 0.0212605 0.0116918 0.999706 -0.0162904 Input.cpp[readImages,206]: Got image from sensor!630 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999331 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2943/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 134 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.200720) and 624(1311875594.033217) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999692 -0.00595029 -0.0241127 0.0214278 0.00563719 0.999899 -0.0130322 -0.0172474 0.0241878 0.0128922 0.999624 -0.0187354 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 631 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999971 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1816/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.771066 resInfo good: 5506, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8552/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999652 -0.00657434 -0.0255361 0.0294927 0.0062426 0.999895 -0.013049 -0.0144157 0.0256192 0.012885 0.999589 -0.0191676 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!629 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 474 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.238419 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999267 -0.0116814 -0.0364602 0.0541486 0.0112226 0.999856 -0.0127636 -0.0325805 0.036604 0.0123451 0.999254 -0.0173715 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 134 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.238419) and 624(1311875594.033217) on lvl: 2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!631 INF|Input.cpp[getImages,132]: mNbReceivedImages!632 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999267 -0.0116814 -0.0364602 0.0541486 0.0112226 0.999856 -0.0127636 -0.0325805 0.036604 0.0123451 0.999254 -0.0173715 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999343 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2369/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 134 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.238419) and 624(1311875594.033217) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999792 -0.00518623 -0.0196995 -0.0062832 0.0049122 0.999891 -0.0139336 -0.0355394 0.0197696 0.0138339 0.999709 -0.0191697 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2560/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 134 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.238419) and 624(1311875594.033217) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999566 -0.00625393 -0.028776 0.0297394 0.00578487 0.99985 -0.016355 -0.021183 0.0288739 0.0161815 0.999452 -0.0245049 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999819 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1297/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.835998 resInfo good: 5506, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7150/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999556 -0.00665453 -0.029053 0.0331169 0.00614547 0.999827 -0.0175759 -0.0139179 0.0291649 0.0173895 0.999423 -0.0244895 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!630 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!631 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 632 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!632 INF|Input.cpp[getImages,132]: mNbReceivedImages!633 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.268832 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999325 -0.00686246 -0.0360845 0.0404215 0.00590305 0.999628 -0.0266274 -0.0128499 0.0362538 0.0263965 0.998994 -0.0350879 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 134 to 93454336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.268832) and 624(1311875594.033217) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999325 -0.00686246 -0.0360845 0.0404215 0.00590305 0.999628 -0.0266274 -0.0128499 0.0362538 0.0263965 0.998994 -0.0350879 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999016 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2152/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 134 to 93454336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.268832) and 624(1311875594.033217) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999597 -0.00321484 -0.0282005 0.010224 0.00265122 0.999796 -0.0200008 -0.00987124 0.028259 0.019918 0.999402 -0.029342 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 4): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2161/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 134 to 93454336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.268832) and 624(1311875594.033217) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999606 -0.00418618 -0.0277605 0.0139577 0.00373888 0.999863 -0.016145 -0.0174838 0.0278243 0.0160348 0.999484 -0.0320572 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1679/1 Input.cpp[readImages,206]: Got image from sensor!632 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.862876 resInfo good: 5506, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7067/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999436 -0.00535987 -0.0331595 0.0344619 0.00474144 0.999814 -0.0187009 -0.00703411 0.0332536 0.0185331 0.999275 -0.0338043 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!631 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 468 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 633 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.300817 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!633 INF|Input.cpp[getImages,132]: mNbReceivedImages!634 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999297 -0.00406991 -0.0372669 0.0358544 0.0033328 0.999798 -0.01982 -0.000141355 0.0373401 0.0196819 0.999109 -0.0431055 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 134 to 293315712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.300817) and 624(1311875594.033217) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999297 -0.00406991 -0.0372669 0.0358544 0.0033328 0.999798 -0.01982 -0.000141355 0.0373401 0.0196819 0.999109 -0.0431055 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999076 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3071/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 134 to 293315712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.300817) and 624(1311875594.033217) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999267 -0.00768933 -0.0374957 0.0309395 0.00691223 0.99976 -0.0208109 -0.0100804 0.0376467 0.0205365 0.99908 -0.0271154 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999995 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2251/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 134 to 293315712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.300817) and 624(1311875594.033217) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99921 -0.00933214 -0.0386392 0.0419512 0.0086255 0.999793 -0.0184146 -0.0122484 0.0388031 0.0180667 0.999084 -0.0344683 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1607/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.908137 resInfo good: 5506, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7999/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999223 -0.00956338 -0.0382343 0.0423814 0.00887945 0.999798 -0.0180179 -0.0108577 0.0383989 0.0176644 0.999106 -0.0331288 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!632 Input.cpp[readImages,206]: Got image from sensor!633 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 470 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 634 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.337892 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!634 INF|Input.cpp[getImages,132]: mNbReceivedImages!635 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998667 -0.0179563 -0.0483892 0.058256 0.0171652 0.999713 -0.0167152 -0.0184054 0.0486755 0.0158623 0.998689 -0.0316457 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 134 to 680050016 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.337892) and 624(1311875594.033217) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998667 -0.0179563 -0.0483892 0.058256 0.0171652 0.999713 -0.0167152 -0.0184054 0.0486755 0.0158623 0.998689 -0.0316457 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999547 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2155/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 134 to 680050016 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.337892) and 624(1311875594.033217) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99922 -0.00702871 -0.0388644 0.0191705 0.00621725 0.999761 -0.0209609 -0.0226822 0.0390024 0.0207029 0.999025 -0.0400145 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999808 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1424/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 134 to 680050016 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.337892) and 624(1311875594.033217) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999299 -0.00750426 -0.0366751 0.0163531 0.00676118 0.99977 -0.0203432 -0.0185423 0.0368193 0.020081 0.99912 -0.0408044 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999531 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:739/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.967382 resInfo good: 5506, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5377/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999037 -0.00960195 -0.042814 0.0403897 0.00866945 0.999722 -0.021913 -0.0113625 0.0430126 0.0215208 0.998843 -0.039482 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!633 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!634 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 635 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.369773 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!635 INF|Input.cpp[getImages,132]: mNbReceivedImages!636 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99883 -0.00965819 -0.0473926 0.0384271 0.00844146 0.999631 -0.0258068 -0.0118423 0.0476244 0.0253765 0.998543 -0.0458463 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 134 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.369773) and 624(1311875594.033217) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99883 -0.00965819 -0.0473926 0.0384271 0.00844146 0.999631 -0.0258068 -0.0118423 0.0476244 0.0253765 0.998543 -0.0458463 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999458 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2662/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 134 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.369773) and 624(1311875594.033217) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999062 -0.00494367 -0.0430251 0.0183229 0.00453792 0.999944 -0.00952308 -0.046114 0.0430698 0.0093189 0.999029 -0.0404735 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999745 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1639/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 134 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.369773) and 624(1311875594.033217) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998694 -0.0061527 -0.0507185 0.0503545 0.00527644 0.999835 -0.0173927 -0.0157603 0.0508171 0.0171024 0.998562 -0.0452979 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1770/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.00473 resInfo good: 5506, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7200/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998769 -0.00664279 -0.0491611 0.0468725 0.0056832 0.999791 -0.0196333 -0.00638723 0.0492812 0.0193298 0.998598 -0.0452571 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875594.369773 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875594.369773 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875594.369773 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1119 size: 7903 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875594.369773 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -7.14449 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -7.79122 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -9.93653 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 580 keyframeId: 122 score: -10.2711 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 615 keyframeId: 132 score: -12.2432 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 619 keyframeId: 133 score: -10.9398 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 135 = 135 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3bc7c0 fh1 0x1ec6dbe0fh->id: 116 135 634goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3bc7c0 fh1 0x226194c0fh->id: 118 135 634goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3bc7c0 fh1 0x2a5d2ba0fh->id: 119 135 634goodE: 9 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3bc7c0 fh1 0x278bc7c0fh->id: 122 135 634goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3bc7c0 fh1 0x26216460fh->id: 132 135 634goodE: 37 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3bc7c0 fh1 0x2c2b33a0fh->id: 133 135 634goodE: 40 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2b3bc7c0 fh1 0xb113840fh->id: 134 135 634goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew135 Input.cpp[readImages,206]: Got image from sensor!635 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 252 out of 252 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 252 newEdgePixels: 252 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1187 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 184 lastEnergy: 396.015 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 56 INF|LocalMapper.cpp[optimize,276]: Start Energy: 396.015 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 5.93604e-12 2.51303e-12 6.57637e-12 -2.5063e-12 -0.00839641 -0.0157882 0.012087 -0.0021033 0.00352572 0.00202775 0.0164734 -0.00543068 0.0234683 -0.00223451 0.00115827 0.000865492 -0.0135739 0.00419771 -0.016989 -0.00103295 0.00221382 -0.000685412 -0.0182087 -0.00604651 0.0164251 -0.00159182 0.00464613 0.00185774 -0.00343968 0.007113 0.00785853 -0.000170837 0.00222122 -0.00202526 0.00602073 -0.0298467 0.00344922 -0.00494809 0.000818235 0.00105627 -0.0071319 -0.0325606 0.00302589 -0.00524831 0.00237498 0.000611153 0.00105705 -0.0304562 0.00722576 -0.00525969 0.00182914 -0.000334527 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1187 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 369.061 0 0 newEnergyL 0 lastEnergy: 396.015 0 0 lastEnergyL: 0mActiveResiduals: 1187 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 636 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -3.83815e-13 -1.95926e-12 -2.49419e-12 -1.19832e-12 -0.00272787 -0.0078297 -0.00457858 -0.000722925 0.000163587 9.49385e-05 0.00806842 0.00398864 0.013768 0.000300757 -0.000387682 9.98094e-05 0.0401389 0.00254378 0.0250144 -0.000516039 -0.00294178 0.000556935 -0.0106771 0.00709261 0.00558859 0.000825998 0.0012209 -0.000387634 -0.00192708 -0.00125054 0.0185937 0.000124221 0.000196363 0.00046654 -0.0138041 -0.00155958 0.0187847 0.000109618 0.00171718 1.097e-05 -0.00616144 -0.00376723 0.0164007 -0.000109259 0.000530106 -2.70355e-05 -0.0163679 -0.015172 0.0181886 -0.00191096 0.00185537 8.97469e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1187 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 351.671 0 0 newEnergyL 0 lastEnergy: 369.061 0 0 lastEnergyL: 0mActiveResiduals: 1187 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -5.51779e-13 9.8477e-13 5.05887e-12 -7.72946e-13 -0.00624017 -0.0182266 -0.00275874 -0.00515493 -0.00198408 0.00153235 0.00976644 0.00441247 0.00200087 -0.00331726 -0.00296664 0.00167189 -0.0197365 -0.000984999 -0.00356002 -0.00246315 0.000783062 0.00325906 0.000280244 0.0137687 -0.0064847 -0.00139134 -0.00179476 0.00175474 0.00427257 0.000500008 0.00451288 -0.00357724 -0.00221305 0.000833656 0.0048778 0.000196378 0.00285272 -0.00354581 -0.00250201 0.000833661 -0.00100567 -0.000390269 0.00452706 -0.00357837 -0.00165994 0.000621951 -0.000124628 -0.00163213 0.00454463 -0.00383714 -0.0018548 0.000659522 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1187 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 335.591 0 0 newEnergyL 0 lastEnergy: 351.671 0 0 lastEnergyL: 0mActiveResiduals: 1187 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 6.02504e-13 1.39491e-12 2.51001e-12 2.18823e-12 0.00256644 0.00954479 -0.0167123 0.00378184 -0.00151637 -0.00243515 -0.00249958 -0.00341079 0.00261835 0.00333606 -0.000143149 -0.00060871 0.0139369 -0.0108569 0.00615783 0.00162562 -0.002154 -0.00103742 -0.0041052 0.000571029 -0.00425355 0.00313987 -0.00028433 -0.00136553 -3.7043e-05 -0.000757364 -0.00106609 0.00337982 -0.000526246 -4.73819e-05 -0.0049314 0.000788617 0.00127998 0.00351854 9.386e-05 -6.42093e-05 -0.00114068 0.00215712 0.000940913 0.00370396 -0.000611509 -0.000143363 -0.00991645 -0.00156446 0.00290376 0.00302374 0.000379569 -0.000152855 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1187 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 325.713 0 0 newEnergyL 0 lastEnergy: 335.591 0 0 lastEnergyL: 0mActiveResiduals: 1187 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.24772e-12 -3.89763e-13 -1.4257e-12 -4.64673e-12 -0.00242467 -0.00732574 0.0155526 -0.00117698 0.000354347 0.00175377 0.00442881 0.00182831 -0.00281433 -0.00105804 -0.000926818 0.00124494 -0.0112248 0.00993063 0.00714864 0.000122507 0.00194563 0.00282032 -0.00149824 -0.00332469 0.000598478 -0.00144369 -6.02274e-05 0.00210808 0.00544792 -0.00912833 -1.24962e-05 -0.00291053 -0.0007878 0.00083317 0.00376398 -0.00299712 -0.00286341 -0.00200675 -0.000547774 0.000256624 0.0032808 0.0066504 -0.00141027 -0.000662214 -0.00017909 -1.99265e-05 0.00810282 0.00896125 -0.00527916 -0.000134153 -0.000823555 -0.000643136 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1187 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 316.378 0 0 newEnergyL 0 lastEnergy: 325.713 0 0 lastEnergyL: 0mActiveResiduals: 1187 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.0351e-12 2.42407e-12 2.09171e-12 4.29929e-12 0.00388748 0.0063632 -0.0147426 0.000474477 -0.000315159 -1.88648e-05 -0.00660234 -0.00568573 0.00462257 2.93019e-05 0.00163489 0.00133454 0.00628969 0.000942851 -6.7164e-05 3.72698e-05 -0.000946941 -0.0020375 0.00504898 -0.000672312 -0.0101269 0.000196064 -0.000854766 -0.00102638 -0.001091 0.0053125 -0.000433583 0.00128943 0.000418398 -0.000313801 -0.00264193 0.00777915 0.00160021 0.00155447 0.00050859 -0.000244603 -0.00807029 -0.0139356 0.000511821 -0.00148251 0.000983422 0.000856883 -0.00672224 -0.00522684 0.00898857 -0.000496279 0.000589872 0.000646501 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1187 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 308.183 0 0 newEnergyL 0 lastEnergy: 316.378 0 0 lastEnergyL: 0mActiveResiduals: 1187 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 308.183 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1187 INF|LocalMapper.cpp[optimize,345]: End Energy: 308.183 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.5117 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.5117 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 132 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 132 with idx: 4 and allID: 615 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->132 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 132->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->132 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->132 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 122<->132 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 132<->132 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 133<->132 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 132->133 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->132 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 132->134 INF|LocalMapper.cpp[marginalizeFrame,801]: 132 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 132 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 9903 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2b3bc7c0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 135 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!636 INF|Input.cpp[getImages,132]: mNbReceivedImages!637 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 90 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 51 with distance 0.214Found rest min at: 89 with distance 0.176 overall min: 0.176 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 51 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 715 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 135 into DB 0.214 51 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 51 and real id(79) current kf: 135(634) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.988748 -0.0235155 -0.147729 -1.52378 0.00886268 0.995041 -0.0990729 -0.0920594 0.149326 0.0966489 0.984053 0.0131782 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 79 currFrame: 135 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.988748 -0.0235155 -0.147729 -1.52378 0.00886268 0.995041 -0.0990729 -0.0920594 0.149326 0.0966489 0.984053 0.0131782 avg 0.000314425 eye: 0.000675332 edge: 135 to 79 INF|Tracker.cpp[trackFrames,78]: initPose: 0.988748 -0.0235155 -0.147729 -1.52378 0.00886268 0.995041 -0.0990729 -0.0920594 0.149326 0.0966489 0.984053 0.0131782 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 135 to 79 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 358(1311875585.160923) and 634(1311875594.369773) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.988748 -0.0235155 -0.147729 -1.52378 0.00886268 0.995041 -0.0990729 -0.0920594 0.149326 0.0966489 0.984053 0.0131782 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999178 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1872/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 135 to 79 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 358(1311875585.160923) and 634(1311875594.369773) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.949468 -0.0265908 -0.312734 -1.03023 0.0144017 0.999046 -0.0412219 -0.372638 0.313532 0.034635 0.948946 0.0618498 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999623 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1431/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 135 to 79 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 358(1311875585.160923) and 634(1311875594.369773) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.949452 -0.0270439 -0.312745 -1.03016 0.0147829 0.999029 -0.0415096 -0.37366 0.313564 0.0347881 0.94893 0.0616842 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999649 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2156/2 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.943717 -0.0485687 -0.327169 -1.00567 0.0262482 0.997038 -0.0722988 -0.309603 0.329711 0.059642 0.942196 0.134295 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 78 end 81 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!636 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 22020 o[1]: 1987 o[2]: 405 o[3]: 40 histWeights: 1 1 1.25 1.5overlap: 2553.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7903 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 79 and 135 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 135 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 135 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 9571 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 635 keyframes 136 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 452 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.400675 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 637 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999974 0.00180161 -0.00691242 0.00776938 -0.00179475 0.999998 0.00099901 0.00681556 0.00691421 -0.000986579 0.999976 -0.0132431 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 135 to 13983140942735998976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.400675) and 634(1311875594.369773) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999974 0.00180161 -0.00691242 0.00776938 -0.00179475 0.999998 0.00099901 0.00681556 0.00691421 -0.000986579 0.999976 -0.0132431 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!637 INF|Input.cpp[getImages,132]: mNbReceivedImages!638 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 8): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:5318/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 135 to 13983140942735998976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.400675) and 634(1311875594.369773) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999972 0.000729872 -0.00739882 0.00178832 -0.000712854 0.999997 0.0023025 -0.0120481 0.00740048 -0.00229716 0.99997 -0.00131163 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999973 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2565/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 135 to 13983140942735998976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.400675) and 634(1311875594.369773) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999984 0.00131067 -0.00545361 0.000846349 -0.001295 0.999995 0.00287596 -0.00697108 0.00545736 -0.00286885 0.999981 -0.00299037 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3252/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.342943 resInfo good: 7903, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 12809/12 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999984 0.000908377 -0.00561869 0.00492503 -0.000891073 0.999995 0.00308143 -0.00444451 0.00562146 -0.00307637 0.999979 -0.00218558 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!635 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!637 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.439171 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999854 0.00277689 -0.0168468 0.0147993 -0.00262116 0.999954 0.00925895 -0.0133667 0.0168718 -0.00921344 0.999815 -0.00643245 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 135 to 13979605974197993472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.439171) and 634(1311875594.369773) on lvl: 2 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 638 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999854 0.00277689 -0.0168468 0.0147993 -0.00262116 0.999954 0.00925895 -0.0133667 0.0168718 -0.00921344 0.999815 -0.00643245 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999601 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2038/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 135 to 13979605974197993472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.439171) and 634(1311875594.369773) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.9999 0.00678979 -0.0124102 -0.00219228 -0.0067644 0.999975 0.00208652 -0.00986322 0.012424 -0.00200237 0.999921 -0.00621269 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.99995 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3002/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 135 to 13979605974197993472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.439171) and 634(1311875594.369773) on lvl: 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!638 INF|Input.cpp[getImages,132]: mNbReceivedImages!639 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999889 0.00621473 -0.0135735 0.00648148 -0.0061727 0.999976 0.00313579 -0.00753601 0.0135926 -0.00305166 0.999903 -0.00963001 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999241 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1902/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.515236 resInfo good: 7903, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8512/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99988 0.00601282 -0.014285 0.0117668 -0.00598389 0.99998 0.00206695 -0.000823612 0.0142971 -0.00198122 0.999896 -0.00872913 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!636 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.468627 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999675 0.0111074 -0.0229552 0.0186834 -0.0110852 0.999938 0.00109666 0.00276926 0.022966 -0.000841843 0.999736 -0.0152091 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 135 to 14029890927313551616 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.468627) and 634(1311875594.369773) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999675 0.0111074 -0.0229552 0.0186834 -0.0110852 0.999938 0.00109666 0.00276926 0.022966 -0.000841843 0.999736 -0.0152091 Input.cpp[readImages,206]: Got image from sensor!638 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3127/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 135 to 14029890927313551616 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.468627) and 634(1311875594.369773) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99966 0.0111591 -0.0235631 0.0159249 -0.0111207 0.999937 0.00175957 0.00524614 0.0235813 -0.00149693 0.999721 -0.0141785 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 639 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999864 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3422/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 135 to 14029890927313551616 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.468627) and 634(1311875594.369773) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999748 0.0114589 -0.0193289 0.0076321 -0.0114214 0.999933 0.0020504 0.0115462 0.0193511 -0.00182912 0.999811 -0.0161583 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3308/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.632958 resInfo good: 7878, 25 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11213/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99973 0.0107647 -0.0205729 0.015043 -0.0106647 0.999931 0.00496601 0.00543043 0.0206249 -0.00474527 0.999776 -0.0158306 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!637 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!639 INF|Input.cpp[getImages,132]: mNbReceivedImages!640 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.500769 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999519 0.0155336 -0.0268461 0.0183935 -0.0153268 0.999851 0.00789438 0.0116488 0.0269647 -0.00747912 0.999608 -0.0229287 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 135 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.500769) and 634(1311875594.369773) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999519 0.0155336 -0.0268461 0.0183935 -0.0153268 0.999851 0.00789438 0.0116488 0.0269647 -0.00747912 0.999608 -0.0229287 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999182 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2250/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 135 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.500769) and 634(1311875594.369773) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999334 0.01732 -0.0321095 0.0175503 -0.0172817 0.99985 0.00147009 0.0190995 0.0321301 -0.000914202 0.999483 -0.017142 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999024 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1865/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 135 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.500769) and 634(1311875594.369773) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999436 0.0173375 -0.028767 0.0160528 -0.0171267 0.999825 0.00755903 0.00477685 0.028893 -0.00706208 0.999558 -0.0208077 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999084 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1127/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.745318 resInfo good: 7852, 51 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6694/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99944 0.0170814 -0.0287788 0.0207973 -0.0167849 0.999804 0.0105128 -0.00142768 0.0289528 -0.0100239 0.999531 -0.0209162 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!638 Input.cpp[readImages,206]: Got image from sensor!639 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 511 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 640 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.539477 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!640 INF|Input.cpp[getImages,132]: mNbReceivedImages!641 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999042 0.0234405 -0.0369475 0.0265502 -0.0228581 0.999609 0.0161092 -0.008349 0.0373107 -0.0152493 0.999187 -0.0259172 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 135 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.539477) and 634(1311875594.369773) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999042 0.0234405 -0.0369475 0.0265502 -0.0228581 0.999609 0.0161092 -0.008349 0.0373107 -0.0152493 0.999187 -0.0259172 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999074 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2693/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 135 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.539477) and 634(1311875594.369773) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998969 0.0274463 -0.0361637 0.0162798 -0.0270906 0.99958 0.0102899 -0.00514267 0.0364309 -0.00929958 0.999293 -0.0185485 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999323 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1740/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 135 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.539477) and 634(1311875594.369773) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998919 0.025501 -0.0388646 0.028515 -0.0250681 0.999619 0.011585 -0.00246293 0.0391452 -0.0105982 0.999177 -0.021879 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999108 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1457/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.852313 resInfo good: 7833, 70 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7537/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998969 0.0250904 -0.0378373 0.0302476 -0.0245832 0.999602 0.0138111 -0.00499011 0.0381688 -0.0128667 0.999188 -0.0210671 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!639 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 Input.cpp[readImages,206]: Got image from sensor!640 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 641 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.570550 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!641 INF|Input.cpp[getImages,132]: mNbReceivedImages!642 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.997589 0.0411785 -0.055863 0.0490642 -0.0400815 0.998984 0.0206182 -0.0123392 0.0566553 -0.0183295 0.998226 -0.0210766 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 135 to 93454336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.570550) and 634(1311875594.369773) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.997589 0.0411785 -0.055863 0.0490642 -0.0400815 0.998984 0.0206182 -0.0123392 0.0566553 -0.0183295 0.998226 -0.0210766 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 3): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2501/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 135 to 93454336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.570550) and 634(1311875594.369773) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998152 0.0412564 -0.0446188 0.000806533 -0.0407496 0.999095 0.0122111 -0.0197278 0.0450822 -0.0103703 0.998929 -0.0207744 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999489 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1231/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 135 to 93454336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.570550) and 634(1311875594.369773) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998172 0.0384017 -0.0466593 0.0161015 -0.0378864 0.999211 0.0118772 -0.0118229 0.0470786 -0.0100878 0.99884 -0.026164 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.99977 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1949/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.926408 resInfo good: 7720, 183 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7280/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998212 0.0376596 -0.0464187 0.019746 -0.0371398 0.999238 0.0120104 -0.00845265 0.0468356 -0.0102649 0.99885 -0.0299273 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!640 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!641 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 642 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.603499 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!642 INF|Input.cpp[getImages,132]: mNbReceivedImages!643 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.997223 0.0502001 -0.0550185 0.00928002 -0.0497058 0.998711 0.0103177 -0.0117637 0.0554655 -0.00755432 0.998432 -0.0388871 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 135 to 293315712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.603499) and 634(1311875594.369773) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.997223 0.0502001 -0.0550185 0.00928002 -0.0497058 0.998711 0.0103177 -0.0117637 0.0554655 -0.00755432 0.998432 -0.0388871 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999773 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:702/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 135 to 293315712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.603499) and 634(1311875594.369773) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997637 0.0453678 -0.0515896 -0.00877205 -0.0450684 0.99896 0.00695398 -0.00936913 0.0518514 -0.00461249 0.998644 -0.0371548 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999469 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1170/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 135 to 293315712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.603499) and 634(1311875594.369773) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.997506 0.0416965 -0.0569535 0.0128552 -0.0413053 0.999114 0.00802987 -0.00729456 0.0572379 -0.00565736 0.998345 -0.0389036 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999775 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1061/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.03036 resInfo good: 7728, 175 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4445/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.997454 0.0412211 -0.0581997 0.0195595 -0.0407478 0.999126 0.00929655 -0.00803546 0.0585321 -0.00690137 0.998262 -0.0407748 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875594.603499 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875594.603499 to keyframe with id: 293315712 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875594.603499 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1123 size: 5711 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId293315712 timestamp: 1311875594.603499 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -7.20281 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -7.72263 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -10.2957 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 580 keyframeId: 122 score: -10.5983 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 619 keyframeId: 133 score: -13.4339 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -11.9129 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 136 = 136 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2aa8a0 fh1 0x1ec6dbe0fh->id: 116 136 641goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2aa8a0 fh1 0x226194c0fh->id: 118 136 641goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2aa8a0 fh1 0x2a5d2ba0fh->id: 119 136 641goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2aa8a0 fh1 0x278bc7c0fh->id: 122 136 641goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2aa8a0 fh1 0x2c2b33a0fh->id: 133 136 641goodE: 56 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2aa8a0 fh1 0xb113840fh->id: 134 136 641goodE: 40 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2c2aa8a0 fh1 0x2b3bc7c0fh->id: 135 136 641goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew136 Input.cpp[readImages,206]: Got image from sensor!642 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 299 out of 312 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 312 newEdgePixels: 312 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1340 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 212 lastEnergy: 470.585 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 60 INF|LocalMapper.cpp[optimize,276]: Start Energy: 470.585 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.40746e-11 -8.77108e-12 -8.14792e-12 -5.55598e-13 0.000755273 0.00437229 0.0122636 0.00143307 0.00304477 -0.00177287 -0.000364511 0.000376601 -0.00808514 0.000551299 0.00169345 -0.00276596 -0.0221236 -0.0165989 0.0141528 0.000296174 0.00609001 0.00399985 -0.0267338 0.000241717 0.0103748 0.00123647 0.00582874 0.00104506 -0.0111999 -0.00256601 0.00506755 -3.54962e-05 0.00416173 0.00153424 0.0063291 0.00144108 0.00112952 0.000585048 0.00139169 0.00194047 0.00672327 0.00360981 0.00189395 0.000947966 0.00149276 0.000986637 -0.0204092 0.00483708 0.00202212 0.00166064 0.00517118 0.000333722 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1340 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 444.789 0 0 newEnergyL 0 lastEnergy: 470.585 0 0 lastEnergyL: 0mActiveResiduals: 1340 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 5.89687e-12 -1.84897e-12 3.23279e-12 2.23287e-12 0.000878819 -0.00937655 0.000906528 -0.00112478 -4.56354e-05 -0.000140544 -0.0287003 0.0116164 0.00155148 0.0026367 0.00405404 0.00259805 -0.0200692 0.0304516 -0.0372211 0.0040625 0.000744537 -0.000416236 -0.0182379 -0.00266645 -0.0172206 0.000406021 0.00150677 0.00110877 0.00194363 0.0167659 -0.0115581 0.00192248 0.000170569 0.00115828 -0.00116535 0.00522384 -0.012885 8.68095e-05 0.000439869 0.00103407 -0.0100332 0.0154984 -0.00757469 0.00158344 0.00180356 0.000740259 -0.000321543 0.0258364 -0.0161822 0.00353337 0.000392879 0.00018158 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1340 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 426.475 0 0 newEnergyL 0 lastEnergy: 444.789 0 0 lastEnergyL: 0mActiveResiduals: 1340 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 643 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -4.45055e-12 2.12916e-12 1.49118e-12 1.20314e-12 -0.0108947 -0.00184801 -0.0188929 0.00328496 -0.00463549 0.0018023 0.0293543 -0.0123529 -0.000976202 -0.00032322 -0.00878727 -0.000113198 -0.00932195 -0.0169774 0.0202977 0.000348121 -0.00139376 0.00353063 0.0034163 0.0170482 -0.00108588 0.00310023 -0.00436557 -0.000439859 -0.00505404 -0.00285858 -0.00201643 0.00133014 -0.00337727 0.00102365 -0.000885057 0.00729311 -0.000879313 0.00288258 -0.0039045 0.000897247 0.000138239 0.00612685 -0.00236726 0.00262244 -0.00421561 0.000818302 -0.00770584 0.00227505 -0.00173807 0.00190845 -0.00319479 0.000818053 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1340 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 410.819 0 0 newEnergyL 0 lastEnergy: 426.475 0 0 lastEnergyL: 0mActiveResiduals: 1340 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.39053e-13 -5.52488e-13 1.62945e-13 1.28801e-12 0.0264022 -0.00814407 0.0131771 -0.00505325 -0.000552884 0.00308241 -0.0288964 0.00154601 0.00321488 -0.00197675 0.00595786 0.00644761 0.00723074 0.0223498 -0.00934025 -0.000648559 0.000458807 0.00170254 -0.00903341 -0.0143647 -0.00297781 -0.00397152 0.00266621 0.0039882 0.00868957 0.00241783 -0.000653039 -0.00382955 -9.84728e-06 0.00073808 -0.000359819 -0.00364155 0.000406152 -0.00482299 0.0012167 0.000606723 -0.00198564 0.00102892 0.000451504 -0.00431198 0.00141353 9.46337e-05 0.000714846 0.000238073 -0.000239381 -0.00441395 0.00123147 3.9909e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1340 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 398.441 0 0 newEnergyL 0 lastEnergy: 410.819 0 0 lastEnergyL: 0mActiveResiduals: 1340 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.18602e-12 -3.53163e-13 1.80325e-12 2.13213e-12 -0.00100032 -0.00174555 -0.00809784 0.000948905 -0.00205468 0.001057 0.020706 -0.00820208 -0.00113888 -0.00139866 -0.00474118 -0.00184484 0.00529052 -0.00415177 0.00978756 -0.000165459 -0.0016572 2.44875e-05 0.00425713 0.0086957 0.0047382 0.0010315 -0.0017664 -0.000564888 -0.00866842 -0.00358311 -0.00485434 5.17668e-05 -0.00027307 0.000921453 -0.00210385 0.00275673 -0.00509455 0.000960703 -0.00126159 0.000849079 -0.00446345 0.00381423 -0.00599849 0.00107518 -0.00118639 0.000726928 -0.00688272 0.00319338 -0.00567788 0.00085493 -0.000833047 0.000438334 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1340 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 386.593 0 0 newEnergyL 0 lastEnergy: 398.441 0 0 lastEnergyL: 0mActiveResiduals: 1340 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.77966e-12 9.14224e-13 1.22005e-12 5.52687e-13 0.00268416 0.000161595 -0.00175131 0.000787527 -0.000978231 0.000535561 -0.00374306 0.00520149 0.00178726 0.000605539 -0.000358126 6.23102e-05 0.00293809 0.00536188 0.00154315 0.000546332 -0.000382002 0.000394559 -0.00773399 -0.00225959 -0.00705675 0.000248254 3.32591e-05 0.000288291 0.00443407 -0.00308172 0.00188416 -2.06786e-05 -0.000800987 -0.000416072 -0.00131503 -0.00326298 0.00221388 -4.42325e-05 0.000135574 -0.0006995 -0.00180251 -0.000284992 0.00108415 0.000294309 0.000395319 -0.00104271 0.00214595 -0.00331712 0.00108879 -8.18084e-05 -0.000284356 -0.000854069 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1340 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 379.231 0 0 newEnergyL 0 lastEnergy: 386.593 0 0 lastEnergyL: 0mActiveResiduals: 1340 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 379.231 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1340 INF|LocalMapper.cpp[optimize,345]: End Energy: 379.231 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.542197 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.542197 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 133 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 133 with idx: 4 and allID: 619 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->133 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 133->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->133 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->133 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 122<->133 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 133<->133 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->133 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 133->134 INF|LocalMapper.cpp[marginalizeFrame,772]: 135<->133 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 133->135 INF|LocalMapper.cpp[marginalizeFrame,801]: 133 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 133 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 10998 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2c2aa8a0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 136 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!643 INF|Input.cpp[getImages,132]: mNbReceivedImages!644 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 91 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 7 with distance 0.226Found rest min at: 90 with distance 0.138 overall min: 0.138 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 7 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 710 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 136 into DB 0.226 7 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 7 and real id(22) current kf: 136(641) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.405176 0.133669 -0.904414 -1.79762 -0.115746 0.988794 0.0942862 1.27782 0.906882 0.06648 0.416107 -1.80829 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 22 currFrame: 136 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000814936 edge: 136 to 22 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 136 to 22 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 37(1311875573.652043) and 641(1311875594.603499) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.9997 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1109/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 136 to 22 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 37(1311875573.652043) and 641(1311875594.603499) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999985 -0.00535528 0.00076792 0.00294563 0.00535777 0.99998 -0.00327562 -0.0118766 -0.000750363 0.00327969 0.999994 0.0349982 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999602 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:694/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 136 to 22 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 37(1311875573.652043) and 641(1311875594.603499) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999951 -0.00982339 0.00126878 0.00475856 0.00982907 0.999941 -0.00455385 -0.0167181 -0.00122397 0.0045661 0.999989 0.054145 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.99975 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1251/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.999436 -0.0332203 0.00494327 0.00649267 0.033208 0.999445 0.00254991 -0.0630771 -0.00502523 -0.00238431 0.999985 0.137319 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 21 end 24 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 18294 o[1]: 479 o[2]: 63 o[3]: 10 histWeights: 1 1 1.25 1.5overlap: 572.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 5711 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 22 and 136 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 136 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 136 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 6421 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 642 keyframes 137 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 521 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!643 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.639287 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 644 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99989 0.00194196 -0.0146812 0.0109894 -0.00196407 0.999997 -0.0014919 -0.00122911 0.0146782 0.00152057 0.999891 -0.00736979 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 136 to 680050016 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.639287) and 641(1311875594.603499) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99989 0.00194196 -0.0146812 0.0109894 -0.00196407 0.999997 -0.0014919 -0.00122911 0.0146782 0.00152057 0.999891 -0.00736979 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!644 INF|Input.cpp[getImages,132]: mNbReceivedImages!645 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 9): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4217/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 136 to 680050016 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.639287) and 641(1311875594.603499) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999918 0.00115945 -0.0127862 -0.00769459 -0.001292 0.999945 -0.0103631 0.0228916 0.0127735 0.0103787 0.999865 -0.0108711 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999457 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1961/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 136 to 680050016 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.639287) and 641(1311875594.603499) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.9999 0.00154576 -0.0140661 0.00278197 -0.00155989 0.999998 -0.000993424 -0.000163494 0.0140645 0.00101527 0.999901 -0.00976362 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999933 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1444/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.48817 resInfo good: 5711, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8823/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999914 0.00112403 -0.0130532 0.00322869 -0.00114054 0.999999 -0.00125798 0.00472765 0.0130518 0.00127276 0.999914 -0.00660948 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!642 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.668786 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999657 0.00223134 -0.0261056 0.00654869 -0.0022974 0.999994 -0.00250097 0.00945992 0.0260999 0.00256009 0.999656 -0.0131702 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 136 to 13983140942735998976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.668786) and 641(1311875594.603499) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999657 0.00223134 -0.0261056 0.00654869 -0.0022974 0.999994 -0.00250097 0.00945992 0.0260999 0.00256009 0.999656 -0.0131702 Input.cpp[readImages,206]: Got image from sensor!644 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999196 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3234/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 136 to 13983140942735998976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.668786) and 641(1311875594.603499) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999499 0.00269354 -0.0315442 0.0137873 -0.00292465 0.999969 -0.00728258 0.00780042 0.0315236 0.00737119 0.999476 -0.00306035 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 645 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999587 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2446/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 136 to 13983140942735998976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.668786) and 641(1311875594.603499) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999512 0.00301219 -0.0310756 0.01856 -0.00301867 0.999995 -0.000161573 -0.00819598 0.0310749 0.000255301 0.999517 -0.00444423 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999785 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2189/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.696514 resInfo good: 5711, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9048/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999597 0.00314847 -0.0282103 0.0122703 -0.00318618 0.999994 -0.00129169 -0.000382503 0.0282061 0.00138105 0.999601 -0.00498247 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!643 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!645 INF|Input.cpp[getImages,132]: mNbReceivedImages!646 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.702499 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999046 0.00517103 -0.043361 0.0212758 -0.00523207 0.999985 -0.00129438 -0.00551123 0.0433537 0.00152001 0.999059 -0.00321908 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 136 to 13979605974197993472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.702499) and 641(1311875594.603499) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999046 0.00517103 -0.043361 0.0212758 -0.00523207 0.999985 -0.00129438 -0.00551123 0.0433537 0.00152001 0.999059 -0.00321908 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.99997 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1879/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 136 to 13979605974197993472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.702499) and 641(1311875594.603499) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999208 0.00673739 -0.0392095 0.00318396 -0.00710502 0.999932 -0.00924444 -0.00026559 0.0391446 0.0095157 0.999188 -0.0148205 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999997 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2700/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 136 to 13979605974197993472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.702499) and 641(1311875594.603499) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999151 0.00696854 -0.0406146 0.0137402 -0.00718395 0.999961 -0.00516007 -0.00611649 0.040577 0.00544746 0.999162 -0.014343 Input.cpp[readImages,206]: Got image from sensor!645 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999766 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1238/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.823785 resInfo good: 5700, 11 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6987/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999199 0.00664681 -0.0394716 0.0136446 -0.0068585 0.999963 -0.00523016 -0.00209981 0.0394353 0.00549669 0.999207 -0.0133776 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!644 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 646 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.739492 INF|Input.cpp[getImages,128]: getimages!646 INF|Input.cpp[getImages,132]: mNbReceivedImages!647 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998661 0.0100984 -0.0507414 0.0151073 -0.0105747 0.999902 -0.0091269 -0.00378805 0.0506443 0.00965125 0.99867 -0.0217637 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 136 to 14029890927313551616 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.739492) and 641(1311875594.603499) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998661 0.0100984 -0.0507414 0.0151073 -0.0105747 0.999902 -0.0091269 -0.00378805 0.0506443 0.00965125 0.99867 -0.0217637 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999998 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3218/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 136 to 14029890927313551616 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.739492) and 641(1311875594.603499) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998648 0.00825263 -0.0513149 0.00781304 -0.00863466 0.999937 -0.00722742 -0.00443896 0.051252 0.00766074 0.998656 -0.0268805 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999704 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2447/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 136 to 14029890927313551616 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.739492) and 641(1311875594.603499) on lvl: 0 Input.cpp[readImages,206]: Got image from sensor!646 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998676 0.00954463 -0.0505483 0.0106135 -0.00973127 0.999947 -0.00344753 -0.00976278 0.0505127 0.00393486 0.998716 -0.024515 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999489 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1426/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.899355 resInfo good: 5703, 8 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8266/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998757 0.00976146 -0.048874 0.00808111 -0.0100024 0.999939 -0.00468675 -0.00229432 0.0488252 0.00516978 0.998794 -0.0241225 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!645 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 647 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!647 INF|Input.cpp[getImages,132]: mNbReceivedImages!648 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.771600 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998218 0.0128789 -0.0582703 0.00261826 -0.0131409 0.999905 -0.00411378 -0.00247574 0.0582118 0.00487217 0.998292 -0.0349191 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 136 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.771600) and 641(1311875594.603499) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998218 0.0128789 -0.0582703 0.00261826 -0.0131409 0.999905 -0.00411378 -0.00247574 0.0582118 0.00487217 0.998292 -0.0349191 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999807 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2066/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 136 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.771600) and 641(1311875594.603499) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998141 0.0102765 -0.0600723 -0.00485879 -0.00996764 0.999936 0.00543953 -0.055312 0.0601243 -0.00483064 0.998179 -0.0134584 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999702 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2386/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 136 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.771600) and 641(1311875594.603499) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998062 0.010953 -0.0612581 0.00639783 -0.0108334 0.999939 0.00228428 -0.0355299 0.0612794 -0.00161622 0.998119 -0.0160614 Input.cpp[readImages,206]: Got image from sensor!647 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2237/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.03152 resInfo good: 5679, 32 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7879/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.997933 0.0105034 -0.0634032 0.0171502 -0.0108644 0.999927 -0.00535199 -0.00551522 0.0633423 0.00602977 0.997974 -0.0172761 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875594.771600 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875594.771600 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875594.771600 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 648 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1252 size: 5305 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875594.771600 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -7.24071 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -7.75919 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -10.5636 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 580 keyframeId: 122 score: -10.7339 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -10.2397 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 634 keyframeId: 135 score: -9.0288 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 137 = 137 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x288943e0 fh1 0x1ec6dbe0fh->id: 116 137 646goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x288943e0 fh1 0x226194c0fh->id: 118 137 646goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x288943e0 fh1 0x2a5d2ba0fh->id: 119 137 646goodE: 14 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x288943e0 fh1 0x278bc7c0fh->id: 122 137 646goodE: 23 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x288943e0 fh1 0xb113840fh->id: 134 137 646goodE: 47 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x288943e0 fh1 0x2b3bc7c0fh->id: 135 137 646goodE: 84 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x288943e0 fh1 0x2c2aa8a0fh->id: 136 137 646goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew137 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 264 out of 280 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 280 newEdgePixels: 280 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1371 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 221 lastEnergy: 492.635 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 64 INF|LocalMapper.cpp[optimize,276]: Start Energy: 492.635 0 0 lastEnergyL: 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!648 INF|Input.cpp[getImages,132]: mNbReceivedImages!649 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.12096e-11 -2.31066e-13 -2.27517e-11 7.53089e-12 -0.0141966 0.0222585 0.0124213 0.00170778 0.00744862 -0.00598809 -0.00977959 0.00796959 -0.000799299 0.000109525 0.00582696 -0.00700138 -0.00441195 0.00753633 0.035427 -0.00112631 0.00508991 -0.00663066 -0.00518615 0.0184157 0.0529646 -0.000368836 0.00635543 -0.00643977 -0.0337378 0.00669408 0.0491659 0.00231995 0.00860973 -0.00225287 -0.0293756 0.00252746 0.0424081 0.00206887 0.00734515 -0.0017853 -0.0310369 0.0087454 0.036997 0.00336467 0.00747416 -0.00188962 -0.0431596 -0.00720199 0.0313559 0.00153963 0.0088791 -0.0013403 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1371 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 468.283 0 0 newEnergyL 0 lastEnergy: 492.635 0 0 lastEnergyL: 0mActiveResiduals: 1371 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 7.77763e-15 -1.45979e-12 1.00723e-12 2.99782e-14 0.000231133 -0.00130874 0.00451396 -0.000332022 0.000578865 -0.000132991 0.00423441 0.02479 0.00988335 0.00137134 -7.4227e-05 -0.00248923 -0.0346551 0.0190456 -0.0172962 0.00293533 0.00313439 4.04084e-06 -0.0195361 -0.00180549 -0.0223883 0.000533576 0.000956828 -2.78682e-05 -0.00302095 -0.00159373 -0.012997 -0.000377244 0.000906585 -0.000445417 -0.00124387 -0.00398836 -0.0121456 -0.000922929 0.000752635 -0.000467238 -0.0053869 -0.00194268 -0.013327 -0.000433264 0.00148125 -0.000188577 -0.000593214 -0.00568156 -0.0147522 -0.00101151 0.000989627 -0.000518484 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1371 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 453.521 0 0 newEnergyL 0 lastEnergy: 468.283 0 0 lastEnergyL: 0mActiveResiduals: 1371 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.3606e-12 -1.55741e-12 9.58598e-13 3.01748e-12 0.0143335 0.00877792 0.0173108 -0.000955528 -0.000126869 -0.000253697 -0.027388 -0.00440804 -0.0306053 0.000651013 0.00268923 0.0013486 0.00715425 -0.0158622 -0.00326505 -0.00174595 -0.000908382 0.000108357 0.00322254 0.00356291 -0.00148552 -0.000603325 -0.000219916 -0.00133812 0.0031509 0.00104205 0.00339792 -0.000395663 -0.000604429 -0.000600105 -0.00219255 0.00263 0.00463903 -9.57021e-05 -0.00017951 -0.00069862 -0.00239842 0.00122095 0.00470105 -0.000352037 -0.000288623 -0.000633554 -0.00934216 -0.000438053 0.00311247 -0.00056534 0.000717993 -0.000523581 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1371 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 444.548 0 0 newEnergyL 0 lastEnergy: 453.521 0 0 lastEnergyL: 0mActiveResiduals: 1371 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.26692e-12 7.73896e-14 5.48323e-12 -1.07009e-14 -0.00807304 0.00485622 -0.0167506 0.000358183 -0.000177995 0.00180316 0.00800079 -0.00395541 0.0169416 -0.00212863 -0.000338961 0.0010273 -0.00740525 0.0131597 -0.0118713 -0.000266628 -0.000316644 -0.00126603 -0.000423669 0.00694981 0.00245804 -0.00069028 -0.000424263 -0.00027877 0.00150414 -0.00689404 0.00280469 -0.00222872 -0.000301943 -0.000474438 0.000845028 -0.0105832 0.00299582 -0.00296807 1.45065e-05 -0.000749014 -0.000850403 -0.00457685 0.00192579 -0.0020012 0.00020294 -0.00102977 0.0023077 -0.000541004 -0.000166568 -0.00132226 -0.000260845 -0.00107995 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1371 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 428.191 0 0 newEnergyL 0 lastEnergy: 444.548 0 0 lastEnergyL: 0mActiveResiduals: 1371 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 2.11418e-13 -1.50749e-12 1.31438e-12 2.16317e-12 -0.00113492 -0.00924394 0.00263517 -0.00291212 -0.00243791 0.00402649 -0.000229058 -0.0138292 -0.00668527 -0.00275522 -0.0022131 0.00557258 -0.0115302 -0.0046198 0.00519533 -0.000763133 3.52639e-05 0.00563181 -0.00418413 0.00399906 -0.0043027 -0.00126866 -0.00165078 0.00239146 0.00534351 0.00195514 0.00246796 -0.00248425 -0.00391337 0.00155593 0.000561365 0.00776029 0.0039957 -0.00162172 -0.00347994 0.00128666 0.00219647 0.00534954 0.00360277 -0.00222199 -0.0037012 0.00119385 -0.000388463 0.00674404 0.00636388 -0.00220344 -0.00330734 0.000839746 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1371 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 418.13 0 0 newEnergyL 0 lastEnergy: 428.191 0 0 lastEnergyL: 0mActiveResiduals: 1371 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -6.67105e-13 -3.73351e-14 2.50615e-12 1.85974e-12 -0.00581701 0.00953987 0.000779699 7.10951e-05 0.00596033 -0.00494581 0.011185 0.0200392 0.023409 0.000522326 0.00432967 -0.00661202 0.0201201 0.0200282 -0.00822864 -0.000486246 0.000692921 -0.0079563 -0.00444735 0.00839047 0.00261136 -9.09441e-05 0.00406777 -0.0050282 0.000650371 -0.0132898 -0.00933732 -0.00102831 0.00578602 -0.003587 0.00124389 -0.0137924 -0.00988807 -0.00103711 0.00607988 -0.0034321 -0.00072569 -0.0140766 -0.00913662 -0.000604994 0.00648988 -0.00366765 0.00298059 -0.0105771 -0.00909793 0.000157569 0.00599345 -0.00354557 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1371 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 412.411 0 0 newEnergyL 0 lastEnergy: 418.13 0 0 lastEnergyL: 0mActiveResiduals: 1371 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 412.411 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1371 INF|LocalMapper.cpp[optimize,345]: End Energy: 412.411 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.560658 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.560658 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 122 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 122 with idx: 3 and allID: 580 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->122 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->122 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->122 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 122<->122 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->122 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 135<->122 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 136<->122 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 137<->122 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 122 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 580: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 121/577: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 121 allId: 577 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.998871 0.00783034 0.0468558 -0.076445 -0.00978211 0.999088 0.0415715 -0.0730523 -0.0464875 -0.0419829 0.998036 0.0694387 worldPose: 0.746391 -0.041267 -0.664227 -2.05283 -0.337298 0.836931 -0.431019 1.99282 0.573698 0.545751 0.610758 1.46816 after: 0.746391 -0.041267 -0.664227 -2.05283 -0.337298 0.836931 -0.431019 1.99282 0.573698 0.545751 0.610758 1.46816 worldPose of new: 0.714103 -0.0761435 -0.695888 -1.95548 -0.35056 0.821548 -0.449629 2.05726 0.605942 0.565031 0.559977 1.51687 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.998871 0.00783034 0.0468558 -0.076445 -0.00978211 0.999088 0.0415715 -0.0730523 -0.0464875 -0.0419829 0.998036 0.0694387 INF|Mapper.cpp[changeRefFrame,578]: Updating: 581 from old kf id: 122/580 with new ref frame: 577/121 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 580 after changeRefFrame: 0.998871 0.00783034 0.0468558 -0.076445 -0.00978211 0.999088 0.0415715 -0.0730523 -0.0464875 -0.0419829 0.998036 0.0694387 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 122 to normal frame with refFrame: 121 frame id kf: 580 newref id: 577 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 122 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 10476 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x288943e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 137 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 92 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 48 with distance 0.18Found rest min at: 91 with distance 0.156 overall min: 0.156 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 48 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 711 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 137 into DB 0.18 48 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 48 and real id(76) current kf: 137(646) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.997711 -0.0351087 -0.0578018 -1.76074 0.0373222 0.998593 0.0376713 0.0136661 0.0563978 -0.0397424 0.997617 0.0368081 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 76 currFrame: 137 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.997711 -0.0351087 -0.0578018 -1.76074 0.0373222 0.998593 0.0376713 0.0136661 0.0563978 -0.0397424 0.997617 0.0368081 avg 0.000367732 eye: 0.000657891 edge: 137 to 76 INF|Tracker.cpp[trackFrames,78]: initPose: 0.997711 -0.0351087 -0.0578018 -1.76074 0.0373222 0.998593 0.0376713 0.0136661 0.0563978 -0.0397424 0.997617 0.0368081 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 137 to 76 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 341(1311875584.593364) and 646(1311875594.771600) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.997711 -0.0351087 -0.0578018 -1.76074 0.0373222 0.998593 0.0376713 0.0136661 0.0563978 -0.0397424 0.997617 0.0368081 Input.cpp[readImages,206]: Got image from sensor!648 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 12,0.999988 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2357/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 137 to 76 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 341(1311875584.593364) and 646(1311875594.771600) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.961903 0.0686453 -0.264632 -1.15631 -0.034518 0.990712 0.131521 -0.295303 0.271203 -0.117376 0.955339 0.201573 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999563 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:385/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 137 to 76 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 341(1311875584.593364) and 646(1311875594.771600) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.957448 0.0742282 -0.278896 -1.10612 -0.0360937 0.989569 0.139464 -0.313899 0.286339 -0.123464 0.95014 0.217847 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999631 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1132/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.954645 0.0762851 -0.287808 -1.06739 -0.0356087 0.988935 0.14401 -0.324817 0.295609 -0.12723 0.946799 0.218045 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 75 end 78 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 649 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 16693 o[1]: 1159 o[2]: 222 o[3]: 14 histWeights: 1 1 1.25 1.5overlap: 1457.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 5305 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 76 and 137 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 137 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 137 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 8107 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 647 keyframes 138 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.803823 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!649 INF|Input.cpp[getImages,132]: mNbReceivedImages!650 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999874 0.000914194 -0.0158394 0.0131257 -0.000952124 0.999997 -0.00238727 0.00324335 0.0158372 0.00240205 0.999872 0.00967315 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 137 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.803823) and 646(1311875594.771600) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999874 0.000914194 -0.0158394 0.0131257 -0.000952124 0.999997 -0.00238727 0.00324335 0.0158372 0.00240205 0.999872 0.00967315 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999356 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2180/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 137 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.803823) and 646(1311875594.771600) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999837 0.0028442 -0.0178315 0.00639556 -0.00297166 0.99997 -0.00712593 -0.0129753 0.0178107 0.00717776 0.999816 -0.0036369 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2027/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 137 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.803823) and 646(1311875594.771600) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999833 0.0024648 -0.0181165 0.0150699 -0.00259099 0.999973 -0.00694514 -0.0056915 0.0180989 0.00699092 0.999812 -0.00344277 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999644 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:938/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.523603 resInfo good: 5235, 70 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6259/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999899 0.00337819 -0.0137845 0.00489983 -0.00345885 0.999977 -0.00583137 -0.00499923 0.0137645 0.00587846 0.999888 -0.00377516 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!647 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 467 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.839886 Input.cpp[readImages,206]: Got image from sensor!649 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999597 0.00667493 -0.0275858 0.00983431 -0.00699753 0.999908 -0.0116143 -0.00999328 0.0275057 0.0118026 0.999552 -0.00751185 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 137 to 93454336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.839886) and 646(1311875594.771600) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999597 0.00667493 -0.0275858 0.00983431 -0.00699753 0.999908 -0.0116143 -0.00999328 0.0275057 0.0118026 0.999552 -0.00751185 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 650 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999758 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1666/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 137 to 93454336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.839886) and 646(1311875594.771600) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999804 0.00187108 -0.0197333 -0.0236837 -0.0018945 0.999998 -0.00116823 -0.0307999 0.019731 0.00120538 0.999805 -0.0207 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999536 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1984/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 137 to 93454336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.839886) and 646(1311875594.771600) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99955 0.00440808 -0.0296715 0.0167859 -0.00461962 0.999964 -0.00706441 -0.00490328 0.0296393 0.0071983 0.999535 -0.0172916 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999777 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1810/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.66415 resInfo good: 5258, 47 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6597/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999662 0.00487421 -0.0255395 0.00576752 -0.00507406 0.999957 -0.00776608 0.00104294 0.0255005 0.00789305 0.999644 -0.0186964 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!648 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!650 INF|Input.cpp[getImages,132]: mNbReceivedImages!651 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 541 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.872008 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999284 0.00634643 -0.0372938 0.00681991 -0.00671186 0.999931 -0.00968164 0.00711291 0.0372298 0.00992502 0.999257 -0.0335944 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 137 to 680050016 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.872008) and 646(1311875594.771600) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999284 0.00634643 -0.0372938 0.00681991 -0.00671186 0.999931 -0.00968164 0.00711291 0.0372298 0.00992502 0.999257 -0.0335944 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2953/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 137 to 680050016 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.872008) and 646(1311875594.771600) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999514 0.00280679 -0.0310534 -0.0192551 -0.00324699 0.999895 -0.0141342 0.0133988 0.0310105 0.0142282 0.999418 -0.0166886 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999747 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2539/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 137 to 680050016 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.872008) and 646(1311875594.771600) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999151 0.00216425 -0.0411395 0.0194549 -0.00242358 0.999978 -0.0062548 -0.0060903 0.0411251 0.0063492 0.999134 -0.0137766 Input.cpp[readImages,206]: Got image from sensor!650 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 6): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3017/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.789023 resInfo good: 5305, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9532/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999299 0.0025027 -0.0373518 0.00987037 -0.00271994 0.99998 -0.00576625 -0.00373809 0.0373366 0.0058638 0.999286 -0.0132333 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!649 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 651 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 480 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.901475 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 6 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998791 0.000155325 -0.0491636 0.0139191 -0.000342281 0.999993 -0.00379435 -0.0084984 0.0491626 0.00380659 0.998784 -0.00771212 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 137 to 13983140942735998976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.901475) and 646(1311875594.771600) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998791 0.000155325 -0.0491636 0.0139191 -0.000342281 0.999993 -0.00379435 -0.0084984 0.0491626 0.00380659 0.998784 -0.00771212 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!651 INF|Input.cpp[getImages,132]: mNbReceivedImages!652 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999503 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1755/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 137 to 13983140942735998976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.901475) and 646(1311875594.771600) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998824 0.00320545 -0.0483779 0.00148471 -0.00376608 0.999927 -0.0115018 -0.0115406 0.0483374 0.0116705 0.998763 -0.021001 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2576/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 137 to 13983140942735998976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.901475) and 646(1311875594.771600) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998724 0.00318584 -0.0503964 0.0136089 -0.00382554 0.999913 -0.012602 -0.000275298 0.0503519 0.0127788 0.99865 -0.0180929 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999927 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2001/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.921891 resInfo good: 5280, 25 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7572/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998745 0.00327876 -0.0499704 0.0155637 -0.0037802 0.999943 -0.00994367 -0.00532128 0.049935 0.0101201 0.998701 -0.0158457 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!650 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!651 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 652 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.939952 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!652 INF|Input.cpp[getImages,132]: mNbReceivedImages!653 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998032 0.00400098 -0.0625842 0.0212883 -0.00489306 0.999889 -0.0141072 -0.00689859 0.0625208 0.0143856 0.99794 -0.0183927 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 137 to 13979605974197993472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.939952) and 646(1311875594.771600) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998032 0.00400098 -0.0625842 0.0212883 -0.00489306 0.999889 -0.0141072 -0.00689859 0.0625208 0.0143856 0.99794 -0.0183927 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1533/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 137 to 13979605974197993472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.939952) and 646(1311875594.771600) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998023 0.00353206 -0.0627552 0.0205965 -0.00443535 0.999888 -0.0142604 -0.00732776 0.0626978 0.0145105 0.997927 -0.0218381 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999583 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1764/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 137 to 13979605974197993472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.939952) and 646(1311875594.771600) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998161 0.00313409 -0.0605421 0.0180631 -0.00406082 0.999876 -0.0151903 0.00163429 0.060487 0.0154082 0.99805 -0.0246236 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2072/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.00782 resInfo good: 5295, 10 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6492/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998209 0.00319133 -0.059741 0.0183465 -0.0039238 0.999919 -0.0121476 -0.00492132 0.0596973 0.0123602 0.99814 -0.0229211 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875594.939952 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875594.939952 to keyframe with id: 13979605974197993472 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875594.939952 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 965 size: 6879 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId13979605974197993472 timestamp: 1311875594.939952 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -7.82507 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -8.24568 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.23133 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -12.8372 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 634 keyframeId: 135 score: -14.1404 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 641 keyframeId: 136 score: -11.556 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 138 = 138 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x217b1300 fh1 0x1ec6dbe0fh->id: 116 138 651goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x217b1300 fh1 0x226194c0fh->id: 118 138 651goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x217b1300 fh1 0x2a5d2ba0fh->id: 119 138 651goodE: 14 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x217b1300 fh1 0xb113840fh->id: 134 138 651goodE: 225 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x217b1300 fh1 0x2b3bc7c0fh->id: 135 138 651goodE: 85 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x217b1300 fh1 0x2c2aa8a0fh->id: 136 138 651goodE: 25 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x217b1300 fh1 0x288943e0fh->id: 137 138 651goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew138 Input.cpp[readImages,206]: Got image from sensor!652 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 653 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 122 out of 138 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 138 newEdgePixels: 138 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1791 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 309 lastEnergy: 586.891 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 67 INF|LocalMapper.cpp[optimize,276]: Start Energy: 586.891 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 8.38827e-12 -7.29842e-13 -6.7829e-12 -4.294e-13 0.00118142 -0.0132842 0.0064579 0.00331261 -0.00265196 -0.000175912 -0.0095357 -0.00694648 -0.0477836 0.00447951 -0.00409599 -0.00085524 -0.0208309 0.000183774 -0.0166253 0.00477566 -0.000358404 0.000484121 -0.00370856 0.00085895 0.0127094 0.00402161 -0.00192931 0.00247579 -0.00639495 -0.00286729 0.0110382 0.00356531 -0.00200351 0.00286812 -0.00763937 0.00696015 0.0104756 0.00480244 -0.00212558 0.00296447 0.00247759 -0.00240451 0.013948 0.00319123 -0.00378237 0.00320718 -0.0138633 0.0125931 0.0136222 0.00524769 -0.00128233 0.00374582 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1791 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 560.183 0 0 newEnergyL 0 lastEnergy: 586.891 0 0 lastEnergyL: 0mActiveResiduals: 1791 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -5.06407e-12 8.18246e-13 4.86823e-12 2.18781e-12 0.000302988 0.00201763 -0.00409389 0.000170656 -0.000402738 -0.000224999 0.0114079 0.0207309 0.0133687 0.00121782 -0.00103651 -0.00139756 -0.00543357 0.043794 -0.0102021 0.00382255 -0.000258745 -0.00247206 -0.00348566 -0.015542 0.0137986 -0.00235389 -0.000194114 0.00154052 -0.00933026 -0.01291 0.0120653 -0.00193274 0.000631152 0.00128159 -0.0108157 -0.0114645 0.0102321 -0.00184743 0.000675445 0.00119088 -0.0113087 -0.0103572 0.0104262 -0.00162283 0.000784305 0.00107101 -0.0139017 -0.0100776 0.0110289 -0.00179308 0.000864679 0.000895484 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1791 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 535.365 0 0 newEnergyL 0 lastEnergy: 560.183 0 0 lastEnergyL: 0mActiveResiduals: 1791 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -8.69291e-13 -1.15443e-12 -6.18964e-12 -1.87773e-13 0.00404305 0.00226866 0.0112146 0.000509127 -0.00352772 -0.000164021 -0.00956486 0.00509325 -0.0385694 0.00132247 -0.00474207 -0.00161746 -0.00187538 -0.0149457 -0.00322534 -0.000779224 -0.00275547 0.000964859 -0.00138713 -0.000343699 0.00380237 0.00088666 -0.00298122 -0.00154538 -0.00110137 0.000597677 0.00491716 0.00120648 -0.00314147 -0.00118001 -0.000169276 0.00208585 0.00480282 0.00128327 -0.00351228 -0.00107654 -0.00683951 -0.0020899 0.00840122 0.000676022 -0.00269227 -0.00129639 -0.00650421 2.48734e-05 0.00519585 0.00111439 -0.00250587 -0.00127328 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1791 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 517.154 0 0 newEnergyL 0 lastEnergy: 535.365 0 0 lastEnergyL: 0mActiveResiduals: 1791 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -4.13741e-12 1.18352e-12 1.03515e-11 -2.15255e-12 -0.00700055 0.00210839 -0.0232879 -0.000856564 8.36592e-05 -0.00314501 0.00208407 0.00411637 0.0163251 0.000290929 0.00190747 -5.44752e-05 0.00239871 0.0105143 -0.0162974 0.000827016 -0.000694203 -0.0017823 0.00209696 -0.00326412 0.00334235 -0.00041307 0.000229392 -0.00111047 -0.000914957 -0.00596446 0.00313807 -0.000644718 0.000730765 -0.000835003 -0.00574208 -0.00563456 0.00190893 -0.000558922 0.00138939 -0.000810046 -0.00141432 -0.00230818 0.00295349 0.000104446 0.000843881 -0.00119099 -0.00497455 -0.00439413 0.00364127 -0.000175748 0.00105071 -0.000835508 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1791 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 500.82 0 0 newEnergyL 0 lastEnergy: 517.154 0 0 lastEnergyL: 0mActiveResiduals: 1791 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!653 INF|Input.cpp[getImages,132]: mNbReceivedImages!654 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -4.19477e-13 5.74712e-13 -7.43655e-12 -3.50214e-13 0.00536398 0.00856623 0.0143595 0.0012118 -0.00253704 0.00139523 -0.00960734 -0.00426918 -0.0270625 -0.00141202 -0.00382992 -0.000372951 -0.00349053 -0.00490923 0.000207814 -0.00128426 -0.0012216 0.00175686 -0.00242531 0.00124647 0.00248448 -0.000300384 -0.00179234 -0.00115016 2.46092e-05 0.000452067 0.00341664 -0.000349137 -0.00193133 -0.000901189 0.00285538 0.000139149 0.00247579 -0.000392154 -0.0022646 -0.00103313 -0.00489959 -0.000938925 0.00225836 -0.000565207 -0.00110265 -0.000734875 0.00168466 -0.00328892 0.00346398 -0.000765511 -0.00167238 -0.00130634 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1791 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 493.205 0 0 newEnergyL 0 lastEnergy: 500.82 0 0 lastEnergyL: 0mActiveResiduals: 1791 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.93444e-12 2.65786e-13 -6.85468e-12 -1.44589e-12 0.00128016 -0.0164157 -0.00214438 -0.00511136 0.00416106 -0.00137934 0.0106477 0.00939836 0.0291173 -0.00114345 0.00555898 0.00138597 0.0133782 0.0193505 -0.00254426 -6.92466e-05 0.0024375 -0.00102171 0.00353598 0.00498826 -0.0114439 -0.00156773 0.00387399 -0.00122273 -0.000660837 -0.00389157 -0.00774139 -0.00284962 0.00450394 -0.000719402 -0.00156081 -0.00458811 -0.00720656 -0.00269607 0.00480792 -0.000741934 0.00319465 -0.000621138 -0.00516799 -0.0021617 0.00417019 -0.0012397 -0.00639292 -0.0016616 -0.00545 -0.0021664 0.00540371 -0.000957677 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1791 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 475.706 0 0 newEnergyL 0 lastEnergy: 493.205 0 0 lastEnergyL: 0mActiveResiduals: 1791 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 475.706 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1791 INF|LocalMapper.cpp[optimize,345]: End Energy: 475.706 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.520039 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.520039 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 135 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 135 with idx: 4 and allID: 634 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->135 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 135->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->135 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->135 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->135 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 135->134 INF|LocalMapper.cpp[marginalizeFrame,772]: 135<->135 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 136<->135 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 135->136 INF|LocalMapper.cpp[marginalizeFrame,801]: 135 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 135 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 12348 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x217b1300 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 138 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 93 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 48 with distance 0.172Found rest min at: 92 with distance 0.128 overall min: 0.128 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 48 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 723 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 138 into DB 0.172 48 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 48 and real id(76) current kf: 138(651) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.99925 -0.0385833 0.0033458 -1.80102 0.038364 0.997972 0.050785 0.0156468 -0.00529847 -0.0506185 0.998704 0.0755053 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 76 currFrame: 138 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.99925 -0.0385833 0.0033458 -1.80102 0.038364 0.997972 0.050785 0.0156468 -0.00529847 -0.0506185 0.998704 0.0755053 avg 0.000377111 eye: 0.00051198 edge: 138 to 76 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99925 -0.0385833 0.0033458 -1.80102 0.038364 0.997972 0.050785 0.0156468 -0.00529847 -0.0506185 0.998704 0.0755053 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 138 to 76 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 341(1311875584.593364) and 651(1311875594.939952) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99925 -0.0385833 0.0033458 -1.80102 0.038364 0.997972 0.050785 0.0156468 -0.00529847 -0.0506185 0.998704 0.0755053 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999996 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1035/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 138 to 76 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 341(1311875584.593364) and 651(1311875594.939952) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999536 -0.0162176 -0.0257671 -1.68319 0.0174125 0.99875 0.0468453 0.0126567 0.0249752 -0.0472723 0.99857 0.0164818 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999931 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:821/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 138 to 76 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 341(1311875584.593364) and 651(1311875594.939952) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999536 -0.0162341 -0.0257686 -1.68319 0.0174288 0.998751 0.0468357 0.0125989 0.024976 -0.0472631 0.99857 0.0165185 Input.cpp[readImages,206]: Got image from sensor!653 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 8,0.999998 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2181/2 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.997215 -0.0259126 -0.0699364 -1.56914 0.0277561 0.999289 0.0255176 0.0652972 0.0692254 -0.0273877 0.997225 0.0680626 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 75 end 78 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 18247 o[1]: 1510 o[2]: 269 o[3]: 22 histWeights: 1 1 1.25 1.5overlap: 1879.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 6879 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 76 and 138 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 138 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 138 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 8126 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 652 keyframes 139 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 528 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 654 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875594.971561 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99991 0.000502581 -0.0134196 0.0141715 -0.000507585 1 -0.00036942 -0.00574048 0.0134194 0.000376198 0.99991 -0.00728576 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 138 to 631505344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.971561) and 651(1311875594.939952) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99991 0.000502581 -0.0134196 0.0141715 -0.000507585 1 -0.00036942 -0.00574048 0.0134194 0.000376198 0.99991 -0.00728576 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.99969 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:571/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 138 to 631505344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.971561) and 651(1311875594.939952) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999897 -0.0104786 -0.00984114 0.0037611 0.0105975 0.999871 0.0121043 -0.0591382 0.00971303 -0.0122074 0.999878 0.00733645 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!654 INF|Input.cpp[getImages,132]: mNbReceivedImages!655 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999725 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1627/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 138 to 631505344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875594.971561) and 651(1311875594.939952) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999928 -0.00594912 -0.0104235 0.00202595 0.00593288 0.999981 -0.00158897 -0.00955232 0.0104327 0.00152701 0.999944 0.00179398 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 4): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2966/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.440608 resInfo good: 6879, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6412/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999933 -0.0052861 -0.0103235 0.00546508 0.00527095 0.999985 -0.00149362 -0.00451202 0.0103312 0.00143911 0.999946 0.00240774 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!652 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.003536 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999395 -0.0159008 -0.0309415 0.0163905 0.0157645 0.999865 -0.00464358 -0.0134603 0.0310112 0.00415299 0.99951 0.00737276 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 138 to 631505344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.003536) and 651(1311875594.939952) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999395 -0.0159008 -0.0309415 0.0163905 0.0157645 0.999865 -0.00464358 -0.0134603 0.0310112 0.00415299 0.99951 0.00737276 Input.cpp[readImages,206]: Got image from sensor!654 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999333 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1762/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 138 to 631505344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.003536) and 651(1311875594.939952) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999807 -0.0128011 -0.0148762 -0.0226202 0.0129117 0.99989 0.00736036 -0.075877 0.0147803 -0.00755102 0.999862 8.51776e-05 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999989 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2716/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 138 to 631505344 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 655 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.003536) and 651(1311875594.939952) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999685 -0.0115082 -0.022322 0.00591073 0.0114424 0.99993 -0.00307358 -0.0301088 0.0223558 0.0028172 0.999746 0.000335761 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999499 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1692/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.654003 resInfo good: 6848, 31 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7118/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99969 -0.0115262 -0.0220751 0.0089773 0.0113522 0.999904 -0.00799181 -0.00790626 0.0221651 0.00773873 0.999724 -0.00144377 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!653 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 468 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.040073 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!655 INF|Input.cpp[getImages,132]: mNbReceivedImages!656 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99927 -0.0178394 -0.0337827 0.0125556 0.0173556 0.999743 -0.0145606 -0.011254 0.0340338 0.0139636 0.999323 -0.00527509 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 138 to 631505344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.040073) and 651(1311875594.939952) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99927 -0.0178394 -0.0337827 0.0125556 0.0173556 0.999743 -0.0145606 -0.011254 0.0340338 0.0139636 0.999323 -0.00527509 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 5): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3269/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 138 to 631505344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.040073) and 651(1311875594.939952) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999335 -0.013604 -0.0338382 0.00877779 0.0130821 0.999793 -0.0155965 -0.0160771 0.0340434 0.0151434 0.999306 -0.00574439 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3484/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 138 to 631505344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.040073) and 651(1311875594.939952) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999392 -0.0133902 -0.0321991 0.00887186 0.0129304 0.999812 -0.0144475 -0.0124674 0.0323865 0.0140223 0.999377 -0.00627214 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.99915 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:728/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.777223 resInfo good: 6870, 9 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8649/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999409 -0.0128784 -0.0318859 0.00974688 0.0124164 0.999816 -0.0146434 -0.00725902 0.0320686 0.0142388 0.999384 -0.0063551 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!654 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 451 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!655 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 656 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.072250 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999029 -0.0142942 -0.0416843 0.0105638 0.0134147 0.999683 -0.0213044 -0.00657832 0.0419757 0.0207245 0.998904 -0.0112542 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 138 to 631505344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.072250) and 651(1311875594.939952) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999029 -0.0142942 -0.0416843 0.0105638 0.0134147 0.999683 -0.0213044 -0.00657832 0.0419757 0.0207245 0.998904 -0.0112542 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!656 INF|Input.cpp[getImages,132]: mNbReceivedImages!657 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 3): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2563/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 138 to 631505344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.072250) and 651(1311875594.939952) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998962 -0.017897 -0.0418912 0.00757615 0.0169834 0.999612 -0.022064 -0.00926834 0.0422698 0.0213296 0.998879 -0.00773692 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 6): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3362/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 138 to 631505344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.072250) and 651(1311875594.939952) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999088 -0.0177329 -0.0388359 0.00303196 0.0170282 0.999686 -0.0184009 -0.0135739 0.03915 0.0177228 0.999076 -0.00965363 Input.cpp[readImages,206]: Got image from sensor!656 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 7): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3583/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.854538 resInfo good: 6879, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10648/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999083 -0.0174725 -0.0390804 0.00700985 0.0167642 0.999691 -0.01838 -0.00905894 0.0393894 0.017708 0.999067 -0.0084352 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!655 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1304 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 657 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.104244 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!657 INF|Input.cpp[getImages,132]: mNbReceivedImages!658 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998215 -0.0267338 -0.0534107 0.00160588 0.0253757 0.999341 -0.0259457 -0.0126727 0.0540691 0.024544 0.998236 -0.0126741 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 138 to 631505344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.104244) and 651(1311875594.939952) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998215 -0.0267338 -0.0534107 0.00160588 0.0253757 0.999341 -0.0259457 -0.0126727 0.0540691 0.024544 0.998236 -0.0126741 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 8): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3934/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 138 to 631505344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.104244) and 651(1311875594.939952) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99856 -0.0248625 -0.0475408 -0.00303074 0.0234839 0.999294 -0.02934 -0.0101916 0.0482367 0.0281813 0.998438 -0.0119875 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999718 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2825/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 138 to 631505344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.104244) and 651(1311875594.939952) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998319 -0.0257021 -0.0519566 0.0166293 0.0243625 0.999358 -0.0262541 -0.0138815 0.052598 0.0249442 0.998304 -0.0131483 Input.cpp[readImages,206]: Got image from sensor!657 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999838 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1910/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.979618 resInfo good: 6875, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9827/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998373 -0.0256062 -0.0509478 0.0166738 0.0242064 0.999317 -0.0279048 -0.0044013 0.0516276 0.0266261 0.998311 -0.0110073 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!656 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 529 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 658 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!658 INF|Input.cpp[getImages,132]: mNbReceivedImages!659 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.138401 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.997457 -0.0338433 -0.0627295 0.0263307 0.0315295 0.998799 -0.0375147 0.000355256 0.0639237 0.0354414 0.997325 -0.0134197 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 138 to 631505344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.138401) and 651(1311875594.939952) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.997457 -0.0338433 -0.0627295 0.0263307 0.0315295 0.998799 -0.0375147 0.000355256 0.0639237 0.0354414 0.997325 -0.0134197 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.99915 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1222/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 138 to 631505344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.138401) and 651(1311875594.939952) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997453 -0.0342613 -0.062562 0.0254867 0.0319182 0.998765 -0.0380751 -0.00198354 0.0637892 0.0359812 0.997315 -0.016598 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999165 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1091/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 138 to 631505344 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.138401) and 651(1311875594.939952) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.997851 -0.0323081 -0.0570018 0.0158593 0.0304349 0.998978 -0.0334304 -0.00735648 0.0580236 0.0316238 0.997814 -0.01149 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999405 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1185/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.05696 resInfo good: 6868, 11 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4589/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.997804 -0.0331692 -0.0573323 0.0159323 0.0313907 0.999006 -0.0316478 -0.0121628 0.0583251 0.0297786 0.997853 -0.0173855 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875595.138401 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875595.138401 to keyframe with id: 631505344 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875595.138401 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1122 size: 9033 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId631505344 timestamp: 1311875595.138401 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -7.90817 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -8.40293 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.18088 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -10.9378 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 641 keyframeId: 136 score: -16.4273 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 646 keyframeId: 137 score: -14.4978 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 139 = 139 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2e462340 fh1 0x1ec6dbe0fh->id: 116 139 657goodE: 22 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2e462340 fh1 0x226194c0fh->id: 118 139 657goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2e462340 fh1 0x2a5d2ba0fh->id: 119 139 657goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2e462340 fh1 0xb113840fh->id: 134 139 657goodE: 279 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2e462340 fh1 0x2c2aa8a0fh->id: 136 139 657goodE: 36 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2e462340 fh1 0x288943e0fh->id: 137 139 657goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2e462340 fh1 0x217b1300fh->id: 138 139 657goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew139 Input.cpp[readImages,206]: Got image from sensor!658 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 115 out of 132 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 132 newEdgePixels: 132 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1758 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 355 lastEnergy: 458.778 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 77 INF|LocalMapper.cpp[optimize,276]: Start Energy: 458.778 0 0 lastEnergyL: 0 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 659 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.08112e-11 5.10656e-12 -5.8307e-12 -2.84665e-11 -0.0029873 0.00375721 0.00141912 0.00398524 0.00157067 0.00274584 -0.0139347 -0.0147324 -0.0145242 0.0019792 0.00191941 0.0015697 0.00508977 -0.000554526 0.00235948 0.00307466 0.000469556 0.00181402 -0.00969883 -0.0172889 0.00344663 -0.00045325 0.00153661 0.004457 -0.0174679 -0.01589 0.00328038 -0.000601878 0.00295141 0.00351873 -0.0174936 -0.0147909 -0.00020459 -0.000622758 0.00280475 0.00381549 -0.00768149 -0.0174716 0.00163054 -0.00133859 0.0012581 0.00363231 -0.00973084 -0.0152089 0.00138131 -0.00128498 0.00131077 0.00335086 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1758 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 431.557 0 0 newEnergyL 0 lastEnergy: 458.778 0 0 lastEnergyL: 0mActiveResiduals: 1758 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 6.35602e-13 -4.21596e-13 -5.89853e-12 3.48952e-12 -0.00209598 -0.0030335 -0.00150464 -1.49225e-05 0.000412296 0.000377409 0.0160888 -0.00879071 0.0127759 -0.00130138 -0.00128015 -0.000248805 0.00162234 0.00286997 0.0137074 0.000484268 0.000420315 0.000256418 -0.00875849 0.000202907 -0.00424201 4.09065e-05 0.000919671 0.00116613 -0.0048871 0.000738264 -0.0012275 3.53423e-06 0.00021017 0.001754 0.000956421 -0.0020156 -0.00126889 -0.000561036 -0.000917904 0.00145097 -0.00641807 -0.00017339 -0.00133497 -0.000352691 0.000257406 0.0015961 -0.0072994 0.000362184 -0.00374601 -0.00028862 0.000550628 0.0016936 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1758 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 420.634 0 0 newEnergyL 0 lastEnergy: 431.557 0 0 lastEnergyL: 0mActiveResiduals: 1758 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.06976e-11 -4.02618e-13 1.81585e-11 -2.57189e-13 -0.0019245 0.017704 -0.0181092 0.00160843 -0.00347976 5.96598e-05 -0.0141171 -0.00215547 -0.00484431 -0.000276812 -0.00111309 0.000462624 -0.0110583 0.0039219 -0.0146137 0.000634833 -0.00192024 -0.00038831 0.00725348 0.00162722 0.00914694 0.00040019 -0.00377546 -0.00140145 0.00205623 -0.00503587 0.0080882 -0.000371466 -0.00308617 -0.00182786 -0.0060715 -0.00680093 0.00744976 -0.000558046 -0.00179233 -0.00164926 -0.00362418 -0.006475 0.00658758 -0.000371854 -0.00221159 -0.00156163 -0.0032094 -0.0112312 0.00723246 -0.000892297 -0.00248839 -0.00213203 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1758 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 405.507 0 0 newEnergyL 0 lastEnergy: 420.634 0 0 lastEnergyL: 0mActiveResiduals: 1758 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.33576e-11 -1.97377e-12 -9.42288e-12 1.11521e-11 0.0103423 -0.0173963 0.0176038 -0.00415393 -0.000248574 0.00125602 0.001985 0.00695724 -0.00856627 -0.00061055 -0.000835137 0.00113583 -0.000130894 -5.99341e-05 0.00406814 -0.00158378 8.74465e-06 0.000599225 -0.00749513 0.00116522 -0.00632645 -0.00186454 0.000637527 0.000772248 -0.00285012 -0.000253907 -0.00272054 -0.00222221 -0.000175764 0.00132719 0.00352425 0.00227198 -0.00291293 -0.0019539 -0.0011729 0.000809892 0.00455024 0.00601663 0.000179211 -0.00157689 -0.00165252 0.000159063 0.000609919 0.00403993 -0.00168379 -0.00179503 -0.00089508 0.000813437 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1758 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 410.178 0 0 newEnergyL 0 lastEnergy: 405.507 0 0 lastEnergyL: 0mActiveResiduals: 1758 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.54373e-11 1.97593e-12 1.1948e-11 -4.90997e-12 -0.00723762 0.0192993 -0.0105701 0.00262472 -0.000953904 -0.000743939 -0.0160031 0.00257152 -0.00166467 0.000194509 0.000499081 -0.00178209 -0.0120459 -0.00200526 -0.0135416 -0.000443966 -0.00105818 -0.00261178 0.0118861 0.00351374 0.00970654 0.00155786 -0.00283194 -0.00110184 0.00250917 -0.00273486 0.00770745 0.000791226 -0.00139942 -0.0018874 -0.00399358 -0.00386414 0.00680964 0.000735385 -0.000424727 -0.00123267 -0.00422679 -0.00992691 0.00667852 -6.34796e-06 -6.08936e-05 -0.00075111 0.00487617 -0.012305 0.00567073 -0.000208403 -0.00156023 -0.00147956 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1758 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 395.886 0 0 newEnergyL 0 lastEnergy: 410.178 0 0 lastEnergyL: 0mActiveResiduals: 1758 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!659 INF|Input.cpp[getImages,132]: mNbReceivedImages!660 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.61646e-11 8.59035e-16 -9.48097e-12 9.99509e-12 0.0107146 -0.0139369 0.0256218 -0.00353159 -0.000642892 0.00243114 -0.00201769 -0.00131409 -0.01855 -0.000526596 -0.00127267 0.00319121 -0.00230683 -0.00488301 0.00975229 -0.00142099 0.000124743 0.00224157 -0.00703513 0.00188264 -0.00842157 -0.00188242 -5.90012e-05 0.00113648 0.000613397 0.000228755 -0.00264245 -0.00229688 -0.0014382 0.00190979 0.00792803 0.00485787 -0.00164251 -0.00171506 -0.00269172 0.00119861 0.00381401 0.00817181 -0.000290347 -0.00141799 -0.00256587 0.000519087 -0.00284224 0.00787864 0.00198593 -0.00137344 -0.00155199 0.000816955 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1758 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 414.175 0 0 newEnergyL 0 lastEnergy: 395.886 0 0 lastEnergyL: 0mActiveResiduals: 1758 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 414.175 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1758 INF|LocalMapper.cpp[optimize,345]: End Energy: 414.175 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.487185 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.487185 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 136 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 136 with idx: 4 and allID: 641 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->136 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 136->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->136 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->136 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->136 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 136->134 INF|LocalMapper.cpp[marginalizeFrame,772]: 136<->136 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 137<->136 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 136->137 INF|LocalMapper.cpp[marginalizeFrame,801]: 136 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 136 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 12181 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2e462340 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 139 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 94 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 49 with distance 0.162Found rest min at: 93 with distance 0.148 overall min: 0.148 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 49 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 710 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 139 into DB 0.162 49 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 49 and real id(77) current kf: 139(657) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.997318 -0.0337513 0.0649482 -1.78465 0.0305893 0.998326 0.0490786 -0.0457225 -0.066496 -0.0469602 0.996681 0.0962774 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 77 currFrame: 139 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.997318 -0.0337513 0.0649482 -1.78465 0.0305893 0.998326 0.0490786 -0.0457225 -0.066496 -0.0469602 0.996681 0.0962774 avg 0.000328566 eye: 0.000399647 edge: 139 to 77 INF|Tracker.cpp[trackFrames,78]: initPose: 0.997318 -0.0337513 0.0649482 -1.78465 0.0305893 0.998326 0.0490786 -0.0457225 -0.066496 -0.0469602 0.996681 0.0962774 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 139 to 77 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 347(1311875584.795099) and 657(1311875595.138401) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.997318 -0.0337513 0.0649482 -1.78465 0.0305893 0.998326 0.0490786 -0.0457225 -0.066496 -0.0469602 0.996681 0.0962774 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999256 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2124/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 139 to 77 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 347(1311875584.795099) and 657(1311875595.138401) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998971 -0.0389841 0.023196 -1.74476 0.0435193 0.967903 -0.247529 0.805236 -0.0128018 0.248284 0.968603 0.488847 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999031 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:864/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 139 to 77 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 347(1311875584.795099) and 657(1311875595.138401) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998857 -0.039341 0.0271465 -1.7591 0.0450516 0.964632 -0.259721 0.844641 -0.0159687 0.260647 0.965302 0.495017 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999721 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1188/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.998722 -0.0395197 0.0315127 -1.77508 0.0465983 0.961415 -0.271128 0.88458 -0.0195819 0.27225 0.962027 0.502828 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 76 end 79 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!659 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 18057 o[1]: 2590 o[2]: 489 o[3]: 38 histWeights: 1 1 1.25 1.5overlap: 3258.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 9033 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 77 and 139 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 139 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 139 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 8625 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 658 keyframes 140 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 533 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.169123 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 660 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999946 -0.00747154 -0.00721436 0.000996897 0.00744193 0.999964 -0.00412235 -0.0049983 0.0072449 0.00406843 0.999965 -0.00602939 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 139 to 4762343184724393984 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.169123) and 657(1311875595.138401) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999946 -0.00747154 -0.00721436 0.000996897 0.00744193 0.999964 -0.00412235 -0.0049983 0.0072449 0.00406843 0.999965 -0.00602939 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!660 INF|Input.cpp[getImages,132]: mNbReceivedImages!661 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 4): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4167/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 139 to 4762343184724393984 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.169123) and 657(1311875595.138401) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999965 -0.00458457 -0.00705838 0.000592716 0.00456012 0.999984 -0.00347659 -0.00566253 0.0070742 0.00344428 0.999969 0.000242908 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999679 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4115/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 139 to 4762343184724393984 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.169123) and 657(1311875595.138401) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999974 -0.00418075 -0.00583583 0.00196926 0.00418165 0.999991 0.000142312 -0.0111974 0.00583519 -0.000166712 0.999983 -0.00074215 Input.cpp[readImages,206]: Got image from sensor!660 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.99989 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3659/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.344852 resInfo good: 9033, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 13726/13 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999973 -0.00434306 -0.00599377 0.00546685 0.00433315 0.999989 -0.00166616 -0.00246907 0.00600094 0.00164014 0.999981 -0.000227297 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!658 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.204455 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 661 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99989 -0.00869578 -0.01198 0.0109456 0.00865613 0.999957 -0.00335824 -0.00491404 0.0120087 0.00325418 0.999923 -0.000425833 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 139 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.204455) and 657(1311875595.138401) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99989 -0.00869578 -0.01198 0.0109456 0.00865613 0.999957 -0.00335824 -0.00491404 0.0120087 0.00325418 0.999923 -0.000425833 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999804 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2213/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 139 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.204455) and 657(1311875595.138401) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999942 -0.00935661 -0.00530106 -0.0100366 0.00930444 0.999909 -0.00978179 -0.0191978 0.0053921 0.0097319 0.999938 0.00653456 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!661 INF|Input.cpp[getImages,132]: mNbReceivedImages!662 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999842 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3306/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 139 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.204455) and 657(1311875595.138401) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999911 -0.00876475 -0.0100162 0.0136018 0.00871342 0.999949 -0.00515677 -0.0257457 0.0100609 0.00506904 0.999937 0.00501861 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999055 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1521/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.576558 resInfo good: 8958, 75 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8846/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999925 -0.00839792 -0.0089614 0.0135117 0.00834192 0.999946 -0.00626873 -0.0175492 0.00901356 0.0061935 0.99994 0.00307163 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!659 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.240150 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999851 -0.0124661 -0.0119102 0.0216077 0.0123366 0.999865 -0.010883 -0.0326117 0.0120443 0.0107345 0.99987 0.00632573 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 139 to 4762343184724393984 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.240150) and 657(1311875595.138401) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999851 -0.0124661 -0.0119102 0.0216077 0.0123366 0.999865 -0.010883 -0.0326117 0.0120443 0.0107345 0.99987 0.00632573 Input.cpp[readImages,206]: Got image from sensor!661 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 662 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:5420/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 139 to 4762343184724393984 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.240150) and 657(1311875595.138401) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999846 -0.0129982 -0.0117583 0.00787963 0.0127259 0.999656 -0.0229387 -0.00745177 0.0120524 0.0227856 0.999668 0.000185616 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999542 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3662/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 139 to 4762343184724393984 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.240150) and 657(1311875595.138401) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999858 -0.0128412 -0.0109353 0.011699 0.0126362 0.999747 -0.0186172 -0.0156651 0.0111716 0.0184764 0.999767 -0.00157824 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!662 INF|Input.cpp[getImages,132]: mNbReceivedImages!663 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999861 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2854/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.695436 resInfo good: 9024, 9 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 13661/13 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999852 -0.0128795 -0.0113622 0.0153757 0.0126576 0.999732 -0.0193846 -0.00904163 0.0116088 0.019238 0.999748 -0.00125624 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!660 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.272226 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999807 -0.0151318 -0.0125405 0.0162975 0.0148025 0.999554 -0.0259453 -0.00476372 0.0129275 0.0257547 0.999585 -0.00337666 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 139 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.272226) and 657(1311875595.138401) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999807 -0.0151318 -0.0125405 0.0162975 0.0148025 0.999554 -0.0259453 -0.00476372 0.0129275 0.0257547 0.999585 -0.00337666 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999955 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2301/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 139 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.272226) and 657(1311875595.138401) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999832 -0.0173976 -0.0058096 -0.0066123 0.0173081 0.999736 -0.0151244 -0.0350166 0.00607119 0.0150214 0.999869 -0.0121763 Input.cpp[readImages,206]: Got image from sensor!662 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999085 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1442/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 139 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.272226) and 657(1311875595.138401) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999753 -0.0188198 -0.0118242 0.0216786 0.0185388 0.999553 -0.0234467 -0.00128712 0.0122602 0.0232217 0.999655 -0.00483408 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.99969 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1012/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.710523 resInfo good: 9033, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6746/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999781 -0.0180382 -0.0105785 0.0181266 0.017817 0.999628 -0.020641 -0.00778043 0.0109469 0.020448 0.999731 -0.00782861 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!661 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 486 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 663 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!663 INF|Input.cpp[getImages,132]: mNbReceivedImages!664 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.304351 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999736 -0.020617 -0.0101843 0.019498 0.0203968 0.999566 -0.0212676 -0.00714155 0.0106183 0.0210542 0.999722 -0.0111149 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 139 to 4762343184724393984 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.304351) and 657(1311875595.138401) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999736 -0.020617 -0.0101843 0.019498 0.0203968 0.999566 -0.0212676 -0.00714155 0.0106183 0.0210542 0.999722 -0.0111149 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.99977 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2981/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 139 to 4762343184724393984 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.304351) and 657(1311875595.138401) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999647 -0.0249004 -0.0093102 0.0156225 0.0246774 0.999423 -0.0233379 -0.0306268 0.00988595 0.0230999 0.999684 -0.0016564 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999045 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2317/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 139 to 4762343184724393984 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.304351) and 657(1311875595.138401) on lvl: 0 Input.cpp[readImages,206]: Got image from sensor!663 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999638 -0.0242307 -0.0117006 0.029419 0.0239724 0.999476 -0.021737 -0.0277862 0.0122212 0.0214487 0.999695 0.00108014 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999594 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1920/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.843156 resInfo good: 8986, 47 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9079/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999593 -0.0253697 -0.0130221 0.0356677 0.0250679 0.999425 -0.0228391 -0.0195739 0.013594 0.0225034 0.999654 0.000551397 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!662 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 664 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!664 INF|Input.cpp[getImages,132]: mNbReceivedImages!665 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.340461 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999038 -0.0400431 -0.0178603 0.0709398 0.0395475 0.998845 -0.027288 -0.0428299 0.0189323 0.0265555 0.999468 0.0173746 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 139 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.340461) and 657(1311875595.138401) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999038 -0.0400431 -0.0178603 0.0709398 0.0395475 0.998845 -0.027288 -0.0428299 0.0189323 0.0265555 0.999468 0.0173746 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999059 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2180/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 139 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.340461) and 657(1311875595.138401) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.9996 -0.0273276 -0.00728233 0.0245712 0.0270397 0.998947 -0.0370603 -0.0276762 0.00828743 0.0368486 0.999286 -0.00323894 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999479 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2396/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 139 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.340461) and 657(1311875595.138401) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999569 -0.0271233 -0.0112399 0.0399737 0.0266917 0.998962 -0.0369183 -0.0224567 0.0122296 0.0366024 0.999255 -0.00186222 Input.cpp[readImages,206]: Got image from sensor!664 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999435 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1324/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.985145 resInfo good: 9013, 20 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7975/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999569 -0.0273045 -0.0107642 0.0409715 0.0268868 0.998946 -0.0372061 -0.0179393 0.0117687 0.0369007 0.99925 -0.00217935 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!663 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 469 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 665 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.372584 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!665 INF|Input.cpp[getImages,132]: mNbReceivedImages!666 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999554 -0.0282597 -0.0096248 0.0436199 0.0278061 0.998627 -0.0443854 -0.0171033 0.0108659 0.0440979 0.998968 -0.0035402 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 139 to 4762343184724393984 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.372584) and 657(1311875595.138401) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999554 -0.0282597 -0.0096248 0.0436199 0.0278061 0.998627 -0.0443854 -0.0171033 0.0108659 0.0440979 0.998968 -0.0035402 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999973 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4872/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 139 to 4762343184724393984 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.372584) and 657(1311875595.138401) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999676 -0.0252862 0.00307756 0.011542 0.0254013 0.998614 -0.0460961 -0.0179423 -0.0019077 0.0461593 0.998932 -0.0121646 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999843 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2378/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 139 to 4762343184724393984 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.372584) and 657(1311875595.138401) on lvl: 0 Input.cpp[readImages,206]: Got image from sensor!665 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999652 -0.0263205 -0.00160226 0.0335663 0.0262261 0.998712 -0.0434254 -0.0184322 0.00274317 0.0433682 0.999055 -0.00878128 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999526 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2262/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.0333 resInfo good: 9024, 9 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11334/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999618 -0.0273695 -0.00373362 0.0427296 0.0271755 0.998631 -0.0446996 -0.00984497 0.00495192 0.0445811 0.998993 -0.00546078 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875595.372584 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875595.372584 to keyframe with id: 4762343184724393984 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875595.372584 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 666 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1128 size: 8739 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId4762343184724393984 timestamp: 1311875595.372584 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -7.79197 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -8.39375 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.15489 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -10.1584 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 646 keyframeId: 137 score: -13.2655 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 651 keyframeId: 138 score: -11.8557 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 140 = 140 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2261baa0 fh1 0x1ec6dbe0fh->id: 116 140 664goodE: 24 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2261baa0 fh1 0x226194c0fh->id: 118 140 664goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2261baa0 fh1 0x2a5d2ba0fh->id: 119 140 664goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2261baa0 fh1 0xb113840fh->id: 134 140 664goodE: 288 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2261baa0 fh1 0x288943e0fh->id: 137 140 664goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2261baa0 fh1 0x217b1300fh->id: 138 140 664goodE: 40 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2261baa0 fh1 0x2e462340fh->id: 139 140 664goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew140 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 190 out of 216 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 216 newEdgePixels: 216 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1992 Input.cpp[readImages,192]: readImages loop! ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 331 lastEnergy: 575.691 0 0 INF|Input.cpp[getImages,128]: getimages!666 INF|Input.cpp[getImages,132]: mNbReceivedImages!667 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 77 INF|LocalMapper.cpp[optimize,276]: Start Energy: 575.691 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.85874e-12 -9.40101e-12 -1.30934e-11 -2.61847e-11 -0.00466973 0.00523195 -0.00969273 0.00426918 0.00451708 -0.00296657 -0.027501 -0.00469571 0.00919784 0.00296162 0.00844319 -0.00123761 -0.0161999 -0.00236818 -0.0168043 0.00171871 0.00451291 -0.00421515 0.0166457 -0.0189954 0.0107568 0.00114734 0.00232093 0.000727589 -0.00734649 -0.0233944 0.00560655 0.000658265 0.00665776 0.00109093 0.0104995 -0.0277144 0.00806376 0.000241933 0.0040808 0.000987488 0.0140278 -0.0346544 0.00807479 -0.000915021 0.00335194 0.000778397 0.0047684 -0.0395708 0.00547012 -0.0015088 0.00413487 0.000284322 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1992 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 518.861 0 0 newEnergyL 0 lastEnergy: 575.691 0 0 lastEnergyL: 0mActiveResiduals: 1992 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.47492e-11 -6.63811e-12 -7.22371e-12 1.11144e-11 -0.00345573 -0.00923857 -0.00485009 -0.000432301 0.000407475 0.000508563 0.0134896 -0.00330992 -0.011529 -0.000440381 -0.00234505 -0.000316299 0.0130382 -0.00501014 0.0279883 -0.00100776 -0.000500248 -0.000162786 -0.0139569 -0.00154768 0.0146898 -0.000196682 0.00156165 0.00153338 -0.00230891 0.0123616 0.0204153 0.00172752 -0.00133754 0.00153906 -0.0160777 0.00133344 0.0169217 -5.4628e-05 0.000293683 0.00178268 -0.0199922 0.0042141 0.0177556 0.000392589 0.000920452 0.00148667 -0.0216839 2.91297e-05 0.0169585 0.000102853 0.00158064 0.00094067 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1992 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 509.521 0 0 newEnergyL 0 lastEnergy: 518.861 0 0 lastEnergyL: 0mActiveResiduals: 1992 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.02238e-11 -2.26818e-13 1.13948e-11 1.59403e-12 0.000585755 0.00492212 0.0136204 0.000255521 0.00134451 6.2285e-05 -0.00212813 0.00993869 0.00590629 0.000250203 0.0011925 -0.00145129 -0.0113861 0.00121244 0.00244181 -0.000530441 0.00195723 -0.00148546 0.00642954 0.00464775 0.00115194 0.000558755 -0.000175505 -0.000604132 0.00133056 0.000189061 -0.00221131 -5.12269e-05 0.00135087 -0.00106745 0.00938138 -0.00306419 -0.000772967 -0.000378423 0.000467631 -0.000744565 0.0058871 -0.00097609 -0.00151025 -8.52314e-05 0.000947369 -0.00043475 0.00614231 -0.010414 -0.00543394 -0.00148366 0.000641043 -0.00101762 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1992 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 493.169 0 0 newEnergyL 0 lastEnergy: 509.521 0 0 lastEnergyL: 0mActiveResiduals: 1992 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 8.335e-12 3.29828e-12 -1.12245e-11 1.07409e-11 -0.0151642 0.00207446 -0.0340494 0.00312921 -0.00345597 -0.000240059 -0.00168836 -0.0101255 -0.0151992 0.00213677 -0.00400402 0.000859424 0.00836842 -0.0128602 -0.0115004 0.000834701 -0.0048141 -0.000723245 -0.0051257 -0.00435843 0.00432025 0.00204046 -0.00252292 -0.000282848 -0.00437321 0.0036228 0.0107205 0.00325357 -0.00393499 0.000378958 -0.0108447 -0.000317248 0.00856307 0.00268579 -0.00345049 0.000571679 -0.0106843 -0.000594089 0.0111781 0.00268902 -0.00354875 2.50687e-05 -0.0130874 0.00465363 0.0139993 0.00374288 -0.0029271 -0.000450649 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1992 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 509.067 0 0 newEnergyL 0 lastEnergy: 493.169 0 0 lastEnergyL: 0mActiveResiduals: 1992 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.11551e-11 4.8337e-13 1.2307e-11 -8.69164e-12 0.0165598 0.00448204 0.0301768 -0.00295143 -0.000170816 0.00176874 -0.0254032 0.00998432 -0.00778237 -0.000708161 0.00349453 0.0027086 -0.0175766 0.00360105 -0.00578138 -0.00241405 0.00155927 -1.8608e-05 0.00862554 0.0019335 0.00429114 -0.00287754 -0.00145798 -0.000273122 0.00390301 -0.00283168 0.00110304 -0.0035181 3.63138e-05 -0.00128223 0.00705261 -0.002218 0.00337424 -0.0033802 -0.000193829 -0.00123016 0.00691455 -0.00214314 -0.000432408 -0.00334161 -0.000165615 -0.00115778 0.00900995 -0.00710306 -0.00346082 -0.00408777 -0.000788554 -0.00153525 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1992 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 478.245 0 0 newEnergyL 0 lastEnergy: 509.067 0 0 lastEnergyL: 0mActiveResiduals: 1992 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.09869e-11 -3.05738e-12 -1.00878e-11 1.33365e-11 -0.0135771 -0.00447632 -0.0247501 0.00337953 0.000419751 -0.000383039 0.00905502 -0.0173599 0.0024929 0.00119255 -0.00122439 5.96826e-05 0.0171072 -0.0140074 0.00339234 0.00150837 -0.00160434 0.00104989 -0.00694994 0.000665748 -0.00269155 0.00271827 0.000981949 0.0018893 -0.00348822 0.00464674 0.00392427 0.00303441 -0.000272488 0.0025782 -0.00370651 0.00675827 -0.000446133 0.00325463 -0.00038581 0.00257516 -0.00780183 0.00380471 0.0035627 0.00272658 3.88592e-05 0.002457 -0.00906654 0.0129092 0.00613477 0.00424616 0.000338348 0.00301443 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1992 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 478.701 0 0 newEnergyL 0 lastEnergy: 478.245 0 0 lastEnergyL: 0mActiveResiduals: 1992 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 478.701 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1992 INF|LocalMapper.cpp[optimize,345]: End Energy: 478.701 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.493824 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.493824 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 137 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 137 with idx: 4 and allID: 646 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->137 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 137->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->137 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->137 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->137 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 137->134 INF|LocalMapper.cpp[marginalizeFrame,772]: 137<->137 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 138<->137 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 137->138 INF|LocalMapper.cpp[marginalizeFrame,801]: 137 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 137 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 12879 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2261baa0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 140 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 95 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 50 with distance 0.166Found rest min at: 94 with distance 0.108 overall min: 0.108 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 50 Input.cpp[readImages,206]: Got image from sensor!666 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 729 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 140 into DB 0.166 50 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 50 and real id(78) current kf: 140(664) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.99609 -0.0227569 0.0853646 -1.78362 0.018874 0.998762 0.0460205 -0.0767748 -0.0863062 -0.0442294 0.995286 0.142031 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 78 currFrame: 140 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.99609 -0.0227569 0.0853646 -1.78362 0.018874 0.998762 0.0460205 -0.0767748 -0.0863062 -0.0442294 0.995286 0.142031 avg 0.000312371 eye: 0.000381416 edge: 140 to 78 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99609 -0.0227569 0.0853646 -1.78362 0.018874 0.998762 0.0460205 -0.0767748 -0.0863062 -0.0442294 0.995286 0.142031 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 140 to 78 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 352(1311875584.958241) and 664(1311875595.372584) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99609 -0.0227569 0.0853646 -1.78362 0.018874 0.998762 0.0460205 -0.0767748 -0.0863062 -0.0442294 0.995286 0.142031 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 667 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999983 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3067/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 140 to 78 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 352(1311875584.958241) and 664(1311875595.372584) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.992335 0.0253889 0.120942 -2.04593 0.00600827 0.967598 -0.252423 0.789191 -0.123432 0.251215 0.960029 0.820052 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999934 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1583/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 140 to 78 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 352(1311875584.958241) and 664(1311875595.372584) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.9925 0.0257901 0.119493 -2.03733 0.00400869 0.9701 -0.242671 0.758313 -0.122179 0.24133 0.962721 0.815082 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999961 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1551/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.992686 0.0250477 0.118101 -2.03057 0.00397465 0.97093 -0.23933 0.747751 -0.120663 0.238049 0.963729 0.809344 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 77 end 80 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!667 INF|Input.cpp[getImages,132]: mNbReceivedImages!668 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 14594 o[1]: 2496 o[2]: 323 o[3]: 20 histWeights: 1 1 1.25 1.5overlap: 2929.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 8739 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 78 and 140 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 140 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 140 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 10564 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 665 keyframes 141 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 490 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.407324 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999982 -0.0023299 0.00550134 0.00821388 0.00237321 0.999966 -0.00787975 0.0114815 -0.0054828 0.00789266 0.999954 -0.00102211 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 140 to 790559744 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.407324) and 664(1311875595.372584) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999982 -0.0023299 0.00550134 0.00821388 0.00237321 0.999966 -0.00787975 0.0114815 -0.0054828 0.00789266 0.999954 -0.00102211 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999957 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2156/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 140 to 790559744 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.407324) and 664(1311875595.372584) on lvl: 1 Input.cpp[readImages,206]: Got image from sensor!667 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999987 0.00143803 -0.0048148 0.0398711 -0.00149527 0.999928 -0.0119075 -0.0229368 0.00479733 0.0119145 0.999918 0.00922538 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 4): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2923/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 140 to 790559744 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.407324) and 664(1311875595.372584) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999987 0.00233785 0.00450971 0.0177501 -0.00228283 0.999923 -0.0121669 -0.0108657 -0.00453781 0.0121564 0.999916 0.00555157 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 668 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999223 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1897/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.633372 resInfo good: 8401, 338 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8642/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999979 0.000656363 0.00639137 0.0155568 -0.000581832 0.999932 -0.0116561 -0.00668338 -0.00639858 0.0116521 0.999912 0.00415 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!665 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 475 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.439603 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!668 INF|Input.cpp[getImages,132]: mNbReceivedImages!669 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999917 0.00138714 0.0127744 0.0311355 -0.00108903 0.999728 -0.023314 -0.0134237 -0.0128032 0.0232982 0.999647 0.00812222 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 140 to 790559744 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.439603) and 664(1311875595.372584) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999917 0.00138714 0.0127744 0.0311355 -0.00108903 0.999728 -0.023314 -0.0134237 -0.0128032 0.0232982 0.999647 0.00812222 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999361 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:749/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 140 to 790559744 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.439603) and 664(1311875595.372584) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999943 0.010492 0.00182767 0.0577872 -0.0104367 0.999553 -0.0280182 -0.0299668 -0.00212082 0.0279976 0.999606 0.00558922 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999094 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1753/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 140 to 790559744 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.439603) and 664(1311875595.372584) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999876 0.0087787 0.0130835 0.0327247 -0.00838118 0.999511 -0.0301339 -0.0140906 -0.0133416 0.0300205 0.99946 0.00745829 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999648 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2233/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.936378 resInfo good: 8285, 454 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6521/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999842 0.00768172 0.0160604 0.0290309 -0.00718545 0.999502 -0.0307327 -0.00751759 -0.0162885 0.0306124 0.999399 0.00544342 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!666 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 471 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.472181 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,206]: Got image from sensor!668 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999562 0.0148885 0.0255919 0.0425108 -0.0135985 0.998664 -0.0498607 -0.00846687 -0.0263 0.0494908 0.998428 0.00658759 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 140 to 790559744 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.472181) and 664(1311875595.372584) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999562 0.0148885 0.0255919 0.0425108 -0.0135985 0.998664 -0.0498607 -0.00846687 -0.0263 0.0494908 0.998428 0.00658759 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999961 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:967/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 140 to 790559744 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.472181) and 664(1311875595.372584) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999625 0.0153204 0.0226967 0.049439 -0.0144262 0.999133 -0.0390499 -0.0396714 -0.0232752 0.0387078 0.998979 0.000637495 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 669 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999929 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1952/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 140 to 790559744 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.472181) and 664(1311875595.372584) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99951 0.0148234 0.027564 0.0418493 -0.0135886 0.998919 -0.0444564 -0.0104307 -0.0281932 0.0440601 0.998631 0.00301236 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999375 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1442/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.13268 resInfo good: 8281, 458 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5935/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999466 0.0139183 0.0295645 0.0397381 -0.0125771 0.998904 -0.0450758 -0.00328671 -0.0301595 0.0446799 0.998546 0.00805924 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875595.472181 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875595.472181 to keyframe with id: 790559744 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875595.472181 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 956 size: 6475 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId790559744 timestamp: 1311875595.472181 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -8.00709 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -8.68679 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.11311 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -9.87357 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 651 keyframeId: 138 score: -15.881 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 657 keyframeId: 139 score: -14.282 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 141 = 141 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2f1efc20 fh1 0x1ec6dbe0fh->id: 116 141 667goodE: 26 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2f1efc20 fh1 0x226194c0fh->id: 118 141 667goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2f1efc20 fh1 0x2a5d2ba0fh->id: 119 141 667goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2f1efc20 fh1 0xb113840fh->id: 134 141 667goodE: 292 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2f1efc20 fh1 0x217b1300fh->id: 138 141 667goodE: 65 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2f1efc20 fh1 0x2e462340fh->id: 139 141 667goodE: 88 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2f1efc20 fh1 0x2261baa0fh->id: 140 141 667goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew141 Input.cpp[readImages,192]: readImages loop! INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 146 out of 163 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 163 newEdgePixels: 163 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2318 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 359 lastEnergy: 664.344 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 63 INF|LocalMapper.cpp[optimize,276]: Start Energy: 664.344 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.20854e-11 9.83137e-12 -9.16712e-12 -3.21368e-11 0.0143111 -0.00209596 0.0226429 -0.00349826 0.00177602 -0.00118404 0.00671001 0.0111699 0.00614259 -0.00156122 0.00214973 -0.000936081 -0.0185339 0.0325851 -0.00695611 0.000701698 0.00330351 -0.00295541 0.0022258 0.00420483 0.0214589 -0.00106727 0.00164817 -0.00228704 -0.005476 -0.000205985 0.0211034 -0.00098674 0.00327363 -0.00250648 -0.000397668 -0.00216355 0.0149481 -0.00121999 0.00253489 -0.00218374 0.00177988 -0.00570117 0.0135257 -0.00180097 0.00220586 -0.00285992 0.000964868 -0.00244362 0.020937 -0.000910594 0.00187654 -0.00331813 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2318 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 630.492 0 0 newEnergyL 0 lastEnergy: 664.344 0 0 lastEnergyL: 0mActiveResiduals: 2318 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.54234e-11 -3.33393e-12 -1.50553e-11 2.25146e-11 -0.00222811 -0.000567916 0.00278297 -0.000135789 0.00061913 3.28555e-05 0.0142329 0.00510298 -0.00573923 1.79432e-05 -0.00198417 -0.00145556 0.0230359 -0.00775028 0.0248073 -0.00114224 -0.000912829 0.000567144 0.00173579 -0.00795005 0.0173706 -0.000609095 -0.000216811 -0.00130616 -0.00201804 0.00181434 0.0240607 0.00110175 -0.00105403 -0.00167652 -0.00146434 -0.00354084 0.0242533 0.000601498 -0.00150576 -0.00179822 -0.00262129 0.00413413 0.0265162 0.00189547 -0.00109863 -0.0020155 0.000773358 -0.00321301 0.0229481 0.000834065 -0.00110711 -0.00223021 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2318 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 614.976 0 0 newEnergyL 0 lastEnergy: 630.492 0 0 lastEnergyL: 0mActiveResiduals: 2318 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -8.92264e-12 -1.4124e-12 2.11702e-11 -9.47161e-12 0.0163075 -0.00868403 -0.0101614 -0.0033842 -0.00345315 0.000570406 0.00589993 -0.00138719 0.0060419 -0.00273583 -0.000903333 0.00207129 0.00217778 0.0150823 0.000624862 -0.000716255 -0.000710007 0.00134097 -0.00225879 0.00217413 0.00505638 -0.00222525 -0.000733162 0.000738142 -0.00432161 0.00150089 -0.00479043 -0.00241633 0.00058715 -0.000119282 -0.00144345 0.0009303 -0.00482622 -0.00270037 0.000282669 -4.40432e-05 -0.00332407 -0.0040028 -0.00772316 -0.00345931 0.00066103 -0.000351262 -0.00398715 -0.00408796 -0.00603167 -0.00345606 0.000603719 -0.000265102 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2318 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 610.875 0 0 newEnergyL 0 lastEnergy: 614.976 0 0 lastEnergyL: 0mActiveResiduals: 2318 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 9.26721e-12 1.51795e-12 -6.93755e-12 1.83053e-11 -0.00845024 0.0028748 -0.000226939 0.0023269 0.000961303 -0.000727575 -0.00544583 0.00517747 -0.0085637 0.00260718 -0.00022124 -0.00235517 0.003493 -0.0116322 -0.00207522 0.00104267 -0.000658119 -0.00111204 -0.00137308 -0.00361796 -0.00583596 0.00202071 0.000274939 -0.000457544 -0.000383344 -0.000214022 0.00575684 0.00237211 -0.000869217 -0.00010906 -0.00043785 -0.00174725 0.00502337 0.00237304 -0.00107648 -0.00015051 -0.000213355 0.00205964 0.00642254 0.00303479 -0.00112333 4.05129e-05 -0.00198592 0.00240421 0.00493269 0.00314399 -0.00061894 -0.000403919 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2318 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 598.721 0 0 newEnergyL 0 lastEnergy: 610.875 0 0 lastEnergyL: 0mActiveResiduals: 2318 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.42385e-11 1.04058e-13 1.31798e-11 -1.54518e-11 0.0151442 -0.00315528 0.0094079 -0.0028725 0.000213955 0.000974128 0.0112872 0.00451206 0.0114245 -0.00328307 1.66127e-05 -0.000424205 -0.00188565 0.0202143 0.00521423 -0.00143206 0.00119432 -0.000633461 -0.00179732 -0.00162769 0.0005137 -0.00297152 0.00134359 -6.53217e-05 0.000869131 -0.00218907 -0.0095397 -0.0028355 0.00245531 -0.000734349 0.0052447 -0.00231094 -0.0105648 -0.00312631 0.00211465 -0.000599237 0.00277244 -0.00460549 -0.0111625 -0.00362347 0.00257304 -0.000889664 0.00221322 -0.000623436 -0.00782501 -0.00306335 0.00248638 -0.000587286 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2318 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 596.892 0 0 newEnergyL 0 lastEnergy: 598.721 0 0 lastEnergyL: 0mActiveResiduals: 2318 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.09476e-11 3.67117e-12 -4.76464e-12 1.82608e-11 -0.00711474 0.00238789 -0.00283434 0.00123787 -0.00100169 0.000759234 -0.0143112 -0.00617655 -0.00964297 0.00159193 0.000381833 0.00242844 -0.0031111 -0.0128274 -0.00614034 0.000370129 -0.000954447 0.0010851 5.88705e-05 0.00165257 6.69635e-05 0.000978351 -0.00144319 0.000722497 0.00137615 0.00213431 0.00879027 0.000677329 -0.00276932 0.000591943 -0.00219196 0.000163708 0.00922212 0.000643716 -0.00255834 0.000199992 -0.00111676 0.00368164 0.00907999 0.00131733 -0.00280665 0.000459717 -0.000436654 0.00139629 0.00655624 0.00105614 -0.00258022 0.000321739 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2318 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 573.818 0 0 newEnergyL 0 lastEnergy: 596.892 0 0 lastEnergyL: 0mActiveResiduals: 2318 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 573.818 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2318 Input.cpp[readImages,206]: Got image from sensor!669 INF|LocalMapper.cpp[optimize,345]: End Energy: 573.818 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.516136 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.516136 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 138 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 138 with idx: 4 and allID: 651 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->138 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 138->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->138 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->138 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->138 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 138->134 INF|LocalMapper.cpp[marginalizeFrame,772]: 138<->138 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 139<->138 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 138->139 INF|LocalMapper.cpp[marginalizeFrame,801]: 138 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 138 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 12650 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2f1efc20 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 141 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 96 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 51 with distance 0.17Found rest min at: 95 with distance 0.158 overall min: 0.158 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 51 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 721 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 141 into DB 0.17 51 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 51 and real id(79) current kf: 141(667) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.996453 -0.0378681 0.0751437 -1.75736 0.034094 0.998122 0.0508872 -0.101841 -0.0769296 -0.0481447 0.995873 0.1756 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 79 currFrame: 141 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.996453 -0.0378681 0.0751437 -1.75736 0.034094 0.998122 0.0508872 -0.101841 -0.0769296 -0.0481447 0.995873 0.1756 avg 0.000479771 eye: 0.000604039 edge: 141 to 79 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 4222 < 2253 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 141 and 79 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 141 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 141 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1517 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 668 keyframes 142 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 670 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 543 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.510685 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!670 INF|Input.cpp[getImages,132]: mNbReceivedImages!671 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999894 0.00484896 0.0137411 0.0110683 -0.00465859 0.999893 -0.013852 0.00494662 -0.0138068 0.0137865 0.99981 0.000627127 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 141 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.510685) and 667(1311875595.472181) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999894 0.00484896 0.0137411 0.0110683 -0.00465859 0.999893 -0.013852 0.00494662 -0.0138068 0.0137865 0.99981 0.000627127 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999834 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2968/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 141 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.510685) and 667(1311875595.472181) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999889 0.00777218 0.0126781 0.00840855 -0.00757908 0.999856 -0.0152086 0.000843833 -0.0127945 0.0151108 0.999804 -0.0109027 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999105 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2628/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 141 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.510685) and 667(1311875595.472181) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999856 0.0076862 0.0150989 0.00738076 -0.00749897 0.999895 -0.0124176 -0.000787139 -0.0151928 0.0123026 0.999809 -0.00702842 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999805 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1356/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.606936 resInfo good: 6475, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8230/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999827 0.00772218 0.0169369 0.00441298 -0.00752955 0.999907 -0.0114078 -0.000789012 -0.0170234 0.0112783 0.999791 -0.00621385 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!668 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.539921 Input.cpp[readImages,206]: Got image from sensor!670 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999307 0.0156333 0.0337792 0.00871385 -0.0148629 0.999626 -0.0229396 -0.00154029 -0.0341252 0.0224217 0.999166 -0.0125104 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 141 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.539921) and 667(1311875595.472181) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999307 0.0156333 0.0337792 0.00871385 -0.0148629 0.999626 -0.0229396 -0.00154029 -0.0341252 0.0224217 0.999166 -0.0125104 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 671 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999247 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3061/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 141 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.539921) and 667(1311875595.472181) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999733 0.0102271 0.0207208 0.0352791 -0.00979476 0.999734 -0.0208623 -0.0211491 -0.0209286 0.0206538 0.999568 -0.0105151 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999182 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2915/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 141 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.539921) and 667(1311875595.472181) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999519 0.00977091 0.0294212 0.0129338 -0.00901813 0.999631 -0.0256112 0.000504059 -0.0296606 0.0253335 0.999239 -0.00205007 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!671 INF|Input.cpp[getImages,132]: mNbReceivedImages!672 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1921/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.888116 resInfo good: 6438, 37 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9049/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999513 0.00991438 0.029598 0.0154945 -0.00924346 0.999699 -0.022719 -0.0052682 -0.0298143 0.0224343 0.999304 -0.00128007 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!669 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.573218 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999294 0.0110634 0.0359174 0.0210551 -0.0100461 0.999547 -0.0283815 -0.00753661 -0.0362151 0.0280007 0.998952 0.00111492 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 141 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.573218) and 667(1311875595.472181) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999294 0.0110634 0.0359174 0.0210551 -0.0100461 0.999547 -0.0283815 -0.00753661 -0.0362151 0.0280007 0.998952 0.00111492 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999089 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2059/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 141 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.573218) and 667(1311875595.472181) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998981 0.0136623 0.0430069 0.00214964 -0.012293 0.999414 -0.0319439 -0.00599494 -0.0434181 0.0313827 0.998564 -0.0247777 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999786 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1921/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 141 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.573218) and 667(1311875595.472181) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999039 0.0129134 0.0418833 0.0143124 -0.0115355 0.99939 -0.0329751 0.00485328 -0.0422835 0.0324603 0.998578 -0.0165749 Input.cpp[readImages,206]: Got image from sensor!671 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1579/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.996169 resInfo good: 6373, 102 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6646/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999041 0.0126883 0.0419117 0.0150261 -0.0113443 0.999419 -0.0321517 0.00313687 -0.0422953 0.0316454 0.998604 -0.0166607 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!670 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 672 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.608424 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!672 INF|Input.cpp[getImages,132]: mNbReceivedImages!673 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998745 0.0141178 0.0480563 0.0147283 -0.0123505 0.999244 -0.0368766 0.00739375 -0.0485405 0.0362368 0.998164 -0.0243189 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 141 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.608424) and 667(1311875595.472181) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998745 0.0141178 0.0480563 0.0147283 -0.0123505 0.999244 -0.0368766 0.00739375 -0.0485405 0.0362368 0.998164 -0.0243189 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.99926 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:591/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 141 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.608424) and 667(1311875595.472181) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999039 0.0107591 0.0424857 0.0339512 -0.00918031 0.999266 -0.0371823 0.00829192 -0.0428546 0.0367565 0.998405 -0.0204222 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999482 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1157/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 141 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.608424) and 667(1311875595.472181) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998834 0.00898364 0.0474234 0.0301934 -0.00737341 0.999394 -0.0340209 0.00645386 -0.0477003 0.0336316 0.998295 -0.0141761 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999754 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1094/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.09549 resInfo good: 6351, 124 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4193/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.99866 0.00986491 0.0507998 0.022204 -0.00830823 0.999492 -0.030764 0.000484945 -0.0510775 0.0303007 0.998235 -0.0157718 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875595.608424 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875595.608424 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875595.608424 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1105 size: 10920 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875595.608424 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -8.18112 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -8.83115 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.08959 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -9.56083 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 657 keyframeId: 139 score: -12.2412 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 664 keyframeId: 140 score: -10.7151 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 142 = 142 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x410659c0 fh1 0x1ec6dbe0fh->id: 116 142 671goodE: 26 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x410659c0 fh1 0x226194c0fh->id: 118 142 671goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x410659c0 fh1 0x2a5d2ba0fh->id: 119 142 671goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x410659c0 fh1 0xb113840fh->id: 134 142 671goodE: 254 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x410659c0 fh1 0x2e462340fh->id: 139 142 671goodE: 90 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x410659c0 fh1 0x2261baa0fh->id: 140 142 671goodE: 47 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x410659c0 fh1 0x2f1efc20fh->id: 141 142 671goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew142 Input.cpp[readImages,206]: Got image from sensor!672 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 245 out of 260 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 260 newEdgePixels: 260 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2325 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 395 lastEnergy: 713.117 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 72 INF|LocalMapper.cpp[optimize,276]: Start Energy: 713.117 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -2.46625e-11 1.77936e-11 -2.18266e-11 -4.10199e-11 -0.0132047 -0.00366219 -0.00120881 0.0017957 0.0024005 -0.0014115 -0.0166891 0.00257414 -0.0234596 0.00322562 0.00166871 -0.000251923 -0.0331857 0.0225522 -0.0188064 0.00431035 0.00313562 -0.00115032 -0.0133928 0.013425 -0.0208268 0.00309624 0.00276462 0.00297682 -0.014913 0.0102 -0.0273657 0.00151986 0.00459773 0.00493036 -0.0139403 0.00257754 -0.0235836 0.000240513 0.00426578 0.00448472 -0.00772087 0.00455991 -0.0250237 0.000549004 0.00298172 0.00447269 -0.0149571 0.0096484 -0.0222073 0.00165272 0.00369962 0.00461253 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2325 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 665.564 0 0 newEnergyL 0 lastEnergy: 713.117 0 0 lastEnergyL: 0mActiveResiduals: 2325 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.95093e-13 3.3589e-12 -8.56331e-12 1.4983e-11 0.000923893 0.00757949 0.00539791 0.000856257 0.000499167 0.000314948 0.00442315 0.0109178 0.0219407 -0.000629629 0.000169074 -0.00295794 -0.00925559 -0.00169604 0.00287365 -0.000709196 0.000885047 -0.00169535 -0.00326845 -0.00323746 0.00733729 -0.000582792 0.000534886 -0.000398367 -0.00132515 0.00388353 0.00939832 0.000810918 -0.000539698 -0.000659238 -0.00148827 0.00450451 0.0103622 0.000858433 -0.000538335 -0.000801412 -0.00154081 0.00211748 0.00832551 0.000619553 -0.000490518 -0.000912618 -0.00577042 0.00565737 0.00814787 0.00125743 0.000554764 -0.000737174 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2325 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 673 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 639.933 0 0 newEnergyL 0 lastEnergy: 665.564 0 0 lastEnergyL: 0mActiveResiduals: 2325 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 3.89219e-12 -5.09636e-12 1.20068e-11 5.46348e-13 0.00317994 0.00168482 0.0107557 -0.00154402 0.000703224 -0.000693383 -0.00808275 -0.00682205 -0.0165334 -0.000371216 0.00126829 0.00213229 0.00752568 -0.00193853 0.00109861 -0.0011255 -0.000493093 0.000390588 0.00451496 0.00451507 0.000729049 -0.000298164 -0.000469636 -0.000828901 -0.000577463 0.0007556 -0.00103015 -0.000733128 0.000590904 -0.000675359 -0.00249439 -0.00136287 -0.0010217 -0.00104424 0.00104037 -0.00068651 -0.00338379 -0.000356939 0.000155863 -0.00109166 0.00100226 -0.000729675 -0.00449676 0.00202169 0.00224607 -0.000670113 0.00135721 -0.000644167 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2325 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 622.731 0 0 newEnergyL 0 lastEnergy: 639.933 0 0 lastEnergyL: 0mActiveResiduals: 2325 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.3584e-12 3.44809e-12 -2.77809e-12 3.97878e-12 -0.0089956 0.00733882 -0.0142052 0.00280248 -0.00258171 -0.000256712 -0.00786818 0.00324147 0.00263633 0.00134289 -0.00212579 -0.0013893 -0.0121944 -0.00477637 -0.0079811 0.00140416 -0.00127335 6.76916e-07 0.00131461 -0.00873846 0.00402531 0.000456427 -0.00240267 0.000966267 0.0014442 -0.00169778 0.00845246 0.00144691 -0.00340734 0.000526756 0.00053265 8.46393e-05 0.00857309 0.00184627 -0.00341056 0.000247793 0.00251202 -0.0014972 0.00637362 0.0016425 -0.00366414 0.000139414 -8.87742e-05 -0.00181179 0.0056782 0.00165358 -0.00327814 -0.000111685 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2325 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 620.204 0 0 newEnergyL 0 lastEnergy: 622.731 0 0 lastEnergyL: 0mActiveResiduals: 2325 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -3.51034e-12 -3.44275e-12 9.8762e-12 5.40638e-13 0.00291305 -0.00660512 0.0216391 -0.00195461 0.0033961 3.3126e-06 0.00108139 0.000204869 -0.0124478 -0.000464209 0.00187053 -0.000247863 0.0103217 -0.00466357 0.00498442 -0.00177578 0.000880507 -0.000449867 0.00168345 0.00982915 -0.00136378 0.000409669 0.00170202 -0.000967593 0.000409402 0.00106379 -0.00540655 -0.000695613 0.00279605 -0.000501725 0.00039741 0.000712955 -0.00492569 -0.000855406 0.00301215 -0.000315312 -0.000624265 0.000258406 -0.00435366 -0.00106324 0.00301741 -0.000336059 -0.00242058 0.00415946 -0.00133755 -0.000501 0.00351516 -7.16986e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2325 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 612.15 0 0 newEnergyL 0 lastEnergy: 620.204 0 0 lastEnergyL: 0mActiveResiduals: 2325 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 4.04559e-12 3.82011e-12 -7.60888e-12 4.63539e-12 -0.00299536 0.00471377 -0.0287259 0.00225555 -0.0040619 0.000409926 -0.00308639 -0.00477118 0.0123614 0.000443762 -0.00188603 0.00109607 -0.00684821 0.00159843 -0.00384346 0.00192277 -0.00132389 0.00102599 -0.000569281 -0.00333509 0.00159876 0.000637139 -0.00207521 0.00147431 -0.000839369 0.00084695 0.00621095 0.000961897 -0.00304166 0.000937747 -0.00202706 -0.000101347 0.00677456 0.000909782 -0.00316476 0.000600036 -0.000731579 -0.00122475 0.00307997 0.000916318 -0.00316351 0.000843395 -0.00273569 -0.00491568 0.00332726 0.000357431 -0.00305742 0.000319633 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2325 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 605.505 0 0 newEnergyL 0 lastEnergy: 612.15 0 0 lastEnergyL: 0mActiveResiduals: 2325 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 605.505 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2325 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!673 INF|Input.cpp[getImages,132]: mNbReceivedImages!674 INF|LocalMapper.cpp[optimize,345]: End Energy: 605.505 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.517383 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.517383 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 139 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 139 with idx: 4 and allID: 657 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->139 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 139->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->139 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->139 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->139 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 139->134 INF|LocalMapper.cpp[marginalizeFrame,772]: 139<->139 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 140<->139 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 139->140 INF|LocalMapper.cpp[marginalizeFrame,801]: 139 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 139 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 13703 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x410659c0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 142 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 97 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 51 with distance 0.182Found rest min at: 96 with distance 0.146 overall min: 0.146 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 51 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 728 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 142 into DB 0.182 51 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 51 and real id(79) current kf: 142(671) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.998325 -0.0517098 0.0259419 -1.79478 0.0496169 0.995895 0.0756994 -0.0956486 -0.0297499 -0.0742854 0.996793 0.189751 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 79 currFrame: 142 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.998325 -0.0517098 0.0259419 -1.79478 0.0496169 0.995895 0.0756994 -0.0956486 -0.0297499 -0.0742854 0.996793 0.189751 avg 0.000263549 eye: 0.000391611 edge: 142 to 79 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998325 -0.0517098 0.0259419 -1.79478 0.0496169 0.995895 0.0756994 -0.0956486 -0.0297499 -0.0742854 0.996793 0.189751 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 142 to 79 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 358(1311875585.160923) and 671(1311875595.608424) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998325 -0.0517098 0.0259419 -1.79478 0.0496169 0.995895 0.0756994 -0.0956486 -0.0297499 -0.0742854 0.996793 0.189751 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 20,0.999397 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4750/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 142 to 79 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 358(1311875585.160923) and 671(1311875595.608424) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998024 0.0141329 -0.0612202 -1.76697 -0.0214677 0.992437 -0.120863 0.386016 0.059049 0.121938 0.99078 0.981851 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999382 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:455/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 142 to 79 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 358(1311875585.160923) and 671(1311875595.608424) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.997941 0.0141847 -0.0625506 -1.7666 -0.0216521 0.992493 -0.12037 0.384716 0.0603737 0.121476 0.990757 0.990057 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 0,0.999454 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:558/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.997891 0.0147499 -0.0632171 -1.76641 -0.022241 0.992587 -0.119485 0.382128 0.0609861 0.120639 0.990821 0.995341 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 78 end 81 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!673 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 15090 o[1]: 2804 o[2]: 330 o[3]: 15 histWeights: 1 1 1.25 1.5overlap: 3239 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 10920 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 79 and 142 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 142 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 142 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 10112 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 672 keyframes 143 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 525 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.640736 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 674 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999995 -0.00155419 0.00279034 0.00827678 0.00154963 0.999997 0.00163354 -0.00402222 -0.00279287 -0.00162921 0.999995 -0.00110793 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 142 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.640736) and 671(1311875595.608424) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999995 -0.00155419 0.00279034 0.00827678 0.00154963 0.999997 0.00163354 -0.00402222 -0.00279287 -0.00162921 0.999995 -0.00110793 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!674 INF|Input.cpp[getImages,132]: mNbReceivedImages!675 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:5549/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 142 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.640736) and 671(1311875595.608424) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999999 -0.00111634 0.000945064 0.02124 0.00112042 0.99999 -0.00432788 -0.0107779 -0.000940223 0.00432894 0.99999 0.00494986 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999842 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4902/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 142 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.640736) and 671(1311875595.608424) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999995 -0.00139891 0.00290989 0.0214526 0.00140276 0.999998 -0.00132032 -0.0133359 -0.00290804 0.00132439 0.999995 0.00318612 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999885 ): FINISHED pyramid level 0 (last residual reduction too small). Input.cpp[readImages,206]: Got image from sensor!674 INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2403/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.5548 resInfo good: 10909, 11 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 14688/14 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999979 -0.00179703 0.00620687 0.0147597 0.0018059 0.999997 -0.00142366 -0.00931712 -0.0062043 0.00143484 0.99998 0.00427608 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!672 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 470 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.669597 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 675 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999916 -0.00358511 0.0124161 0.0295623 0.00362059 0.999989 -0.00283608 -0.0186137 -0.0124058 0.0028808 0.999919 0.00844713 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 142 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.669597) and 671(1311875595.608424) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999916 -0.00358511 0.0124161 0.0295623 0.00362059 0.999989 -0.00283608 -0.0186137 -0.0124058 0.0028808 0.999919 0.00844713 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!675 INF|Input.cpp[getImages,132]: mNbReceivedImages!676 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4714/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 142 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.669597) and 671(1311875595.608424) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999973 -0.000207651 0.00727805 0.0378271 0.000248577 0.999984 -0.00562271 -0.0215349 -0.00727677 0.00562437 0.999958 0.000679707 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4571/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 142 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.669597) and 671(1311875595.608424) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999927 -0.000277423 0.0120534 0.0290059 0.000364211 0.999974 -0.00719873 -0.0108857 -0.0120511 0.0072026 0.999901 0.000265258 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3249/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.777796 resInfo good: 10914, 6 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 14469/14 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999924 -0.000218352 0.0123396 0.0296732 0.00030899 0.999973 -0.00734392 -0.0075869 -0.0123377 0.00734717 0.999897 0.000284769 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!673 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.708689 Input.cpp[readImages,206]: Got image from sensor!675 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999829 0.00139653 0.0184624 0.0445647 -0.00115155 0.999911 -0.013273 -0.00585599 -0.0184793 0.0132494 0.999741 -0.00378782 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 142 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.708689) and 671(1311875595.608424) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999829 0.00139653 0.0184624 0.0445647 -0.00115155 0.999911 -0.013273 -0.00585599 -0.0184793 0.0132494 0.999741 -0.00378782 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 676 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4652/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 142 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.708689) and 671(1311875595.608424) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999853 0.000882273 0.0171047 0.0453158 -0.000694857 0.99994 -0.0109599 -0.00794306 -0.0171133 0.0109464 0.999794 0.000951543 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!676 INF|Input.cpp[getImages,132]: mNbReceivedImages!677 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999126 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2827/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 142 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.708689) and 671(1311875595.608424) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999839 0.000777184 0.0179048 0.0504154 -0.000663902 0.99998 -0.00633201 -0.015901 -0.0179093 0.0063191 0.99982 -0.00195248 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999418 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1605/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.957931 resInfo good: 10891, 29 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10781/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999792 0.000825087 0.0203994 0.0449377 -0.000684389 0.999976 -0.00690324 -0.0108776 -0.0204046 0.00688784 0.999768 -0.00124288 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!674 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 452 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.740415 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999593 0.00186479 0.0284583 0.0601861 -0.00168129 0.999978 -0.00647058 -0.0141841 -0.0284697 0.0064201 0.999574 -0.00289212 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 142 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.740415) and 671(1311875595.608424) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999593 0.00186479 0.0284583 0.0601861 -0.00168129 0.999978 -0.00647058 -0.0141841 -0.0284697 0.0064201 0.999574 -0.00289212 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999995 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1398/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 142 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.740415) and 671(1311875595.608424) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999801 0.00368787 0.0196174 0.0795745 -0.00335389 0.999849 -0.0170307 -0.0187959 -0.0196773 0.0169615 0.999662 0.0145644 Input.cpp[readImages,206]: Got image from sensor!676 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3051/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 142 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.740415) and 671(1311875595.608424) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999641 0.00337308 0.0265776 0.0633738 -0.00308912 0.999938 -0.0107177 -0.0283591 -0.0266121 0.0106318 0.999589 0.00681649 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 677 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999985 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2610/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.13533 resInfo good: 10698, 222 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8550/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999613 0.00280151 0.0276671 0.0629818 -0.00246239 0.999922 -0.0122837 -0.0197017 -0.0276993 0.0122108 0.999542 0.00618713 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875595.740415 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875595.740415 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875595.740415 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1022 size: 8288 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875595.740415 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -8.06055 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -8.73731 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.04486 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -9.22454 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 664 keyframeId: 140 score: -13.131 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 667 keyframeId: 141 score: -11.9009 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 143 = 143 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04d89fb160 fh1 0x1ec6dbe0fh->id: 116 143 675goodE: 25 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04d89fb160 fh1 0x226194c0fh->id: 118 143 675goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04d89fb160 fh1 0x2a5d2ba0fh->id: 119 143 675goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04d89fb160 fh1 0xb113840fh->id: 134 143 675goodE: 277 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04d89fb160 fh1 0x2261baa0fh->id: 140 143 675goodE: 68 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04d89fb160 fh1 0x2f1efc20fh->id: 141 143 675goodE: 41 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04d89fb160 fh1 0x410659c0fh->id: 142 143 675goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew143 Input.cpp[readImages,192]: readImages loop! INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 236 out of 268 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 268 newEdgePixels: 268 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2326 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 363 lastEnergy: 697.466 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 64 INF|LocalMapper.cpp[optimize,276]: Start Energy: 697.466 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -2.99856e-11 2.69067e-12 3.51724e-11 -2.5636e-11 0.00518306 -0.00251648 0.0125823 -0.00128436 0.00264067 2.8952e-05 -0.00499013 -0.0087591 -0.00963369 -0.000836698 0.00256197 0.00123439 0.00460014 -0.00531982 -0.0100934 -0.00129483 0.000800871 -0.000228833 0.0020037 0.00201932 -0.00679404 -0.000386982 0.00206646 -0.00177458 0.00804634 0.000279487 -0.00879079 -0.000595908 0.00257337 -0.000624099 0.0111164 0.00350961 -0.00415763 -0.000171482 0.00185944 -0.000919235 0.0107907 -0.00100255 -0.00561765 -0.00101998 0.00238599 -0.000953247 0.00463169 0.00234091 0.00131288 -0.000276467 0.00261325 -0.00198267 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2326 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 647.816 0 0 newEnergyL 0 lastEnergy: 697.466 0 0 lastEnergyL: 0mActiveResiduals: 2326 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.80431e-11 -2.4463e-12 -4.54521e-13 4.3848e-12 -0.00262345 -0.0032525 -0.00422156 -0.000367567 0.000130921 -0.000210763 0.0296639 -0.00163494 0.0214107 -0.0009076 -0.00203001 -0.000222933 -0.0121745 -0.011489 -0.00307082 0.000156047 0.00201164 0.00239935 0.00341506 0.00191326 0.00374347 0.000303153 -7.36819e-05 0.00208103 -0.000572147 0.00120416 0.00521144 -0.000236324 -0.000335273 0.00157293 -0.00190493 0.00115882 0.00381907 -9.42188e-06 -0.000108556 0.00142607 -0.00337187 0.00156524 0.00660369 -1.15057e-05 -4.55322e-05 0.00115462 -0.00215879 0.00133293 0.00699042 0.000249534 9.56901e-06 0.00143207 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2326 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 625.771 0 0 newEnergyL 0 lastEnergy: 647.816 0 0 lastEnergyL: 0mActiveResiduals: 2326 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -7.23809e-12 -4.24467e-13 7.55323e-12 5.83101e-12 0.00491094 0.00727609 0.0083384 4.08565e-05 0.00159742 -0.00184113 -0.00527461 0.0049772 -0.00476186 -0.000599582 0.00163756 -0.00389467 0.00768222 -0.000217666 -0.0011931 -0.00116459 -0.000218601 -0.00279089 -0.00313512 -0.000547375 -0.00159497 0.000149088 0.00188744 -0.00156685 7.64596e-05 -0.00235847 -0.00323717 7.11136e-05 0.00204424 -0.000834275 0.000611179 -0.00116869 -0.000578144 0.000153296 0.00186844 -0.000652603 -0.000899345 -0.00324004 -0.00263944 -0.000234163 0.00223973 -0.000761305 0.00218932 -0.00257544 -0.00146665 -3.74968e-05 0.00148061 -0.000873389 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2326 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 610.074 0 0 newEnergyL 0 lastEnergy: 625.771 0 0 lastEnergyL: 0mActiveResiduals: 2326 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 8.08323e-12 -1.2565e-12 -2.40278e-12 8.31134e-12 -0.00355613 -0.00950909 0.00590871 -0.00102973 -0.000462039 0.000894225 0.00928018 -0.00493803 -0.0087157 -8.26331e-05 -0.00262296 0.00221949 -0.00249396 -0.00325769 0.00729952 0.000109361 0.000484213 0.00229506 0.00181935 0.00442418 -0.00031922 0.000446403 -0.00104108 0.00157707 0.00101789 0.00523845 0.00189646 0.000158137 -0.00133184 0.00097189 0.000447862 0.00237326 -0.00114366 -0.00019181 -0.0011521 0.000813358 -0.00288755 0.00347736 -0.000430162 -5.28306e-05 -0.000756679 0.000603771 -0.00272735 0.00293134 -0.00111546 9.2482e-07 -0.0004722 0.000817856 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2326 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 598.64 0 0 newEnergyL 0 lastEnergy: 610.074 0 0 lastEnergyL: 0mActiveResiduals: 2326 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -3.15706e-12 2.56386e-13 4.30129e-12 -3.05924e-12 0.00365525 0.00469074 -0.00267331 -0.0012729 0.00147953 -0.000410417 -0.0040083 0.000344252 0.0149939 -0.00244387 0.00319227 -0.00174621 0.00190342 0.00962968 -0.00639152 -0.000979152 0.000488756 -0.00225774 -0.00152418 -0.000831277 -0.00173218 -0.00161469 0.00174777 -0.000465464 0.000880479 -0.00416783 -0.00314872 -0.00210782 0.00192503 -0.000483916 0.00346601 -0.00328645 -0.00076867 -0.00205119 0.00144027 -3.22322e-05 0.00208046 -0.00271617 -0.00141902 -0.00194467 0.00174057 0.000220891 0.000989594 -0.00074783 -0.000942958 -0.00158148 0.00166217 -0.000171268 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2326 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 589.184 0 0 newEnergyL 0 lastEnergy: 598.64 0 0 lastEnergyL: 0mActiveResiduals: 2326 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.16325e-12 2.23648e-12 -4.52708e-12 4.5827e-12 0.000964905 -0.000878639 0.00649433 0.000840815 -0.00135202 0.00058994 0.0018474 0.00253077 -0.0107787 0.00128204 -0.00266281 0.000367394 -0.0065295 -0.00529202 0.00559591 0.00045795 -3.24923e-05 0.00152546 0.00263389 0.000388621 0.00100569 0.000795887 -0.00159576 0.000265767 0.00156671 0.00275483 0.00296738 0.0011422 -0.00191688 1.30361e-05 -0.00207022 0.0024685 -0.000816049 0.00125153 -0.00118986 -0.000369715 -0.00125328 3.39378e-05 8.99253e-05 0.000698998 -0.00149915 -0.000670376 0.00213598 -0.0018005 -0.00144724 0.000477168 -0.00160586 -0.000116748 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2326 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 582.518 0 0 newEnergyL 0 lastEnergy: 589.184 0 0 lastEnergyL: 0mActiveResiduals: 2326 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 582.518 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2326 INF|LocalMapper.cpp[optimize,345]: End Energy: 582.518 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.506016 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.506016 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 140 data: 0 Input.cpp[readImages,206]: Got image from sensor!677 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 140 with idx: 4 and allID: 664 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->140 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 140->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->140 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->140 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->140 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 140->134 INF|LocalMapper.cpp[marginalizeFrame,772]: 140<->140 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 141<->140 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 140->141 INF|LocalMapper.cpp[marginalizeFrame,801]: 140 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 140 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 13550 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04d89fb160 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 143 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 98 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 37 with distance 0.21Found rest min at: 97 with distance 0.156 overall min: 0.156 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 37 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 714 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 143 into DB 0.21 37 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 37 and real id(65) current kf: 143(675) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.947962 0.113914 -0.297307 -2.44242 -0.0871783 0.990985 0.101732 0.230668 0.306216 -0.0705193 0.949347 -0.195911 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 65 currFrame: 143 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.483531 eye: 0.000417086 edge: 143 to 65 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 143 to 65 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 281(1311875582.321885) and 675(1311875595.740415) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 678 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999833 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2312/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 143 to 65 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 281(1311875582.321885) and 675(1311875595.740415) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99765 -0.0611913 0.0308331 -0.13727 0.0613712 0.998103 -0.00491904 -0.00248433 -0.0304736 0.00679974 0.999512 0.0965656 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.99991 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1418/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 143 to 65 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 281(1311875582.321885) and 675(1311875595.740415) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.997647 -0.0612383 0.0308309 -0.137278 0.0614182 0.9981 -0.00492079 -0.00250221 -0.030471 0.00680279 0.999513 0.0967206 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!678 INF|Input.cpp[getImages,132]: mNbReceivedImages!679 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 10,0.999539 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3872/3 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.996944 -0.0775682 0.00931068 -0.0724473 0.0777725 0.996681 -0.0240658 0.0391632 -0.00741303 0.0247164 0.999667 0.1585 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 64 end 67 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 12390 o[1]: 2558 o[2]: 735 o[3]: 111 histWeights: 1 1 1.25 1.5overlap: 3643.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 8288 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 65 and 143 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 143 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 143 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 11636 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 676 keyframes 144 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 536 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.773156 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99997 0.00132113 0.00767348 0.0177194 -0.0012909 0.999991 -0.00394236 -0.0103871 -0.00767862 0.00393233 0.999963 0.00458139 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 143 to 4718209496655069184 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.773156) and 675(1311875595.740415) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99997 0.00132113 0.00767348 0.0177194 -0.0012909 0.999991 -0.00394236 -0.0103871 -0.00767862 0.00393233 0.999963 0.00458139 Input.cpp[readImages,206]: Got image from sensor!678 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 679 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 10): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:6314/6 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 143 to 4718209496655069184 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.773156) and 675(1311875595.740415) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999991 0.00266934 0.00335072 0.0201757 -0.00264426 0.999969 -0.00746862 -0.00854008 -0.00337055 0.00745969 0.999966 -0.0110057 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!679 INF|Input.cpp[getImages,132]: mNbReceivedImages!680 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 5): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4387/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 143 to 4718209496655069184 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.773156) and 675(1311875595.740415) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999961 0.00229011 0.00858713 0.00965185 -0.00221317 0.999957 -0.00895916 0.0024081 -0.00860728 0.0089398 0.999923 -0.00745253 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999709 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1798/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.564034 resInfo good: 8284, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 14147/14 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999949 0.00222257 0.00984429 0.00875353 -0.00213803 0.999961 -0.00858926 0.00400946 -0.00986299 0.00856778 0.999915 -0.00675216 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!676 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 481 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.808930 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999796 0.00452928 0.0196681 0.0174491 -0.00419116 0.999843 -0.0171985 0.00805804 -0.019743 0.0171126 0.999659 -0.0135557 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 143 to 4664701411102031872 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.808930) and 675(1311875595.740415) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999796 0.00452928 0.0196681 0.0174491 -0.00419116 0.999843 -0.0171985 0.00805804 -0.019743 0.0171126 0.999659 -0.0135557 Input.cpp[readImages,206]: Got image from sensor!679 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999661 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:5257/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 143 to 4664701411102031872 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.808930) and 675(1311875595.740415) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999969 0.001063 0.00776418 0.0459988 -0.00101239 0.999978 -0.00651952 -0.0195304 -0.00777094 0.00651146 0.999949 -0.0157385 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 680 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999432 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4611/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 143 to 4664701411102031872 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.808930) and 675(1311875595.740415) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999813 0.00118873 0.019293 0.0149717 -0.000937984 0.999915 -0.0130005 0.00744517 -0.0193068 0.01298 0.999729 -0.00952788 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!680 INF|Input.cpp[getImages,132]: mNbReceivedImages!681 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3012/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.774718 resInfo good: 8284, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 14521/14 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999823 0.00122246 0.0187755 0.0196708 -0.00102658 0.999945 -0.0104389 0.0024973 -0.0187873 0.0104178 0.999769 -0.00973849 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!677 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 812 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.840530 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999616 0.000238919 0.0277071 0.0305627 0.000101339 0.999925 -0.0122785 0.00100264 -0.027708 0.0122766 0.999541 -0.0128249 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 143 to 4662272035865493504 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.840530) and 675(1311875595.740415) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999616 0.000238919 0.0277071 0.0305627 0.000101339 0.999925 -0.0122785 0.00100264 -0.027708 0.0122766 0.999541 -0.0128249 Input.cpp[readImages,206]: Got image from sensor!680 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999976 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4939/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 143 to 4662272035865493504 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.840530) and 675(1311875595.740415) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999776 -0.00162243 0.0210931 0.0444853 0.00187078 0.999929 -0.0117595 -0.00552928 -0.0210726 0.0117963 0.999708 -0.0200579 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 681 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.99905 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2537/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 143 to 4662272035865493504 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.840530) and 675(1311875595.740415) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999648 -0.00148394 0.0264875 0.0338507 0.00182681 0.999915 -0.012925 0.00476682 -0.026466 0.0129689 0.999566 -0.0158288 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999804 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1219/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.951236 resInfo good: 8255, 33 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10306/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999607 -0.00159049 0.0279882 0.0313604 0.00193575 0.999922 -0.012313 0.00532465 -0.0279665 0.0123623 0.999532 -0.015444 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!678 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.869735 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!681 INF|Input.cpp[getImages,132]: mNbReceivedImages!682 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999298 -0.00438539 0.0372037 0.0429888 0.00491514 0.999888 -0.0141596 0.0081972 -0.0371375 0.0143325 0.999207 -0.021251 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 143 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.869735) and 675(1311875595.740415) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999298 -0.00438539 0.0372037 0.0429888 0.00491514 0.999888 -0.0141596 0.0081972 -0.0371375 0.0143325 0.999207 -0.021251 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999951 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3841/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 143 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.869735) and 675(1311875595.740415) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99957 -0.00458739 0.0289503 0.0610179 0.00484328 0.99995 -0.00877471 -0.00801386 -0.0289086 0.00891115 0.999542 -0.0216776 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999107 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1727/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 143 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.869735) and 675(1311875595.740415) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99942 -0.00445175 0.0337635 0.0510166 0.004793 0.999938 -0.0100329 0.00244517 -0.0337168 0.0101889 0.999379 -0.0183317 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999631 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1831/1 Input.cpp[readImages,206]: Got image from sensor!681 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.10503 resInfo good: 8209, 79 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9379/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999333 -0.00419039 0.0362788 0.0467516 0.00452083 0.999949 -0.00903116 0.00287465 -0.0362391 0.00918915 0.999301 -0.0177117 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875595.869735 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875595.869735 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875595.869735 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1587 size: 9958 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875595.869735 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -8.12419 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -8.80531 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.03178 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -9.19809 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 667 keyframeId: 141 score: -13.7365 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 671 keyframeId: 142 score: -12.3138 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 144 = 144 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x39465b60 fh1 0x1ec6dbe0fh->id: 116 144 679goodE: 25 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x39465b60 fh1 0x226194c0fh->id: 118 144 679goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x39465b60 fh1 0x2a5d2ba0fh->id: 119 144 679goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x39465b60 fh1 0xb113840fh->id: 134 144 679goodE: 285 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x39465b60 fh1 0x2f1efc20fh->id: 141 144 679goodE: 44 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x39465b60 fh1 0x410659c0fh->id: 142 144 679goodE: 66 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x39465b60 fh1 0x7f04d89fb160fh->id: 143 144 679goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew144 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 682 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 295 out of 328 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 328 newEdgePixels: 328 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2483 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 383 lastEnergy: 769.375 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 75 INF|LocalMapper.cpp[optimize,276]: Start Energy: 769.375 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.15301e-11 -3.47559e-14 1.40647e-11 -2.01011e-11 -0.00544819 0.00407936 -0.0114315 0.00190918 -0.000741739 0.000796564 -0.00279479 0.00285394 0.00215134 0.0010857 -0.00030984 -0.000183084 0.0174889 0.00552432 0.000633937 0.00154594 -0.00251262 0.000527077 0.000985705 -0.000868557 0.00231571 0.000471596 -0.00120094 0.00113411 0.00844415 -0.00660245 0.00443315 -0.000608913 -0.00217806 0.00129002 0.0103724 -0.00652394 0.00117142 -0.000437322 -0.00281004 0.00166514 0.0115189 -0.00126744 0.00374831 0.000291444 -0.00301701 0.00137923 0.00534607 -0.00612904 0.0024888 -0.000409982 -0.00205551 0.00142698 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2483 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!682 INF|Input.cpp[getImages,132]: mNbReceivedImages!683 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 725.405 0 0 newEnergyL 0 lastEnergy: 769.375 0 0 lastEnergyL: 0mActiveResiduals: 2483 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -3.94387e-12 1.30517e-12 -1.7737e-11 -2.56641e-12 0.00181853 -0.00362952 -0.00828071 -0.000351113 -0.00096023 -0.000302157 -0.0229022 -0.00379934 -0.0177982 0.00130378 0.0020725 0.00278314 -0.014782 -0.00331563 -0.00637974 0.000627744 0.00158753 0.00192777 -0.00312329 -0.0014098 -0.0141308 -0.000123965 0.00068063 0.000933244 -0.00356734 -0.00426889 -0.014561 -0.0010968 0.00115051 0.000614577 -0.00389689 -0.00322531 -0.0162531 -0.00094758 0.000889002 0.000615045 -0.00309094 -0.00650006 -0.0121937 -0.00151609 0.00077336 0.000820525 -0.00788957 -0.00423487 -0.0140257 -0.00112799 0.00137885 0.000644162 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2483 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 702.6 0 0 newEnergyL 0 lastEnergy: 725.405 0 0 lastEnergyL: 0mActiveResiduals: 2483 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -3.49795e-13 3.26037e-12 1.07864e-12 -4.29208e-12 -0.00672202 0.00498625 -0.0096416 0.0020469 0.000224372 -0.00063153 0.00183378 -0.00136545 0.00494189 0.000508495 -0.000558146 -0.00228565 0.000736569 -0.00256144 4.23559e-05 0.000808382 -0.000602803 -0.00106235 -0.00160955 -0.000889473 -3.94044e-05 0.0012582 -0.000156874 0.000157789 0.0042102 -0.00188684 0.0016357 0.00107873 -0.0012051 0.000436391 -0.00150235 0.000437943 0.000625908 0.00146739 -0.000387408 0.000269881 0.001356 0.000723738 0.00262403 0.00152119 -0.0009167 0.000388934 -0.00309757 -0.00178449 0.00138245 0.00102361 -0.000196043 -4.35175e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2483 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 681.689 0 0 newEnergyL 0 lastEnergy: 702.6 0 0 lastEnergyL: 0mActiveResiduals: 2483 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.55389e-12 -9.55429e-13 -8.53157e-12 -1.02696e-14 0.00923146 -0.00126188 0.0122489 -0.000759313 -1.56217e-05 0.000596728 -0.0156274 0.00332029 -0.00443152 0.00153755 0.00256657 0.00351548 -0.00105513 -0.00375158 -0.00269181 -0.000402064 0.000801272 0.00153076 0.00490319 -0.000455768 -0.000519977 -0.000629028 3.85909e-05 0.000399214 -0.000934395 0.000508264 0.000831998 -0.000650379 0.00092265 -0.000134204 0.00233955 -0.000475665 -0.000188164 -0.000800508 0.000430376 -2.35047e-05 0.00147091 0.000163176 0.002552 -0.000742484 0.000563068 5.51977e-05 0.000908142 0.00315112 -0.000249838 -0.000157589 0.000637938 -5.51394e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2483 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 668.773 0 0 newEnergyL 0 lastEnergy: 681.689 0 0 lastEnergyL: 0mActiveResiduals: 2483 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -7.79306e-13 8.72943e-13 1.04535e-11 1.29824e-12 -0.00996473 0.00837107 -0.0188736 0.00162508 0.000181209 -0.00238392 0.00357412 -0.00488625 0.00743871 -0.000408509 -0.000332437 -0.00268664 0.00636066 0.00139235 -0.00140631 0.000723834 -0.00106184 -0.0020433 -0.00301124 -3.6542e-05 -0.000385553 0.00137705 0.000343524 -0.000842918 0.00180061 -0.00181145 0.00234147 0.00125562 -0.000637571 -0.00026205 -0.000657187 -0.00185776 0.000873622 0.00128322 -0.00031862 -0.000411788 -0.001836 -0.00161276 0.00170453 0.00128532 -0.000225447 -0.000420957 -0.00556258 -0.00414964 0.00233775 0.000795512 0.000335781 -0.000517166 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2483 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 658.541 0 0 newEnergyL 0 lastEnergy: 668.773 0 0 lastEnergyL: 0mActiveResiduals: 2483 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 4.19364e-12 -1.90912e-12 -6.20458e-12 -4.21689e-12 0.00150621 0.00158714 0.0109561 -0.000704612 0.000208266 -0.000261169 -0.00384081 0.0058824 -0.001038 0.000196909 0.00042458 0.000454853 -0.00841978 0.00140037 -0.0025719 2.27112e-05 0.00109083 0.00132368 0.00730236 -0.00429993 0.00196703 -0.00102732 -0.000839935 -9.46999e-05 0.000515908 -0.00313192 -0.000567557 -0.000878615 0.000559596 -0.000670182 0.00121578 0.00049145 -0.000267679 -0.00034683 0.000569969 -0.00059138 0.00366373 -0.000857654 0.000148614 -0.000592743 0.000323652 -0.000628764 0.00260451 0.0015113 -0.00122933 -0.000178343 0.00054657 -0.000727921 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2483 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 655.339 0 0 newEnergyL 0 lastEnergy: 658.541 0 0 lastEnergyL: 0mActiveResiduals: 2483 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 655.339 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2483 INF|LocalMapper.cpp[optimize,345]: End Energy: 655.339 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.519956 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.519956 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 141 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 141 with idx: 4 and allID: 667 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->141 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 141->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->141 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->141 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->141 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 141->134 INF|LocalMapper.cpp[marginalizeFrame,772]: 141<->141 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 142<->141 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 141->142 INF|LocalMapper.cpp[marginalizeFrame,801]: 141 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 141 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 Input.cpp[readImages,206]: Got image from sensor!682 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 15533 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x39465b60 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 144 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 99 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 37 with distance 0.178Found rest min at: 98 with distance 0.146 overall min: 0.146 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 37 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 717 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 144 into DB 0.178 37 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 37 and real id(65) current kf: 144(679) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.936368 0.120216 -0.329793 -2.49515 -0.0869359 0.989678 0.113924 0.227984 0.340085 -0.078004 0.937154 -0.200235 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 65 currFrame: 144 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.0777109 eye: 0.000446226 edge: 144 to 65 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 144 to 65 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 281(1311875582.321885) and 679(1311875595.869735) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 683 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999022 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3780/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 144 to 65 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 281(1311875582.321885) and 679(1311875595.869735) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.974597 -0.00845922 0.223804 -0.729706 0.0395875 0.990059 -0.134969 0.271966 -0.220438 0.140401 0.965243 0.440388 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1843/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 144 to 65 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 281(1311875582.321885) and 679(1311875595.869735) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.974597 -0.00845842 0.223804 -0.729706 0.0395868 0.990059 -0.13497 0.271965 -0.220437 0.140401 0.965243 0.440388 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!683 INF|Input.cpp[getImages,132]: mNbReceivedImages!684 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999177 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2174/2 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.970719 -0.000157566 0.240216 -0.780971 0.0269646 0.993751 -0.108313 0.183216 -0.238698 0.111619 0.964658 0.410365 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 64 end 67 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 14522 o[1]: 2080 o[2]: 421 o[3]: 40 histWeights: 1 1 1.25 1.5overlap: 2666.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 9958 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 65 and 144 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 144 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 144 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 11845 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 680 keyframes 145 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 466 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.908742 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999981 -0.00352657 0.00509983 0.0258819 0.00351209 0.99999 0.00284574 -0.00137163 -0.00510981 -0.00282777 0.999983 0.00161086 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 144 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.908742) and 679(1311875595.869735) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999981 -0.00352657 0.00509983 0.0258819 0.00351209 0.99999 0.00284574 -0.00137163 -0.00510981 -0.00282777 0.999983 0.00161086 Input.cpp[readImages,206]: Got image from sensor!683 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999733 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4253/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 144 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.908742) and 679(1311875595.869735) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999988 -0.000881857 0.00474418 0.0228111 0.00086902 0.999996 0.00270707 -0.0114969 -0.00474655 -0.00270291 0.999985 0.00152193 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 684 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999631 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2375/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 144 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.908742) and 679(1311875595.869735) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999953 -0.00116484 0.00960416 0.0136975 0.00113343 0.999994 0.00327584 -0.00615492 -0.00960792 -0.00326481 0.999949 0.000515649 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999922 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2857/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.591009 resInfo good: 9958, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11614/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999939 -0.0015014 0.0109003 0.012663 0.00146024 0.999992 0.00378327 -0.00425612 -0.0109059 -0.00376713 0.999933 0.000474119 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!680 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!684 INF|Input.cpp[getImages,132]: mNbReceivedImages!685 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.940825 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999864 -0.00226748 0.0163479 0.0189987 0.00217486 0.999981 0.0056808 -0.00637653 -0.0163605 -0.00564448 0.99985 0.000665402 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 144 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.940825) and 679(1311875595.869735) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999864 -0.00226748 0.0163479 0.0189987 0.00217486 0.999981 0.0056808 -0.00637653 -0.0163605 -0.00564448 0.99985 0.000665402 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999663 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3631/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 144 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.940825) and 679(1311875595.869735) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999846 -0.00151358 0.017493 0.0274086 0.00150428 0.999999 0.000544336 -0.0075797 -0.0174938 -0.000517937 0.999847 0.000693034 Input.cpp[readImages,206]: Got image from sensor!684 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 685 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 8): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:6397/6 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 144 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.940825) and 679(1311875595.869735) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999772 -0.00158432 0.021317 0.0215323 0.00150985 0.999993 0.00350917 -0.0108731 -0.0213224 -0.00347618 0.999767 0.000169689 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2866/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.826564 resInfo good: 9958, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 14660/14 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999775 -0.00187307 0.0211329 0.0251365 0.00178553 0.99999 0.0041604 -0.00981292 -0.0211405 -0.00412173 0.999768 0.00050486 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!681 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875595.972728 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!685 INF|Input.cpp[getImages,132]: mNbReceivedImages!686 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999653 -0.00206025 0.0262484 0.0313738 0.00194672 0.999989 0.00435021 -0.0125898 -0.0262571 -0.00429761 0.999646 0.000473126 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 144 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.972728) and 679(1311875595.869735) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999653 -0.00206025 0.0262484 0.0313738 0.00194672 0.999989 0.00435021 -0.0125898 -0.0262571 -0.00429761 0.999646 0.000473126 Input.cpp[readImages,206]: Got image from sensor!685 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 10): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:7069/7 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 144 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.972728) and 679(1311875595.869735) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999768 0.000266846 0.0215341 0.0568207 -0.000270364 1 0.000160478 -0.00262926 -0.0215341 -0.000166262 0.999768 -0.00589964 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 686 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999667 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3995/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 144 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875595.972728) and 679(1311875595.869735) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999534 0.000259211 0.0305195 0.0339373 -0.000293671 0.999999 0.00112463 0.000648069 -0.0305192 -0.00113307 0.999534 -0.00453321 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999754 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1425/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.993405 resInfo good: 9913, 45 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 14267/14 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999542 -0.00024114 0.0302548 0.0376609 0.000158936 0.999996 0.00271942 -0.00172222 -0.0302553 -0.00271336 0.999539 -0.00525568 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!682 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.005214 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!686 INF|Input.cpp[getImages,132]: mNbReceivedImages!687 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999224 0.00140357 0.0393717 0.0501458 -0.00145445 0.999998 0.00126364 0.00635581 -0.0393698 -0.00131993 0.999224 -0.0111189 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 144 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.005214) and 679(1311875595.869735) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999224 0.00140357 0.0393717 0.0501458 -0.00145445 0.999998 0.00126364 0.00635581 -0.0393698 -0.00131993 0.999224 -0.0111189 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999485 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4385/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 144 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.005214) and 679(1311875595.869735) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999103 -0.000691478 0.0423343 0.0358518 0.000447757 0.999983 0.00576626 -0.0146822 -0.0423376 -0.00574214 0.999087 -0.00303988 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999091 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2291/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 144 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.005214) and 679(1311875595.869735) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999219 -0.000430455 0.0395234 0.0519735 0.000147307 0.999974 0.0071667 -0.0121144 -0.0395254 -0.00715528 0.999193 -0.0028184 Input.cpp[readImages,206]: Got image from sensor!686 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999752 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1441/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.15521 resInfo good: 9860, 98 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9758/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.99921 -0.00207112 0.0396769 0.0525961 0.00180157 0.999975 0.00682817 -0.00933512 -0.03969 -0.0067513 0.999189 -0.00273652 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875596.005214 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875596.005214 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875596.005214 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1123 size: 10049 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875596.005214 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -8.13687 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -8.91411 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.08681 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -9.16161 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 671 keyframeId: 142 score: -11.0139 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 675 keyframeId: 143 score: -9.63003 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 145 = 145 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x335032c0 fh1 0x1ec6dbe0fh->id: 116 145 683goodE: 26 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x335032c0 fh1 0x226194c0fh->id: 118 145 683goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x335032c0 fh1 0x2a5d2ba0fh->id: 119 145 683goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x335032c0 fh1 0xb113840fh->id: 134 145 683goodE: 299 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x335032c0 fh1 0x410659c0fh->id: 142 145 683goodE: 161 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x335032c0 fh1 0x7f04d89fb160fh->id: 143 145 683goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x335032c0 fh1 0x39465b60fh->id: 144 145 683goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew145 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 687 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 228 out of 262 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 262 newEdgePixels: 262 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2682 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 401 lastEnergy: 811.257 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 72 INF|LocalMapper.cpp[optimize,276]: Start Energy: 811.257 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.25675e-11 -7.02531e-14 1.58802e-11 2.89517e-11 0.00163925 -0.00639234 -0.00367046 -0.00168682 -0.000456277 0.00183035 0.016303 -0.0114965 0.0289364 -0.00269746 -0.000397589 0.00250149 0.0222406 -0.0226825 0.0225592 -0.0033824 -0.00143352 0.00168091 0.0041684 -0.0123988 0.0258542 -0.00234251 -0.00130323 -0.000872355 0.0034329 -0.0197894 0.0263874 -0.00264698 -0.00212305 -0.00158833 0.00167493 -0.0183681 0.0231926 -0.00258346 -0.00183565 -0.00179252 0.00586486 -0.0180862 0.0280257 -0.00257287 -0.00222496 -0.00133033 -0.00567224 -0.0217022 0.0251521 -0.00313955 1.33998e-05 -0.00139252 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2682 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 756.513 0 0 newEnergyL 0 lastEnergy: 811.257 0 0 lastEnergyL: 0mActiveResiduals: 2682 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 7.03891e-13 -1.53547e-12 7.55531e-12 -1.10544e-11 0.00178581 -0.0054523 0.00307657 -0.000266837 -1.5931e-05 0.000616744 -0.00696191 -0.00945453 -0.0224774 -0.000525822 -0.000431087 0.000108167 0.00558671 -0.024509 0.000490226 -0.00173843 -0.000119217 0.00232916 0.00453546 -0.00743264 -0.00450964 -0.00031099 -0.000397663 -0.000550297 -0.00049455 -0.00390446 -0.00654143 3.29355e-05 0.000911184 -0.000882172 -2.95436e-05 -0.00573479 -0.00843564 -0.000414912 0.000861686 -0.000722444 -0.00163766 -0.00707197 -0.00664901 -0.000601468 0.000980141 -0.000987844 -0.00538175 -0.00461841 -0.00543468 -8.58077e-05 0.00154703 -0.000819882 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2682 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 729.137 0 0 newEnergyL 0 lastEnergy: 756.513 0 0 lastEnergyL: 0mActiveResiduals: 2682 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!687 INF|Input.cpp[getImages,132]: mNbReceivedImages!688 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -8.29549e-12 2.99365e-12 -1.37548e-11 8.38875e-13 -0.00789485 -0.000395926 -0.00972335 -0.000476769 -0.0012678 -0.00196837 0.00996914 0.00705383 0.00205393 0.000355965 -0.00268482 -0.00204517 -0.00310539 0.00356983 -0.00154838 0.000320497 -0.00134691 -0.00230021 -0.0025648 -0.00298647 -0.00119847 0.000221154 -0.000833263 -0.00134666 0.000976295 -0.00208012 0.00206783 0.000626582 -0.00147871 -0.00141786 -0.00063156 -0.0031344 0.00129342 0.000354509 -0.00134944 -0.00167098 0.000252761 0.000448266 0.00170974 0.000917592 -0.00144606 -0.00136887 -0.00239051 -0.00584713 -6.80489e-05 -0.000256604 -0.00101653 -0.00156686 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2682 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 711.159 0 0 newEnergyL 0 lastEnergy: 729.137 0 0 lastEnergyL: 0mActiveResiduals: 2682 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 2.56962e-12 -1.3598e-12 9.62773e-12 3.35735e-14 0.00632484 0.00345293 0.00942363 0.00472574 -0.000481431 0.00343387 -0.00720208 -0.00995936 -0.0229041 0.00251304 -0.000768785 0.00208145 0.00691531 -0.0152185 0.0154249 0.000877162 -7.20923e-05 0.00239272 0.00466614 0.00554493 0.00209707 0.00303279 -0.0012054 0.001012 -0.00355354 0.00453996 -0.00129939 0.00278562 3.6671e-05 0.00141176 -0.00213916 0.00604325 -0.00161246 0.00311169 -0.000121694 0.00149309 -0.00136463 0.00146758 -0.0012956 0.00240572 -0.000204383 0.0012368 -0.00405326 0.00488939 0.00173279 0.00298964 0.000174664 0.00101549 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2682 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 694.355 0 0 newEnergyL 0 lastEnergy: 711.159 0 0 lastEnergyL: 0mActiveResiduals: 2682 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -6.63231e-12 3.50398e-12 -6.40931e-12 -8.86133e-13 0.00253812 -0.000689815 -0.0100244 -0.00398044 -0.000119291 -0.00323853 0.000318951 0.00758718 0.00616883 -0.00225319 0.00122786 -0.002188 0.00799413 0.0147731 -0.00984142 -0.00134165 -0.00122598 -0.00401769 -0.00663479 -0.005981 -0.00436671 -0.00234757 0.00182375 -0.00221822 -0.00132185 -0.00478599 0.000544809 -0.00199252 0.00101371 -0.00230838 -0.00303004 -0.00612268 0.00109063 -0.00231309 0.00115957 -0.00235609 -0.00421779 -0.0017215 0.00123195 -0.00168863 0.0011717 -0.00218878 0.000380555 -0.00602874 -0.00256139 -0.00251595 0.000375087 -0.00215158 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2682 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 685.975 0 0 newEnergyL 0 lastEnergy: 694.355 0 0 lastEnergyL: 0mActiveResiduals: 2682 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.30281e-12 -5.51835e-12 1.89957e-12 3.55457e-12 0.00015892 -0.00179712 0.00904053 0.00365014 0.00124394 0.00145772 0.000252312 -0.0090447 -0.0176569 0.00309176 -0.000356377 0.00200923 0.010664 -0.015229 0.0147261 0.00118818 0.000475445 0.00206066 0.00232805 0.00694145 -9.80562e-05 0.00314164 0.00019061 0.00125595 -0.00342446 0.00538934 -0.00257401 0.00283535 0.00117678 0.00197922 -0.00273539 0.0067127 -0.00181458 0.00308901 0.00110649 0.00195414 0.000611453 0.00312987 -0.00177962 0.00257115 0.000754426 0.00175272 -0.0049351 0.00576854 0.00158957 0.00308429 0.00162198 0.00138853 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2682 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 671.523 0 0 newEnergyL 0 lastEnergy: 685.975 0 0 lastEnergyL: 0mActiveResiduals: 2682 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 671.523 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2682 INF|LocalMapper.cpp[optimize,345]: End Energy: 671.523 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.507042 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.507042 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 142 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 142 with idx: 4 and allID: 671 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->142 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 142->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->142 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->142 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->142 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 142->134 INF|LocalMapper.cpp[marginalizeFrame,772]: 142<->142 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 143<->142 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 142->143 INF|LocalMapper.cpp[marginalizeFrame,801]: 142 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 142 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 14925 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x335032c0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 145 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 100 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 37 with distance 0.186Found rest min at: 99 with distance 0.12 overall min: 0.12 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 37 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 712 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 145 into DB 0.186 37 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 37 and real id(65) current kf: 145(683) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.922861 0.122874 -0.365006 -2.55912 -0.0881888 0.989979 0.110291 0.230415 0.3749 -0.0695939 0.924449 -0.211957 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 65 currFrame: 145 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.902259 eye: 0.000444175 edge: 145 to 65 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 145 to 65 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 281(1311875582.321885) and 683(1311875596.005214) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,206]: Got image from sensor!687 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 13,0.999365 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4039/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 145 to 65 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 281(1311875582.321885) and 683(1311875596.005214) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.971714 0.0534178 0.23004 -0.711994 -0.0119574 0.983962 -0.177977 0.370813 -0.235858 0.170192 0.956768 1.37224 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 688 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999935 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1853/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 145 to 65 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 281(1311875582.321885) and 683(1311875596.005214) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.972889 0.0590726 0.223601 -0.688337 -0.0175427 0.982893 -0.18334 0.378962 -0.230606 0.174447 0.957282 1.41155 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999903 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:989/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.975226 0.0634854 0.211904 -0.64748 -0.022652 0.981557 -0.189821 0.394266 -0.220046 0.180319 0.958679 1.43391 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 64 end 67 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 14764 o[1]: 2162 o[2]: 213 o[3]: 8 histWeights: 1 1 1.25 1.5overlap: 2440.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 10049 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 65 and 145 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 145 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 145 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 10942 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 684 keyframes 146 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!688 INF|Input.cpp[getImages,132]: mNbReceivedImages!689 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.037530 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999995 -0.00119809 0.00286578 0.0130984 0.00119349 0.999998 0.00160531 -0.00228937 -0.0028677 -0.00160188 0.999995 0.0017046 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 145 to 830173008 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.037530) and 683(1311875596.005214) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999995 -0.00119809 0.00286578 0.0130984 0.00119349 0.999998 0.00160531 -0.00228937 -0.0028677 -0.00160188 0.999995 0.0017046 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.99901 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2716/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 145 to 830173008 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.037530) and 683(1311875596.005214) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999999 0.000938999 -0.00066051 0.0309523 -0.000943034 0.999981 -0.00613535 -0.00235616 0.000654737 0.00613597 0.999981 -0.00279577 Input.cpp[readImages,206]: Got image from sensor!688 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999017 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3674/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 145 to 830173008 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.037530) and 683(1311875596.005214) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999961 0.00139335 0.00876012 0.00500666 -0.00135051 0.999987 -0.0048946 -0.00081393 -0.00876683 0.00488258 0.99995 9.91645e-05 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.99922 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1525/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.544048 resInfo good: 10049, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9725/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999962 0.00119052 0.00859395 0.0106173 -0.00116534 0.999995 -0.00293368 -0.00304268 -0.0085974 0.00292355 0.999959 -0.00123741 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!684 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 480 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.072287 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 689 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999915 0.00179518 0.0128894 0.0159205 -0.00173854 0.999989 -0.00440423 -0.00456731 -0.0128972 0.00438145 0.999907 -0.00189366 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 145 to 830173008 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.072287) and 683(1311875596.005214) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999915 0.00179518 0.0128894 0.0159205 -0.00173854 0.999989 -0.00440423 -0.00456731 -0.0128972 0.00438145 0.999907 -0.00189366 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!689 INF|Input.cpp[getImages,132]: mNbReceivedImages!690 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:5748/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 145 to 830173008 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.072287) and 683(1311875596.005214) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999906 0.00288403 0.0133912 0.0216216 -0.00281167 0.999981 -0.00541948 -0.00314865 -0.0134066 0.00538132 0.999896 -0.00790377 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999339 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1744/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 145 to 830173008 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.072287) and 683(1311875596.005214) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999862 0.00285558 0.0163581 0.0215392 -0.00276911 0.999982 -0.00530588 0.00399658 -0.016373 0.00525985 0.999852 -0.00709535 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999001 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1099/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.738737 resInfo good: 10046, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10500/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99985 0.00280439 0.0171012 0.0186517 -0.00272112 0.999984 -0.00489033 0.00302501 -0.0171147 0.00484307 0.999842 -0.00656294 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!685 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.108214 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,206]: Got image from sensor!689 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999765 0.00361743 0.0213533 0.0226554 -0.00349274 0.999977 -0.0058736 0.00605798 -0.021374 0.00579764 0.999755 -0.00924692 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 145 to 830173008 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.108214) and 683(1311875596.005214) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999765 0.00361743 0.0213533 0.0226554 -0.00349274 0.999977 -0.0058736 0.00605798 -0.021374 0.00579764 0.999755 -0.00924692 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 690 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 8): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:6123/6 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 145 to 830173008 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.108214) and 683(1311875596.005214) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99985 0.0012456 0.0172838 0.0444484 -0.0012144 0.999998 -0.0018154 -0.0178347 -0.017286 0.00179414 0.999849 -0.00822138 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!690 INF|Input.cpp[getImages,132]: mNbReceivedImages!691 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999658 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4544/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 145 to 830173008 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.108214) and 683(1311875596.005214) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.9998 0.00102929 0.0199866 0.0413062 -0.000988456 0.999997 -0.00205271 -0.0117097 -0.0199887 0.00203254 0.999798 -0.0060476 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999774 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1747/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.9101 resInfo good: 9984, 65 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 14343/14 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99971 0.00114737 0.0240721 0.0316676 -0.00110072 0.999997 -0.00195101 -0.00862558 -0.0240743 0.00192395 0.999708 -0.00427041 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!686 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 474 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.137084 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,206]: Got image from sensor!690 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99962 0.000311238 0.0275553 0.0381889 -0.000298204 1 -0.000477123 -0.0144402 -0.0275554 0.000468725 0.99962 -0.0031455 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 145 to 830173008 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.137084) and 683(1311875596.005214) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99962 0.000311238 0.0275553 0.0381889 -0.000298204 1 -0.000477123 -0.0144402 -0.0275554 0.000468725 0.99962 -0.0031455 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 691 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999896 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2979/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 145 to 830173008 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.137084) and 683(1311875596.005214) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999761 0.0026739 0.0216955 0.0593223 -0.00250941 0.999968 -0.00760548 -0.0138982 -0.0217151 0.00754922 0.999736 -0.0110862 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999677 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1706/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 145 to 830173008 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.137084) and 683(1311875596.005214) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999507 0.0034011 0.0312095 0.0357312 -0.00314114 0.99996 -0.00837453 -0.00179108 -0.0312368 0.00827237 0.999478 -0.00839564 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999953 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1612/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.03033 resInfo good: 9914, 135 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8422/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999546 0.0031847 0.0299469 0.0412316 -0.00299618 0.999975 -0.0063377 -0.00792683 -0.0299664 0.00624509 0.999531 -0.00728196 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875596.137084 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875596.137084 to keyframe with id: 830173008 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875596.137084 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!691 INF|Input.cpp[getImages,132]: mNbReceivedImages!692 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1141 size: 10466 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId830173008 timestamp: 1311875596.137084 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -8.15642 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -8.96078 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.15659 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -9.0529 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 675 keyframeId: 143 score: -11.3442 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 679 keyframeId: 144 score: -9.99783 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 146 = 146 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3c7bd2a0 fh1 0x1ec6dbe0fh->id: 116 146 687goodE: 24 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3c7bd2a0 fh1 0x226194c0fh->id: 118 146 687goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3c7bd2a0 fh1 0x2a5d2ba0fh->id: 119 146 687goodE: 22 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3c7bd2a0 fh1 0xb113840fh->id: 134 146 687goodE: 317 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3c7bd2a0 fh1 0x7f04d89fb160fh->id: 143 146 687goodE: 23 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3c7bd2a0 fh1 0x39465b60fh->id: 144 146 687goodE: 38 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3c7bd2a0 fh1 0x335032c0fh->id: 145 146 687goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew146 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 304 out of 352 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 352 newEdgePixels: 352 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2590 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 407 lastEnergy: 829.592 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 88 INF|LocalMapper.cpp[optimize,276]: Start Energy: 829.592 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.36705e-12 -4.64499e-12 -7.33754e-12 4.13411e-12 -0.00283755 0.00117441 0.0010274 -0.0037711 0.000723161 0.000176169 0.00916547 0.0209079 0.0309889 -0.00261667 0.00102265 -0.00147591 0.0139702 0.0214094 0.0167791 -0.00160619 -0.000436851 -0.00140792 -0.00106488 -0.0065002 0.0194197 -0.00365719 0.000371924 -0.00130655 -0.00068973 -0.00843191 0.0193503 -0.00361691 5.45143e-05 -0.00251317 0.00787958 -0.00220073 0.0199904 -0.00240803 -0.00135395 -0.00215096 0.0107915 -0.0034441 0.0187452 -0.00258398 -0.00168885 -0.00161023 0.00701383 -0.00742096 0.0179923 -0.00350029 -0.000874555 -0.00134635 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2590 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 758.746 0 0 newEnergyL 0 lastEnergy: 829.592 0 0 lastEnergyL: 0mActiveResiduals: 2590 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.25354e-12 3.4229e-12 5.86941e-12 -1.17381e-11 0.00136115 -0.00376421 0.00690464 -5.07279e-05 0.000481151 0.000893829 -0.00544648 -0.0137869 -0.00944682 -0.00123364 0.000126326 0.00045274 0.0128086 -0.0143121 0.0126315 -0.00157534 -0.000683994 0.000551796 0.00282399 0.00541742 -0.014978 0.000985289 -9.81796e-05 -0.00196024 0.00643461 0.00821098 -0.0127972 0.00115547 0.000568122 -0.00200479 0.00310372 0.00804789 -0.0127346 0.00102633 0.00112277 -0.00209398 0.00928693 0.0104403 -0.0137859 0.00134657 6.11652e-05 -0.00217086 0.00435365 0.0104863 -0.0108247 0.00108882 0.000619498 -0.00228312 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2590 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 724.523 0 0 newEnergyL 0 lastEnergy: 758.746 0 0 lastEnergyL: 0mActiveResiduals: 2590 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.46347e-12 -1.43464e-14 -9.13718e-12 1.04341e-11 -0.00753525 -0.00462089 -0.00819727 -0.000658907 -0.00111101 -0.00176059 0.00364614 0.0112274 -0.000604845 0.00130286 -0.00199525 -0.00239965 -0.000986001 -0.00152888 -0.00642442 7.25218e-05 -0.00152029 -0.00129442 -0.00330063 -0.00492438 0.00280924 0.000208032 -0.000601934 -0.00113516 -0.00111518 -0.0018897 0.00332038 0.00090752 -0.00119721 -0.00111618 0.000691857 -0.000280463 0.00224535 0.00117314 -0.00158067 -0.00103637 -0.00143368 -0.00188138 0.00305234 0.000818078 -0.00133305 -0.00104896 -0.000303559 -0.00180522 0.00159083 0.000834738 -0.00141687 -0.00111939 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2590 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 697.126 0 0 newEnergyL 0 lastEnergy: 724.523 0 0 lastEnergyL: 0mActiveResiduals: 2590 Input.cpp[readImages,206]: Got image from sensor!691 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.01515e-12 5.1916e-13 5.92679e-12 -8.812e-12 0.00624972 0.00688855 -0.000109898 0.00230284 0.00116794 0.00133636 0.00377013 -0.0118774 0.00937137 -0.000683481 0.00181468 0.00167686 0.00202599 0.00387454 0.00952003 0.00112217 0.00190461 0.00136821 8.96063e-05 0.00222978 -0.00542941 0.000404447 0.00135968 0.00119525 0.0018472 0.00204008 -0.00435657 0.000104643 0.00156869 0.00128289 0.000300786 0.000381841 -0.00416958 -0.000102854 0.00186517 0.00125318 -0.000473362 0.00369463 -0.00399548 0.000467516 0.00214129 0.0011792 0.00107054 0.000220569 -0.00292019 -9.50206e-05 0.0016923 0.00111829 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2590 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 674.673 0 0 newEnergyL 0 lastEnergy: 697.126 0 0 lastEnergyL: 0mActiveResiduals: 2590 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.68925e-12 2.0635e-12 -5.86568e-12 1.04736e-12 -0.0036686 -0.00750986 -0.00095792 -0.00158325 -0.0020144 -0.000838345 -0.00350571 0.0118048 -0.0076221 0.000922278 -0.00226489 -0.00144427 -0.00393096 -0.00544126 -0.00713016 -0.000671435 -0.00192652 -0.000718713 -0.0016019 -0.000950461 0.00405705 -1.68863e-05 -0.00162662 -0.000518806 -0.0001052 -0.00127632 0.00409038 0.000147673 -0.00235462 -0.00075542 -0.000167049 0.00170312 0.00387886 0.000606241 -0.00242303 -0.000700442 0.00228085 -0.005309 0.00300322 -0.000557125 -0.00302977 -0.000710504 -0.00229426 0.000290455 0.00391488 0.000374451 -0.00204975 -0.000673707 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2590 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 661.206 0 0 newEnergyL 0 lastEnergy: 674.673 0 0 lastEnergyL: 0mActiveResiduals: 2590 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.16013e-12 -1.85444e-12 5.85861e-12 1.98452e-12 -0.000748838 0.00294511 -0.000459529 0.00101482 0.000821067 0.000348217 0.0012129 -0.0056911 0.000331989 0.000125026 0.00074345 0.00121036 0.00168608 0.00187368 0.00510983 0.000825145 0.00072953 0.000753964 0.00549167 0.000478245 -0.00241589 0.000402441 -0.000370721 0.000293011 -0.000476546 -0.000307167 -0.00180624 0.000150493 0.000661161 0.000210451 -0.00200933 -0.00281074 -0.00204371 -0.000265954 0.000920196 0.000105396 -0.00399521 0.00573124 0.00058247 0.00104624 0.00146257 -9.23883e-05 0.00215876 -0.000422023 1.77829e-05 4.68315e-05 7.91228e-05 0.000118416 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2590 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 692 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 649.674 0 0 newEnergyL 0 lastEnergy: 661.206 0 0 lastEnergyL: 0mActiveResiduals: 2590 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 649.674 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2590 INF|LocalMapper.cpp[optimize,345]: End Energy: 649.674 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.50495 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.50495 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 143 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 143 with idx: 4 and allID: 675 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->143 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 143->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->143 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->143 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->143 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 143->134 INF|LocalMapper.cpp[marginalizeFrame,772]: 143<->143 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 144<->143 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 143->144 INF|LocalMapper.cpp[marginalizeFrame,801]: 143 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 143 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 14452 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x3c7bd2a0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 146 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 101 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 37 with distance 0.194Found rest min at: 100 with distance 0.11 overall min: 0.11 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 37 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 712 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 146 into DB 0.194 37 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 37 and real id(65) current kf: 146(687) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.910616 0.126725 -0.393344 -2.59497 -0.0856005 0.98902 0.120465 0.243245 0.404291 -0.0760267 0.911465 -0.21568 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 65 currFrame: 146 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00044109 edge: 146 to 65 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 0 < 10466 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 146 and 65 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 146 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 146 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1436 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 688 keyframes 147 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 527 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!692 INF|Input.cpp[getImages,132]: mNbReceivedImages!693 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.171243 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999996 0.00115722 0.00273843 0.00598689 -0.00114902 0.999995 -0.00299273 0.00241098 -0.00274188 0.00298957 0.999992 -0.00208294 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 146 to 1007088624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.171243) and 687(1311875596.137084) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999996 0.00115722 0.00273843 0.00598689 -0.00114902 0.999995 -0.00299273 0.00241098 -0.00274188 0.00298957 0.999992 -0.00208294 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999852 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2695/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 146 to 1007088624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.171243) and 687(1311875596.137084) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999994 7.72395e-05 0.00349268 0.00920613 -6.39278e-05 0.999993 -0.00381124 -8.48166e-05 -0.00349295 0.00381099 0.999987 -0.00196757 Input.cpp[readImages,206]: Got image from sensor!692 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5594/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 146 to 1007088624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.171243) and 687(1311875596.137084) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999986 -0.000373384 0.00535709 0.01059 0.00037667 1 -0.000612317 -0.00362538 -0.00535686 0.000614326 0.999985 -0.00230444 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 693 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999424 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3023/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.504231 resInfo good: 10462, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 13144/13 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999983 -0.000756202 0.00581968 0.0121303 0.000759736 1 -0.000605049 -0.00055316 -0.00581922 0.00060946 0.999983 -0.00156468 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!688 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.206444 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!693 INF|Input.cpp[getImages,132]: mNbReceivedImages!694 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999961 -0.00113297 0.00872964 0.0181922 0.00114092 0.999999 -0.000905913 -0.000825932 -0.0087286 0.000915838 0.999961 -0.00237361 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 146 to 1007088624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.206444) and 687(1311875596.137084) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999961 -0.00113297 0.00872964 0.0181922 0.00114092 0.999999 -0.000905913 -0.000825932 -0.0087286 0.000915838 0.999961 -0.00237361 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:5903/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 146 to 1007088624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.206444) and 687(1311875596.137084) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999995 -0.000747244 0.00322565 0.0366794 0.000762177 0.999989 -0.00463071 -0.00629172 -0.00322215 0.00463314 0.999984 -0.0072016 Input.cpp[readImages,206]: Got image from sensor!693 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.99909 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4975/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 146 to 1007088624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.206444) and 687(1311875596.137084) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999928 0.000183018 0.0120125 0.0155471 -0.000138531 0.999993 -0.00370411 -0.00228897 -0.0120131 0.00370218 0.999921 -0.00306798 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 694 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999841 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2662/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.674961 resInfo good: 10466, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 15011/15 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999929 -0.000245783 0.0118975 0.0190045 0.000277864 0.999996 -0.00269489 -0.00241273 -0.0118968 0.002698 0.999926 -0.00239049 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!689 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.240049 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!694 INF|Input.cpp[getImages,132]: mNbReceivedImages!695 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999838 0.00027732 0.0179738 0.0258725 -0.000191296 0.999989 -0.0047876 -0.00427396 -0.0179749 0.00478339 0.999827 -0.00326194 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 146 to 1007088624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.240049) and 687(1311875596.137084) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999838 0.00027732 0.0179738 0.0258725 -0.000191296 0.999989 -0.0047876 -0.00427396 -0.0179749 0.00478339 0.999827 -0.00326194 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999426 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3578/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 146 to 1007088624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.240049) and 687(1311875596.137084) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99987 0.00121594 0.0160983 0.0251674 -0.00112799 0.999984 -0.00547126 -0.00710521 -0.0161047 0.00545239 0.999855 -0.00634263 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999994 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3992/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 146 to 1007088624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.240049) and 687(1311875596.137084) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999875 0.000286027 0.0158143 0.0319626 -0.000206083 0.999987 -0.00505657 -0.00255933 -0.0158155 0.00505268 0.999862 -0.00440466 Input.cpp[readImages,206]: Got image from sensor!694 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999671 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1528/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.840759 resInfo good: 10456, 10 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10865/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99986 -0.000163519 0.0167397 0.0323358 0.000234306 0.999991 -0.00422681 -0.00182374 -0.0167389 0.00423014 0.999851 -0.00336995 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!690 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.269270 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 695 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999767 -7.38375e-05 0.0215814 0.0456623 0.000198168 0.999983 -0.00575892 -0.00123408 -0.0215806 0.00576186 0.999751 -0.00441305 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 146 to 1007088624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.269270) and 687(1311875596.137084) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999767 -7.38375e-05 0.0215814 0.0456623 0.000198168 0.999983 -0.00575892 -0.00123408 -0.0215806 0.00576186 0.999751 -0.00441305 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!695 INF|Input.cpp[getImages,132]: mNbReceivedImages!696 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.99961 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3555/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 146 to 1007088624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.269270) and 687(1311875596.137084) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999825 0.000661209 0.0186728 0.0454248 -0.000548284 0.999982 -0.00605206 -0.01464 -0.0186765 0.00604076 0.999807 -0.00582465 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.99978 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3387/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 146 to 1007088624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.269270) and 687(1311875596.137084) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999764 9.73821e-05 0.0217072 0.0439141 3.63286e-05 0.999981 -0.00615926 -0.00726767 -0.0217074 0.0061586 0.999745 -0.00412166 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999013 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1412/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.983178 resInfo good: 10394, 72 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10005/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999749 -0.000434388 0.0224205 0.0448748 0.00055379 0.999986 -0.00531968 -0.00630548 -0.0224179 0.00533076 0.999734 -0.00264641 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!691 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.307904 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999605 -0.000698998 0.0281008 0.0574191 0.000879477 0.999979 -0.00641071 -0.0107842 -0.0280958 0.00643289 0.999585 -0.00199905 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 146 to 1007088624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.307904) and 687(1311875596.137084) on lvl: 2 Input.cpp[readImages,206]: Got image from sensor!695 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999605 -0.000698998 0.0281008 0.0574191 0.000879477 0.999979 -0.00641071 -0.0107842 -0.0280958 0.00643289 0.999585 -0.00199905 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 696 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999656 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3601/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 146 to 1007088624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.307904) and 687(1311875596.137084) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999686 0.00307947 0.0248747 0.0599517 -0.00292323 0.999976 -0.00631514 -0.027018 -0.0248936 0.00624044 0.999671 -0.00525468 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999347 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1496/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 146 to 1007088624 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.307904) and 687(1311875596.137084) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999642 0.00310256 0.0265856 0.0611297 -0.00288658 0.999963 -0.00815846 -0.0132043 -0.0266099 0.0080788 0.999613 -0.00257327 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999664 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1743/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.11532 resInfo good: 10112, 354 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8315/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999644 0.00222683 0.0265925 0.0609468 -0.00199341 0.999959 -0.00880115 -0.00802551 -0.0266111 0.00874501 0.999608 -0.00277528 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875596.307904 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875596.307904 to keyframe with id: 1007088624 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875596.307904 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1100 size: 8488 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId1007088624 timestamp: 1311875596.307904 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -8.19433 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -8.9972 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.22574 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -8.937 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 679 keyframeId: 144 score: -10.4954 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 683 keyframeId: 145 score: -9.44034 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 147 = 147 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!696 INF|Input.cpp[getImages,132]: mNbReceivedImages!697 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3d662540 fh1 0x1ec6dbe0fh->id: 116 147 692goodE: 26 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3d662540 fh1 0x226194c0fh->id: 118 147 692goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3d662540 fh1 0x2a5d2ba0fh->id: 119 147 692goodE: 25 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3d662540 fh1 0xb113840fh->id: 134 147 692goodE: 320 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3d662540 fh1 0x39465b60fh->id: 144 147 692goodE: 94 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3d662540 fh1 0x335032c0fh->id: 145 147 692goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3d662540 fh1 0x3c7bd2a0fh->id: 146 147 692goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew147 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 274 out of 322 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 322 newEdgePixels: 322 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2771 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 416 lastEnergy: 837.24 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 75 INF|LocalMapper.cpp[optimize,276]: Start Energy: 837.24 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 3.8957e-12 4.63654e-12 2.64862e-11 -1.36365e-11 0.00363837 -0.00505571 -0.00694403 -0.0016408 0.000285458 0.000822261 0.0124165 -9.18218e-05 0.0428048 -0.0020757 0.00173826 0.000898377 -0.00420694 0.0105837 0.00127932 -0.000188002 0.00141167 6.4164e-05 -0.00966342 0.0153489 0.024992 0.000301943 0.00174778 0.00071052 -0.00192853 0.00636744 0.0290464 -0.000152665 -0.000439855 0.00146778 0.000956217 -0.00262209 0.0242409 -0.0015601 -0.000925766 0.00214509 -0.00194349 0.00128393 0.0254625 -0.000572339 -9.82893e-05 0.00225481 0.00148411 -0.00141487 0.0261372 -0.00103823 -0.000664234 0.00162412 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2771 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 770.254 0 0 newEnergyL 0 lastEnergy: 837.24 0 0 lastEnergyL: 0mActiveResiduals: 2771 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -7.31207e-12 4.60276e-12 -3.53992e-13 -2.05372e-12 0.000215857 0.00907069 0.0032902 0.000591067 0.000185127 -0.000650873 0.00651496 -0.000542709 0.00508215 -0.00015931 -0.000260569 0.000590496 0.00310976 -0.00607177 0.00122349 -0.000575131 -1.15957e-05 0.00117876 -0.00344921 -0.00597356 -0.00291291 -0.000779312 0.000502616 -0.00108768 0.00119636 -0.0085995 -0.00606182 -0.00138343 0.000436146 -0.000704029 -0.00101202 -0.00437468 -0.00470201 -0.000792961 0.000901812 -0.000554944 0.000625449 -0.00665247 -0.00414313 -0.00121749 0.000444586 -0.000846255 0.000752147 -0.00444297 -0.00347832 -0.000871421 0.000225748 -0.000586026 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2771 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 736.265 0 0 newEnergyL 0 lastEnergy: 770.254 0 0 lastEnergyL: 0mActiveResiduals: 2771 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 2.83081e-13 7.12841e-13 7.05304e-13 1.86917e-13 0.00512568 -0.0114295 -0.00723495 -0.000905559 -0.000301217 0.00336996 0.00246119 -0.00719494 0.00549069 -0.00116877 0.00066418 0.00222531 0.00468007 0.0027306 -8.88778e-05 0.00024233 8.46673e-05 0.00132096 -0.00861519 0.00309455 0.00101229 -0.000887925 0.00141285 0.00253298 -0.00119933 0.00564435 0.00105546 -0.000658881 -0.000287352 0.00218126 0.000224581 0.00160253 -0.000611945 -0.00115629 -0.000596153 0.00227242 -0.00137049 0.00465098 -0.000491326 -0.000553938 -0.000345047 0.00237187 -0.00196183 0.000602101 -0.00153535 -0.00113171 -0.00020188 0.00209546 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2771 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 714.762 0 0 newEnergyL 0 lastEnergy: 736.265 0 0 lastEnergyL: 0mActiveResiduals: 2771 Input.cpp[readImages,206]: Got image from sensor!696 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 2.3095e-12 1.43692e-12 3.36847e-13 -1.73671e-12 -0.00850704 0.00831883 0.00179307 0.00209836 0.00143512 -0.00338713 0.0107459 0.00336574 -0.000264582 0.00143077 -0.00117575 -0.00259729 0.00227053 -0.0025313 0.00492644 0.000790268 0.000401153 -0.000535697 -0.000516761 -0.000958472 -0.00347422 0.00204546 0.000859569 -0.00223236 0.000992995 -0.00313413 -0.00380072 0.0018797 0.00168087 -0.00148365 -0.000274447 -0.00118453 -0.00195506 0.00205794 0.00207488 -0.00143508 0.00104742 -0.00167637 -0.00197065 0.0019202 0.00178924 -0.00173662 0.000706806 0.000480848 0.000576105 0.00225824 0.00193364 -0.00142608 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2771 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 699.916 0 0 newEnergyL 0 lastEnergy: 714.762 0 0 lastEnergyL: 0mActiveResiduals: 2771 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.26096e-12 -1.61851e-12 1.07181e-13 -9.61137e-13 0.00229801 -0.0109669 -0.0162659 -0.0020121 -0.00180906 0.00270898 0.00288605 -0.0102192 0.00895679 -0.00303677 -0.000413044 0.00201608 0.00151869 0.00664093 -0.00336002 -0.000181159 -0.000453341 0.00150092 -0.00619939 0.00546941 0.00567131 -0.00136255 0.000199136 0.00216632 -0.00368726 0.00346374 0.00198758 -0.00181542 -0.000819602 0.00169218 -0.00303006 0.000684741 0.00115375 -0.00214618 -0.000992476 0.00194219 -0.00188629 0.00317386 0.00038613 -0.00165055 -0.00126387 0.00211516 0.000680552 -0.00133956 -0.00187485 -0.00235577 -0.00167044 0.00197363 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2771 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 685.423 0 0 newEnergyL 0 lastEnergy: 699.916 0 0 lastEnergyL: 0mActiveResiduals: 2771 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -2.98101e-12 2.30364e-12 -3.90182e-12 2.53038e-12 -0.00627159 0.0135353 0.00414069 0.00260542 0.00296049 -0.00424318 0.00526515 0.00630648 0.0034349 0.00190762 0.00109761 -0.00399109 0.00438317 -0.00403313 0.00309149 0.000433511 0.000962402 -0.00218333 0.000649915 -0.00155936 -0.00381829 0.00233471 0.00205565 -0.00270037 0.00258935 -0.00354392 -0.00435449 0.00228256 0.00297359 -0.00171155 0.00317936 -0.00355865 -0.00291604 0.00213968 0.00304653 -0.00188318 0.00264055 -0.00392647 -0.0030465 0.0019904 0.00322447 -0.00203111 -0.00245598 0.00151329 -0.000432148 0.00288935 0.0040498 -0.00189902 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 697 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2771 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 684.578 0 0 newEnergyL 0 lastEnergy: 685.423 0 0 lastEnergyL: 0mActiveResiduals: 2771 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 684.578 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2771 INF|LocalMapper.cpp[optimize,345]: End Energy: 684.578 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.504939 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.504939 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 144 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 144 with idx: 4 and allID: 679 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->144 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 144->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->144 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->144 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->144 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 144->134 INF|LocalMapper.cpp[marginalizeFrame,772]: 144<->144 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 145<->144 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 144->145 INF|LocalMapper.cpp[marginalizeFrame,801]: 144 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 144 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 15407 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x3d662540 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 147 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 102 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 37 with distance 0.194Found rest min at: 101 with distance 0.112 overall min: 0.112 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 37 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 725 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 147 into DB 0.194 37 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 37 and real id(65) current kf: 147(692) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.901864 0.126864 -0.412973 -2.65463 -0.0788855 0.988199 0.131299 0.255456 0.424756 -0.0858362 0.901229 -0.231205 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 65 currFrame: 147 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000574393 edge: 147 to 65 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 0 < 8488 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 147 and 65 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 147 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 147 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1471 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 693 keyframes 148 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!697 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 541 INF|Input.cpp[getImages,132]: mNbReceivedImages!698 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.340285 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999988 0.00225874 0.00424831 0.0162631 -0.00224323 0.999991 -0.00365213 -0.00108098 -0.00425652 0.00364256 0.999984 -0.00129587 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 147 to 976447040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.340285) and 692(1311875596.307904) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999988 0.00225874 0.00424831 0.0162631 -0.00224323 0.999991 -0.00365213 -0.00108098 -0.00425652 0.00364256 0.999984 -0.00129587 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3673/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 147 to 976447040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.340285) and 692(1311875596.307904) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999992 -0.000312266 0.00409158 0.0191969 0.000330897 0.99999 -0.00455356 -0.00519851 -0.00409012 0.00455488 0.999981 0.00132241 Input.cpp[readImages,206]: Got image from sensor!697 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999535 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2869/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 147 to 976447040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.340285) and 692(1311875596.307904) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999976 -0.000301168 0.00696338 0.018 0.000323772 0.999995 -0.00324521 -0.00281129 -0.00696237 0.00324738 0.99997 0.000368594 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 698 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999545 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1907/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.580396 resInfo good: 8461, 27 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10165/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999964 -0.000369336 0.00853199 0.0147906 0.000389716 0.999997 -0.00238705 -0.00224643 -0.00853108 0.00239029 0.999961 0.0011747 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!693 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 470 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.372238 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999854 -0.000718264 0.0170642 0.0295916 0.00079978 0.999988 -0.00477068 -0.0044899 -0.0170606 0.00478364 0.999843 0.0022178 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 147 to 976447040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.372238) and 692(1311875596.307904) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999854 -0.000718264 0.0170642 0.0295916 0.00079978 0.999988 -0.00477068 -0.0044899 -0.0170606 0.00478364 0.999843 0.0022178 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!698 INF|Input.cpp[getImages,132]: mNbReceivedImages!699 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999455 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2048/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 147 to 976447040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.372238) and 692(1311875596.307904) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999847 -0.000382466 0.0175084 0.0126228 0.000530154 0.999964 -0.00843144 -0.016709 -0.0175045 0.00843943 0.999811 -0.000894557 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999861 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2819/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 147 to 976447040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.372238) and 692(1311875596.307904) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999816 -0.000884149 0.0191691 0.0143096 0.00104508 0.999964 -0.00838694 -0.0105029 -0.019161 0.00840543 0.999781 0.000562388 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999825 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1509/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.77919 resInfo good: 8451, 37 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8015/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999822 -0.00137875 0.0188289 0.0182617 0.00153346 0.999965 -0.00820472 -0.00780996 -0.0188169 0.00823213 0.999789 0.000646374 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!694 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.408355 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,206]: Got image from sensor!698 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999711 -0.00186088 0.0239788 0.0199973 0.00212775 0.999936 -0.011109 -0.0105891 -0.0239566 0.0111568 0.999651 0.000356649 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 147 to 976447040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.408355) and 692(1311875596.307904) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999711 -0.00186088 0.0239788 0.0199973 0.00212775 0.999936 -0.011109 -0.0105891 -0.0239566 0.0111568 0.999651 0.000356649 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 699 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999585 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4076/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 147 to 976447040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.408355) and 692(1311875596.307904) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999722 -0.00183155 0.0234871 0.0227662 0.00213624 0.999914 -0.0129539 -0.0128511 -0.0234613 0.0130005 0.99964 -0.00761421 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!699 INF|Input.cpp[getImages,132]: mNbReceivedImages!700 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999996 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:6377/6 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 147 to 976447040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.408355) and 692(1311875596.307904) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999696 -0.00140627 0.0246351 0.0271316 0.00174117 0.999906 -0.0135781 -0.00668261 -0.0246137 0.0136169 0.999604 -0.00641207 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3183/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.913056 resInfo good: 8405, 83 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 15339/15 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999652 -0.00156251 0.0263396 0.0241604 0.00191304 0.99991 -0.0132882 -0.00479231 -0.0263164 0.013334 0.999565 -0.0050188 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!695 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.440318 Input.cpp[readImages,206]: Got image from sensor!699 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999546 -0.00164001 0.0300947 0.0270935 0.00211713 0.999872 -0.0158287 -0.00327207 -0.0300649 0.0158852 0.999422 -0.00786218 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 147 to 976447040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.440318) and 692(1311875596.307904) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999546 -0.00164001 0.0300947 0.0270935 0.00211713 0.999872 -0.0158287 -0.00327207 -0.0300649 0.0158852 0.999422 -0.00786218 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 700 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999183 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3976/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 147 to 976447040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.440318) and 692(1311875596.307904) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999577 -0.00381346 0.0288228 0.0284809 0.00434569 0.999821 -0.0184254 -0.00890399 -0.0287474 0.0185429 0.999415 -0.0100747 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!700 INF|Input.cpp[getImages,132]: mNbReceivedImages!701 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999769 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4527/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 147 to 976447040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.440318) and 692(1311875596.307904) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999537 -0.0041136 0.0301531 0.0303537 0.00467297 0.999818 -0.018504 -0.0026113 -0.0300715 0.0186363 0.999374 -0.00787309 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999868 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1251/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.00576 resInfo good: 8248, 240 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11443/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999503 -0.0041203 0.0312486 0.0301633 0.00463666 0.999854 -0.01647 -0.00479901 -0.0311761 0.0166067 0.999376 -0.00778593 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875596.440318 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875596.440318 to keyframe with id: 976447040 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875596.440318 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1189 size: 9868 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId976447040 timestamp: 1311875596.440318 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -8.32974 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -8.94088 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.1944 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -8.84479 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 683 keyframeId: 145 score: -12.1709 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 687 keyframeId: 146 score: -10.8529 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 148 = 148 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3c06d4c0 fh1 0x1ec6dbe0fh->id: 116 148 696goodE: 26 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3c06d4c0 fh1 0x226194c0fh->id: 118 148 696goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3c06d4c0 fh1 0x2a5d2ba0fh->id: 119 148 696goodE: 26 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3c06d4c0 fh1 0xb113840fh->id: 134 148 696goodE: 306 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3c06d4c0 fh1 0x335032c0fh->id: 145 148 696goodE: 32 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3c06d4c0 fh1 0x3c7bd2a0fh->id: 146 148 696goodE: 38 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3c06d4c0 fh1 0x3d662540fh->id: 147 148 696goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew148 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 320 out of 356 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 356 newEdgePixels: 356 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: Input.cpp[readImages,206]: Got image from sensor!700 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2725 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 471 lastEnergy: 816.915 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 92 INF|LocalMapper.cpp[optimize,276]: Start Energy: 816.915 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 8.65577e-12 -1.25702e-11 -1.2783e-11 2.02788e-11 0.005915 -0.0026298 0.0147713 -0.00166041 -0.00204669 0.00206155 0.00819986 0.0138048 0.00544671 -0.00102279 -0.0029213 -0.000908627 0.00334619 0.00820455 0.0274104 -0.00105265 -0.0010769 -0.000392918 -0.00862495 0.000648181 0.0224428 -0.00112944 -0.00139021 0.00012759 -0.0106496 0.00745577 0.0185652 0.000216216 -0.00245085 -0.000400917 -0.00852225 0.00147194 0.0170298 -0.000386736 -0.00268835 -9.48563e-06 -0.00291412 -0.00561862 0.018278 -0.0016324 -0.00336422 9.76411e-05 -0.0115152 -0.00393412 0.0161702 -0.00125128 -0.00179786 0.000100482 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2725 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 741.054 0 0 newEnergyL 0 lastEnergy: 816.915 0 0 lastEnergyL: 0mActiveResiduals: 2725 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -5.98542e-12 1.0009e-12 -8.9229e-12 -2.54348e-12 0.00120728 -0.00105872 -0.00127091 -0.000151658 -0.0003556 -2.27065e-05 -0.00220279 -0.00249539 0.00391686 0.000461408 0.00052387 0.0017596 -0.0148478 0.000499937 -0.0102516 0.000234251 0.000895631 0.000472787 -0.00557904 0.00176428 -0.00562911 0.000186055 0.000444314 -0.000156601 -0.00505 -0.00187108 -0.00695592 -0.000579307 0.000773033 0.000248075 -0.00604367 -0.00389147 -0.00759836 -0.000968837 0.0010106 0.000135386 -0.00794192 0.00332202 -0.00684079 0.000254228 0.0012248 0.000259478 -0.00964358 0.00265679 -0.00488074 0.000222464 0.00125309 -0.000260028 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2725 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 712.807 0 0 newEnergyL 0 lastEnergy: 741.054 0 0 lastEnergyL: 0mActiveResiduals: 2725 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 701 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.87599e-12 3.92493e-12 2.50465e-12 -5.91574e-12 -0.00141697 8.54079e-05 0.00203976 -0.000236786 0.00122997 -0.000116664 0.00183297 0.00264785 0.00161506 -0.000171217 0.000698769 -0.00123905 0.000507236 0.00131556 0.000378134 0.000118764 0.000351959 -0.00122444 0.00166161 -0.00189876 -0.00372178 -9.13145e-05 0.000591823 -0.00052211 9.62471e-05 0.0018015 0.000269772 0.000454118 0.000390529 -0.00026075 -0.000665651 0.00111025 -0.000217056 0.000329756 0.000486256 -0.000234857 0.000350867 -0.00317351 -0.00024147 -0.000473819 0.000167956 -0.000283411 0.000707051 -0.000712522 -0.000761776 -7.53164e-05 0.000303383 -0.000389561 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2725 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 700.178 0 0 newEnergyL 0 lastEnergy: 712.807 0 0 lastEnergyL: 0mActiveResiduals: 2725 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.82972e-12 -8.40741e-12 -5.10944e-13 1.13721e-11 0.00504375 9.23064e-05 0.000947385 -0.00145473 -0.00145224 0.00169779 -0.0074671 -0.00366588 0.00135186 -0.00196409 8.09955e-06 0.00211875 -0.00552385 0.00364031 -0.0060641 -0.00107734 -0.000339049 0.0014394 0.000458441 0.00223227 0.00521343 -0.00161785 -0.00123651 0.000338251 0.00251741 -0.00220229 0.000642664 -0.00240856 -0.00105213 -0.000208048 0.00197287 -0.002691 0.000327133 -0.00252279 -0.000812159 -6.54212e-05 -0.000353767 0.000490565 0.000840227 -0.00192403 -0.000294474 -2.46766e-06 -0.000327904 0.000970089 0.000469931 -0.00181758 -0.000605459 -0.000350448 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2725 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 687.003 0 0 newEnergyL 0 lastEnergy: 700.178 0 0 lastEnergyL: 0mActiveResiduals: 2725 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 6.68075e-12 2.27673e-12 5.62391e-12 -1.02414e-11 5.88983e-05 -0.000504219 -0.00197619 0.00162288 0.00254341 -0.0001422 0.0013835 -0.000943773 0.00410016 0.00205881 0.0029098 9.13286e-05 0.0091736 -0.00251285 0.00541407 0.00132744 0.00146205 -0.000214274 -0.000809855 -0.000433202 -0.00623278 0.00123233 0.0025052 2.82691e-05 0.000380359 0.00302969 -0.00112626 0.00199269 0.00146613 0.000882728 -0.00153275 0.00312467 -0.000520829 0.0020389 0.00155688 0.000638475 -0.00127423 0.00144489 -0.00139622 0.0017097 0.00123256 0.000735895 -0.00146143 -0.00060964 -0.000927578 0.00143575 0.00165265 0.000774081 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2725 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 695 0 0 newEnergyL 0 lastEnergy: 687.003 0 0 lastEnergyL: 0mActiveResiduals: 2725 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -5.52686e-12 -7.93947e-13 -7.36983e-12 1.52933e-11 -0.00296334 0.000732204 0.00630998 -0.00126797 -0.000627053 -0.000990157 0.00376193 0.00738328 0.00186036 -0.00111613 -0.00207989 -0.0017239 -0.0123338 0.00124851 -0.0048174 -0.00119965 -7.92677e-05 -0.000749308 0.00420873 -0.000505288 0.00392249 -0.000736656 -0.00155391 -0.000365332 0.00253128 -0.00348621 -0.00113856 -0.00139178 -0.000404133 -0.000912539 0.00276233 -0.000839379 -0.00130559 -0.000940129 -0.000277852 -0.000698807 0.00301922 -0.00401977 -0.00018116 -0.00144363 4.15885e-05 -0.000799857 0.000865689 0.000807949 0.000133317 -0.000777299 -4.98849e-05 -0.00120401 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2725 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 674.135 0 0 newEnergyL 0 lastEnergy: 695 0 0 lastEnergyL: 0mActiveResiduals: 2725 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!701 INF|Input.cpp[getImages,132]: mNbReceivedImages!702 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 674.135 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2725 INF|LocalMapper.cpp[optimize,345]: End Energy: 674.135 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.504371 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.504371 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 145 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 145 with idx: 4 and allID: 683 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->145 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 145->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->145 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->145 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->145 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 145->134 INF|LocalMapper.cpp[marginalizeFrame,772]: 145<->145 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 146<->145 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 145->146 INF|LocalMapper.cpp[marginalizeFrame,801]: 145 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 145 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 15200 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x3c06d4c0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 148 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 103 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 31 with distance 0.186Found rest min at: 102 with distance 0.098 overall min: 0.098 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 31 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 718 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 148 into DB 0.186 31 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 31 and real id(59) current kf: 148(696) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.739489 0.179056 -0.648919 -2.79197 -0.0840566 0.980992 0.174896 0.267348 0.6679 -0.0747877 0.740484 -0.975779 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 59 currFrame: 148 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00050432 edge: 148 to 59 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 148 to 59 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 255(1311875581.422646) and 696(1311875596.440318) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999795 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3282/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 148 to 59 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 255(1311875581.422646) and 696(1311875596.440318) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.996645 -0.0737383 0.0355203 -0.154498 0.0772583 0.990831 -0.110835 0.147702 -0.0270218 0.113208 0.993204 0.0873861 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999636 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:614/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 148 to 59 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 255(1311875581.422646) and 696(1311875596.440318) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99672 -0.0719686 0.0370139 -0.156965 0.0757552 0.990605 -0.113859 0.154892 -0.0284719 0.116289 0.992807 0.0877986 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999655 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:975/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.996841 -0.07009 0.037347 -0.155657 0.0739678 0.990578 -0.115257 0.160319 -0.0289167 0.117656 0.992633 0.0833658 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 58 end 61 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!701 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 18220 o[1]: 2523 o[2]: 705 o[3]: 133 histWeights: 1 1 1.25 1.5overlap: 3603.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 9868 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 59 and 148 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 148 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 148 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 9031 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 697 keyframes 149 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 528 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.472366 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 702 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999997 -0.00202828 0.00155602 0.00616112 0.00202984 0.999997 -0.00100514 -0.00177001 -0.00155398 0.00100829 0.999998 -0.00122918 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 148 to 976410656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.472366) and 696(1311875596.440318) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999997 -0.00202828 0.00155602 0.00616112 0.00202984 0.999997 -0.00100514 -0.00177001 -0.00155398 0.00100829 0.999998 -0.00122918 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!702 INF|Input.cpp[getImages,132]: mNbReceivedImages!703 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999459 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3600/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 148 to 976410656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.472366) and 696(1311875596.440318) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999999 0.00120389 0.0001851 0.0103458 -0.00120358 0.999998 -0.00167267 -0.00590692 -0.000187113 0.00167245 0.999999 -0.00634334 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999486 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3099/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 148 to 976410656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.472366) and 696(1311875596.440318) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999998 0.000425488 0.00172299 0.0125395 -0.000421245 0.999997 -0.00246255 0.00267492 -0.00172403 0.00246182 0.999995 -0.00451405 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999996 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3742/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.438382 resInfo good: 9864, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 12370/12 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999994 -0.000120056 0.00355445 0.010071 0.000124351 0.999999 -0.00120816 0.00221312 -0.0035543 0.00120859 0.999993 -0.00239112 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!697 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.507750 Input.cpp[readImages,206]: Got image from sensor!702 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999975 -0.000235814 0.007109 0.0201333 0.000252995 0.999997 -0.00241587 0.00443039 -0.00710841 0.0024176 0.999972 -0.00481535 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 148 to 976410656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.507750) and 696(1311875596.440318) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999975 -0.000235814 0.007109 0.0201333 0.000252995 0.999997 -0.00241587 0.00443039 -0.00710841 0.0024176 0.999972 -0.00481535 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 703 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999358 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2925/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 148 to 976410656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.507750) and 696(1311875596.440318) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999994 -0.000826016 0.00347734 0.0324693 0.00083242 0.999998 -0.0018408 -0.0133481 -0.00347582 0.00184368 0.999992 -0.00889084 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999156 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2623/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 148 to 976410656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.507750) and 696(1311875596.440318) on lvl: 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!703 INF|Input.cpp[getImages,132]: mNbReceivedImages!704 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999965 -0.00091108 0.00835554 0.0227655 0.0009393 0.999994 -0.00337407 -0.000454447 -0.00835242 0.0033818 0.999959 -0.00379537 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999914 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1449/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.673684 resInfo good: 9860, 8 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8928/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999952 -0.00157094 0.00964059 0.0223291 0.0015915 0.999996 -0.0021259 -0.000720071 -0.00963722 0.00214114 0.999951 -0.00282894 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!698 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.537191 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999917 -0.00229424 0.012684 0.0284587 0.00232716 0.999994 -0.00258142 -0.00217979 -0.012678 0.00261072 0.999916 -0.00307683 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 148 to 976410656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.537191) and 696(1311875596.440318) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999917 -0.00229424 0.012684 0.0284587 0.00232716 0.999994 -0.00258142 -0.00217979 -0.012678 0.00261072 0.999916 -0.00307683 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999939 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2496/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 148 to 976410656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.537191) and 696(1311875596.440318) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999895 0.00829039 0.0118464 0.0341242 -0.00827303 0.999965 -0.00151408 -0.0248438 -0.0118585 0.00141592 0.999929 -0.00315025 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.99931 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1257/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 148 to 976410656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.537191) and 696(1311875596.440318) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999863 0.00760803 0.0146707 0.0337897 -0.0074911 0.99994 -0.00800891 0.00342821 -0.0147307 0.00789791 0.99986 0.00386207 Input.cpp[readImages,206]: Got image from sensor!703 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999067 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1490/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.842747 resInfo good: 9657, 211 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6872/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999881 0.00709662 0.0137293 0.0370645 -0.00701974 0.999959 -0.0056398 0.000612652 -0.0137688 0.00554275 0.99989 -0.00271276 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!699 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.575672 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 704 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999717 0.0157774 0.0177871 0.0518112 -0.0156158 0.999836 -0.00918869 0.00181754 -0.0179292 0.00890833 0.9998 -0.00265302 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 148 to 976410656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.575672) and 696(1311875596.440318) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999717 0.0157774 0.0177871 0.0518112 -0.0156158 0.999836 -0.00918869 0.00181754 -0.0179292 0.00890833 0.9998 -0.00265302 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999992 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2115/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 148 to 976410656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.575672) and 696(1311875596.440318) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999828 0.0136304 0.0125511 0.0699417 -0.0134169 0.999766 -0.0169396 0.00256741 -0.012779 0.0167683 0.999778 -0.00913858 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999902 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1888/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 148 to 976410656 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.575672) and 696(1311875596.440318) on lvl: 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!704 INF|Input.cpp[getImages,132]: mNbReceivedImages!705 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999721 0.0152122 0.0180679 0.0599014 -0.0149445 0.999778 -0.0148604 0.00366663 -0.0182899 0.0145863 0.999726 -0.00414862 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999975 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2702/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.03568 resInfo good: 9401, 467 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8495/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999682 0.0134244 0.0213557 0.0527102 -0.0132175 0.999865 -0.00980107 -0.00612144 -0.0214844 0.00951568 0.999724 -0.00523195 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875596.575672 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875596.575672 to keyframe with id: 976410656 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875596.575672 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 949 size: 5896 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId976410656 timestamp: 1311875596.575672 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -8.33071 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -8.9667 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.15395 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -8.75192 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 687 keyframeId: 146 score: -10.1646 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 692 keyframeId: 147 score: -9.38599 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 149 = 149 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3a32d840 fh1 0x1ec6dbe0fh->id: 116 149 700goodE: 28 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3a32d840 fh1 0x226194c0fh->id: 118 149 700goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3a32d840 fh1 0x2a5d2ba0fh->id: 119 149 700goodE: 28 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3a32d840 fh1 0xb113840fh->id: 134 149 700goodE: 292 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3a32d840 fh1 0x3c7bd2a0fh->id: 146 149 700goodE: 84 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3a32d840 fh1 0x3d662540fh->id: 147 149 700goodE: 9 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3a32d840 fh1 0x3c06d4c0fh->id: 148 149 700goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew149 Input.cpp[readImages,206]: Got image from sensor!704 INF|LocalMapper.cpp[optimize,276]: Start Energy: 741.644 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 8.99546e-12 -7.21491e-12 8.46913e-12 1.0664e-11 0.000747225 -0.00231414 -0.00242664 0.00112572 -0.00136258 -6.73233e-06 -0.0125291 -0.00586876 0.0132516 0.000859309 0.00122443 0.000422944 0.0140624 0.00444154 -0.00314885 0.00171184 -0.00217971 -0.000512925 -0.00205714 0.00369009 -0.00529861 0.00182568 -0.000144149 0.000431416 0.000850186 0.00615589 -0.00770465 0.00201688 -0.00138169 8.85558e-05 -0.000662321 0.00596112 -0.00824719 0.00217448 -0.00148184 0.000322896 0.000669967 0.000465619 -0.0078093 0.00146143 -0.00138533 0.000807068 0.00722194 -0.00109402 -0.0122154 0.00119457 -0.00233577 -0.000412598 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2647 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 694.251 0 0 newEnergyL 0 lastEnergy: 741.644 0 0 lastEnergyL: 0mActiveResiduals: 2647 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -6.7685e-12 4.48048e-12 -5.36754e-12 7.42292e-13 -0.00156535 0.00390882 -0.00278929 0.000471211 -0.000101667 -0.000220716 0.010582 -0.00533805 0.000362469 -0.000496961 -0.00132574 0.00081277 -0.00336919 0.000146102 -0.00886249 8.69904e-05 -0.000281447 -0.000209284 -0.00561458 0.00442078 0.00245223 0.000439697 0.000602904 0.000502001 0.00108342 0.000400104 0.00321654 -9.17222e-05 -0.0001916 0.0011195 -0.00090797 -0.00351003 0.000656379 -0.000575374 0.000257614 0.00103931 -0.00141049 0.00373353 0.00408092 0.000585715 0.000189791 0.00074444 0.00151308 0.000294124 0.00528011 0.000108559 -0.000313067 0.000432069 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2647 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 663.016 0 0 newEnergyL 0 lastEnergy: 694.251 0 0 lastEnergyL: 0mActiveResiduals: 2647 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 705 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.36647e-12 -2.02842e-12 2.73285e-12 -1.72296e-12 -0.00237534 0.00393843 0.00157825 0.000982221 0.0035158 -7.53771e-05 0.00331552 -0.00356074 0.00443552 -0.000250148 0.0030367 -0.000884252 0.00804203 0.00437178 0.00321725 0.000513153 0.00177549 -0.000907532 0.00161699 -0.00381273 -0.00685446 -7.98495e-05 0.00256192 -0.000846417 -0.000636207 -0.000831034 -0.00250447 0.000452385 0.00257658 -0.000248865 -0.0012877 0.00564398 0.00071199 0.0014231 0.00245331 -2.12235e-05 -0.000154726 -0.00153821 -0.00135331 0.000283275 0.00243101 -2.18234e-05 -0.000914103 -0.000528462 -0.0029856 0.00047913 0.00241998 0.000132326 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2647 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 658.16 0 0 newEnergyL 0 lastEnergy: 663.016 0 0 lastEnergyL: 0mActiveResiduals: 2647 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -3.01806e-12 4.84889e-12 -3.23161e-12 3.59158e-12 0.000602702 -0.002221 4.04072e-06 -0.00175859 -0.00201772 -0.000855183 -0.00382919 0.0072997 -0.00426688 -0.000315016 -0.00172232 -0.000704465 -0.0056418 -0.000186655 -0.00472311 -0.000979834 -0.0015338 -0.00122178 0.00185487 -0.000626771 0.00476135 -0.000555179 -0.0018958 -0.000280849 0.00196346 -0.000805101 0.00161515 -0.000746564 -0.00182194 -0.000769118 0.000663828 -0.00953718 -0.0018445 -0.00219388 -0.00138662 -0.00104695 -0.0010978 0.00155441 0.00265396 -0.000451627 -0.00137904 -0.00107137 -0.000680112 0.00133022 0.00297232 -0.000439822 -0.00135831 -0.000845912 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2647 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 634.691 0 0 newEnergyL 0 lastEnergy: 658.16 0 0 lastEnergyL: 0mActiveResiduals: 2647 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 3.6977e-12 -3.67695e-12 2.26345e-12 -5.83973e-12 -0.00154519 -0.000233635 0.00418084 0.000830868 0.00185388 0.00175961 0.00553026 -0.007033 0.00709054 -0.000371431 0.00127637 0.00193346 -0.00365015 0.00060287 0.00159481 0.000609699 0.00186777 0.0023158 0.000581014 0.00148156 -0.00143841 -0.000234919 0.000838007 0.00114678 0.00113506 0.000239933 -0.00202957 -0.000275237 0.000651102 0.00133312 0.00237481 0.0102958 0.00177673 0.00142124 0.000234945 0.00182956 0.00259435 0.000255386 -0.00267917 -0.000214321 0.000461097 0.00158488 0.000141935 -0.0015182 -0.00267668 -0.000495392 0.000826968 0.00134589 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2647 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 632.667 0 0 newEnergyL 0 lastEnergy: 634.691 0 0 lastEnergyL: 0mActiveResiduals: 2647 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -5.78609e-12 2.64542e-12 -7.12663e-12 5.86104e-12 0.00276539 0.000229781 -0.00397019 -0.0012392 -0.00319337 -0.00150693 -0.0096055 0.00767268 -0.0105645 -0.000407647 -0.00238252 -0.00240272 -0.00083459 8.60486e-05 -0.0029285 -0.000858745 -0.00225849 -0.00136566 0.00292609 -0.00242225 0.00515285 -0.00042841 -0.00250652 -0.00101659 0.00218601 -0.000916267 0.0027516 -0.000362584 -0.00228212 -0.00139182 -0.00194128 -0.0112954 -0.000470957 -0.00215323 -0.00145148 -0.00208699 -0.00436802 -0.000385868 0.00395392 -0.000401672 -0.00132044 -0.00169971 -0.00226777 0.00126878 0.00307468 -5.2552e-05 -0.00166295 -0.00141853 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2647 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 621.921 0 0 newEnergyL 0 lastEnergy: 632.667 0 0 lastEnergyL: 0mActiveResiduals: 2647 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 621.921 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2647 INF|LocalMapper.cpp[optimize,345]: End Energy: 621.921 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.50199 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.50199 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!705 INF|Input.cpp[getImages,132]: mNbReceivedImages!706 INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 146 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 146 with idx: 4 and allID: 687 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->146 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 146->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->146 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->146 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->146 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 146->134 INF|LocalMapper.cpp[marginalizeFrame,772]: 146<->146 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 147<->146 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 146->147 INF|LocalMapper.cpp[marginalizeFrame,801]: 146 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 146 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 15325 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x3a32d840 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 149 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code:  INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 104 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 34 with distance 0.188Found rest min at: 103 with distance 0.106 overall min: 0.106 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 34 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 725 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 149 into DB 0.188 34 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 34 and real id(62) current kf: 149(700) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.804471 0.131716 -0.579204 -2.79599 -0.0481594 0.986357 0.157417 0.220014 0.592036 -0.0987429 0.799839 -0.651631 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 62 currFrame: 149 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000751051 edge: 149 to 62 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 149 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 700(1311875596.575672) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 12,0.999976 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3229/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 149 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 700(1311875596.575672) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.989616 0.00490894 -0.143654 0.476506 0.000150807 0.999381 0.0351898 -0.308519 0.143738 -0.034846 0.989002 0.16856 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999462 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:606/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 149 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 700(1311875596.575672) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.988742 0.00466835 -0.149555 0.495119 0.00103021 0.999277 0.0380033 -0.318749 0.149624 -0.0377296 0.988023 0.176273 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999971 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1598/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.987909 0.00530043 -0.154942 0.517477 0.00110636 0.999149 0.0412343 -0.327621 0.155028 -0.0409071 0.987063 0.195325 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 61 end 64 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!705 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 12902 o[1]: 1878 o[2]: 648 o[3]: 171 histWeights: 1 1 1.25 1.5overlap: 2944.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 5896 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 62 and 149 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 149 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 149 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 9122 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 701 keyframes 150 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.608407 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 706 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999945 0.00521953 0.00906888 0.0112869 -0.00517862 0.999976 -0.00452954 -0.0043232 -0.0090923 0.00448233 0.999949 0.000457102 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 149 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.608407) and 700(1311875596.575672) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999945 0.00521953 0.00906888 0.0112869 -0.00517862 0.999976 -0.00452954 -0.0043232 -0.0090923 0.00448233 0.999949 0.000457102 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999002 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2225/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 149 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.608407) and 700(1311875596.575672) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999989 0.000766647 0.0047141 0.0132418 -0.000729731 0.999969 -0.00782768 0.0122514 -0.00471996 0.00782415 0.999958 -0.0144701 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!706 INF|Input.cpp[getImages,132]: mNbReceivedImages!707 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999449 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2778/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 149 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.608407) and 700(1311875596.575672) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999933 0.000458527 0.0115938 -0.0003103 -0.000419253 0.999994 -0.00338976 0.00378335 -0.0115953 0.00338467 0.999927 -0.0115585 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999995 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1192/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.509865 resInfo good: 5896, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7475/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999925 0.00043346 0.0122769 8.72114e-05 -0.000397769 0.999996 -0.00290942 0.00530939 -0.0122781 0.00290432 0.99992 -0.0107303 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!701 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 783 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.639404 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99983 0.000663552 0.0184143 8.22643e-05 -0.00058325 0.99999 -0.0043659 0.00797577 -0.018417 0.00435442 0.999821 -0.0160899 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 149 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.639404) and 700(1311875596.575672) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99983 0.000663552 0.0184143 8.22643e-05 -0.00058325 0.99999 -0.0043659 0.00797577 -0.018417 0.00435442 0.999821 -0.0160899 Input.cpp[readImages,206]: Got image from sensor!706 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999077 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2182/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 149 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.639404) and 700(1311875596.575672) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999849 -0.00336091 0.0170742 -0.000216676 0.00343636 0.999984 -0.00439161 0.0037332 -0.0170592 0.00444962 0.999845 -0.0205093 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 707 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999658 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3647/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 149 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.639404) and 700(1311875596.575672) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999835 -0.00432021 0.0176353 0.00441696 0.00436658 0.999987 -0.00259135 0.00308623 -0.0176238 0.00266793 0.999841 -0.0186836 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999578 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:725/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.642883 resInfo good: 5896, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7803/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999814 -0.00456109 0.0187177 0.0040443 0.0045928 0.999988 -0.00165135 0.00454683 -0.0187099 0.00173701 0.999823 -0.0170402 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!702 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.673116 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!707 INF|Input.cpp[getImages,132]: mNbReceivedImages!708 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999734 -0.00706112 0.0219354 0.00600903 0.00708498 0.999974 -0.00101027 0.00417016 -0.0219277 0.00116542 0.999759 -0.0202042 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 149 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.673116) and 700(1311875596.575672) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999734 -0.00706112 0.0219354 0.00600903 0.00708498 0.999974 -0.00101027 0.00417016 -0.0219277 0.00116542 0.999759 -0.0202042 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999563 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1302/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 149 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.673116) and 700(1311875596.575672) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999746 -0.00674372 0.0215115 0.00481858 0.00678053 0.999976 -0.00163868 0.00220683 -0.0214999 0.00178413 0.999767 -0.0206424 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999471 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2834/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 149 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.673116) and 700(1311875596.575672) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99975 -0.00792388 0.0208886 0.0117447 0.00794658 0.999968 -0.00100408 0.00450286 -0.0208799 0.00116982 0.999781 -0.0231168 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999985 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1149/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.750454 resInfo good: 5892, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6637/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999725 -0.00811922 0.0219991 0.0113063 0.00810389 0.999967 0.000785974 0.00307763 -0.0220048 -0.000607479 0.999758 -0.021665 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!703 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.707931 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,206]: Got image from sensor!707 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999672 -0.00990113 0.0236365 0.0149336 0.00985638 0.999949 0.00200895 0.00234862 -0.0236552 -0.00177532 0.999719 -0.023985 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 149 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.707931) and 700(1311875596.575672) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999672 -0.00990113 0.0236365 0.0149336 0.00985638 0.999949 0.00200895 0.00234862 -0.0236552 -0.00177532 0.999719 -0.023985 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 708 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 8): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4387/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 149 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.707931) and 700(1311875596.575672) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999685 -0.0121164 0.0219611 0.023563 0.0121562 0.999925 -0.00167697 0.00211113 -0.0219392 0.00194341 0.999757 -0.0297875 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999787 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:998/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 149 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.707931) and 700(1311875596.575672) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999562 -0.0128688 0.0266381 0.0171366 0.0128038 0.999915 0.00260988 -0.00139221 -0.0266694 -0.00226767 0.999642 -0.02928 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999905 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1035/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.864631 resInfo good: 5823, 73 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7724/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999582 -0.012288 0.0261671 0.0196983 0.0122692 0.999924 0.000877776 0.00322774 -0.0261759 -0.00055636 0.999657 -0.0263303 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!704 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!708 INF|Input.cpp[getImages,132]: mNbReceivedImages!709 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.737105 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999404 -0.0164562 0.0303341 0.02807 0.0164339 0.999864 0.000986943 0.00341281 -0.0303463 -0.000487848 0.999539 -0.0310306 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 149 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.737105) and 700(1311875596.575672) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999404 -0.0164562 0.0303341 0.02807 0.0164339 0.999864 0.000986943 0.00341281 -0.0303463 -0.000487848 0.999539 -0.0310306 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999609 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2914/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 149 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.737105) and 700(1311875596.575672) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999486 -0.0133051 0.0291542 0.0314189 0.013381 0.999908 -0.00240898 0.00164854 -0.0291195 0.00279786 0.999572 -0.0317999 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999473 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2751/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 149 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.737105) and 700(1311875596.575672) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999429 -0.0140717 0.0307193 0.0325074 0.0141273 0.999899 -0.00159203 0.00490613 -0.0306938 0.0020251 0.999527 -0.0290677 Input.cpp[readImages,206]: Got image from sensor!708 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999834 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1498/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.00211 resInfo good: 5766, 130 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8498/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999401 -0.0141033 0.0316137 0.0326998 0.0141102 0.9999 4.24826e-06 0.0030325 -0.0316106 0.00044183 0.9995 -0.0292153 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875596.737105 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875596.737105 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875596.737105 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 974 size: 6590 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875596.737105 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -8.34523 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -8.99951 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.16462 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -8.7473 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 692 keyframeId: 147 score: -12.237 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 696 keyframeId: 148 score: -11.0716 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 150 = 150 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3aa7f2e0 fh1 0x1ec6dbe0fh->id: 116 150 705goodE: 29 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3aa7f2e0 fh1 0x226194c0fh->id: 118 150 705goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3aa7f2e0 fh1 0x2a5d2ba0fh->id: 119 150 705goodE: 22 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3aa7f2e0 fh1 0xb113840fh->id: 134 150 705goodE: 231 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3aa7f2e0 fh1 0x3d662540fh->id: 147 150 705goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3aa7f2e0 fh1 0x3c06d4c0fh->id: 148 150 705goodE: 9 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3aa7f2e0 fh1 0x3a32d840fh->id: 149 150 705goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew150 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 709 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 308 out of 350 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 350 newEdgePixels: 350 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2236 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 420 lastEnergy: 690.155 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 103 INF|LocalMapper.cpp[optimize,276]: Start Energy: 690.155 0 0 lastEnergyL: 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!709 INF|Input.cpp[getImages,132]: mNbReceivedImages!710 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 5.15113e-12 -9.20588e-13 1.08729e-11 -2.83075e-12 -0.000717442 -0.00365555 0.00132742 0.00100145 0.00033893 0.000673662 0.004889 -0.00202332 0.0235303 0.000933202 0.000884579 0.00240632 0.0117701 0.00109647 0.00587021 0.00111602 -0.000821973 0.000601593 0.00372675 0.00824151 0.00180224 0.00174646 -0.000497515 0.00143696 0.00890481 0.0174348 0.00328043 0.0035888 -0.00221232 0.00158908 0.011407 -0.00241551 -0.00182437 0.000515106 -0.00264905 0.00184938 0.0050389 -0.00590469 -0.000514488 -0.000167264 -0.00160275 0.00138865 0.0060642 0.00449685 0.000687318 0.00186172 -0.0018247 0.00182054 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2236 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 644.036 0 0 newEnergyL 0 lastEnergy: 690.155 0 0 lastEnergyL: 0mActiveResiduals: 2236 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.41426e-12 1.32325e-12 -4.46233e-12 -1.28394e-12 0.00417737 0.00184557 -0.00585004 0.000306254 -0.000985294 4.9699e-05 -0.0123774 0.00865463 -0.0134066 0.000596233 0.000485309 -0.00149076 -0.0160657 -0.00486066 -0.0039721 5.62376e-05 0.00167595 0.00123381 -0.00427528 0.000130168 -0.0107838 -8.49882e-05 0.000732357 0.000244783 -0.00293228 -0.00319374 -0.0102184 -0.00111609 0.00104555 2.44064e-05 -0.00485272 0.00240364 -0.00878782 -0.000325758 0.00118876 -0.000287977 0.00315836 0.00619868 -0.00769 0.000557446 -0.000174069 0.000371771 -0.00338011 0.00258804 -0.00793846 -0.000185475 0.000860371 0.000121406 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2236 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 616.167 0 0 newEnergyL 0 lastEnergy: 644.036 0 0 lastEnergyL: 0mActiveResiduals: 2236 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 4.04776e-13 1.6499e-12 3.94195e-12 -4.66384e-12 -0.00744239 -0.00497794 -0.00896274 -0.00149824 -3.86499e-05 0.000549703 0.0131284 -0.00229313 0.00229984 -0.00207073 -0.00217361 -0.000449325 -0.00141033 0.00844883 0.00038176 -0.000730327 -0.000601478 -0.00144542 -0.00212756 0.000999438 0.00187186 -0.000814975 -0.000267913 -0.00116206 0.000417397 0.00210501 0.00050699 -0.00057134 -0.000898027 -0.000975285 0.00091871 0.0010938 -0.000178379 -0.000761931 -0.000913179 -0.000770753 -0.00380461 -0.00507633 -0.00106447 -0.00194198 -0.000176896 -0.00122891 -0.00275303 -0.00184464 -7.41274e-05 -0.0014197 -0.000401861 -0.000906169 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2236 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 608.693 0 0 newEnergyL 0 lastEnergy: 616.167 0 0 lastEnergyL: 0mActiveResiduals: 2236 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.45197e-12 -4.42594e-12 3.27362e-12 2.0882e-13 0.00510835 0.00662282 0.000679033 -0.000951184 -0.00261091 -0.000805122 -0.0159611 0.00349279 -0.0077587 -0.000413734 -0.000260847 8.91921e-05 -6.48294e-05 0.000513451 -0.00788016 -0.00103745 -0.00200528 -0.000453579 0.00110802 -0.00360697 0.00428344 -0.000965641 -0.00191377 -0.00177228 -0.000738115 -0.00626249 0.00225925 -0.00183097 -0.00105241 -0.00243477 -0.00206896 -0.00695754 0.0019429 -0.00204083 -0.000833056 -0.00280139 0.00219011 0.00182361 0.00288931 -0.000576429 -0.00158997 -0.00209221 0.000785545 -0.000951194 0.00254641 -0.00120218 -0.00135409 -0.002384 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2236 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 588.776 0 0 newEnergyL 0 lastEnergy: 608.693 0 0 lastEnergyL: 0mActiveResiduals: 2236 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -8.27126e-13 1.40583e-13 -2.15194e-12 -1.11193e-12 -0.00784335 -0.000826089 -0.00448927 0.00170562 0.00258926 0.000715139 0.0107514 -0.00643695 0.0148721 0.000221637 0.00115794 0.000910382 -0.00193224 -0.00250775 0.00261839 0.00112017 0.00198644 0.00113765 0.000292647 0.00556573 -0.00164408 0.00128981 0.00152151 0.00112109 0.00336135 0.00669083 -0.000703367 0.00204059 0.000600197 0.00181075 0.00244697 0.00525644 -0.00101252 0.00186746 0.000768207 0.00193585 -0.00110801 -0.00414954 -0.00239146 0.00025281 0.00139412 0.00161275 0.000576807 0.000283037 -0.00152746 0.00107654 0.00109379 0.00176162 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2236 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 588.805 0 0 newEnergyL 0 lastEnergy: 588.776 0 0 lastEnergyL: 0mActiveResiduals: 2236 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -9.15429e-13 -2.39427e-13 -3.6808e-12 -2.15817e-13 0.00282455 0.00141424 -0.00379259 0.00081144 -0.00290208 -0.00132895 -0.00829183 0.00310389 -0.0114428 0.00169084 -0.00152214 -0.000548069 0.00481777 -0.00691496 0.00188176 0.000136972 -0.00196158 9.06219e-05 -0.00256506 0.00241487 0.0026079 0.00155627 -0.00137997 -0.000459769 -0.00244195 -0.0054419 0.00124497 0.000134204 -0.0010367 -0.000872826 -0.00220972 -0.00364287 0.00134071 0.0004768 -0.00114527 -0.00129804 0.000821357 0.00327609 0.00246429 0.00163138 -0.00172679 -0.000936143 -0.00163198 0.000917276 0.00265267 0.00121395 -0.00130665 -0.0010508 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2236 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 575.235 0 0 newEnergyL 0 lastEnergy: 588.805 0 0 lastEnergyL: 0mActiveResiduals: 2236 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 575.235 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2236 INF|LocalMapper.cpp[optimize,345]: End Energy: 575.235 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.515578 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.515578 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 147 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 147 with idx: 4 and allID: 692 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->147 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 147->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->147 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->147 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->147 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 147->134 INF|LocalMapper.cpp[marginalizeFrame,772]: 147<->147 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 148<->147 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 147->148 INF|LocalMapper.cpp[marginalizeFrame,801]: 147 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 147 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 14782 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x3aa7f2e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 150 Input.cpp[readImages,206]: Got image from sensor!709 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 105 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 34 with distance 0.16Found rest min at: 104 with distance 0.096 overall min: 0.096 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 34 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 876 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 150 into DB 0.16 34 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 34 and real id(62) current kf: 150(705) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.781953 0.142736 -0.606774 -2.83834 -0.0572277 0.985757 0.158138 0.22597 0.620704 -0.0889323 0.778985 -0.650545 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 62 currFrame: 150 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00069086 edge: 150 to 62 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 150 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 705(1311875596.737105) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 710 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 10,0.999706 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2596/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 150 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 705(1311875596.737105) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.996133 0.00918183 -0.0873813 0.233146 -0.00889571 0.999954 0.00366317 -0.231465 0.0874109 -0.00287169 0.996168 0.180962 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999305 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:858/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 150 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 705(1311875596.737105) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.993799 0.00876844 -0.110847 0.301319 -0.00771533 0.999921 0.00992595 -0.258535 0.110925 -0.00900918 0.993788 0.152341 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 9,0.999301 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2502/2 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.990679 0.0103946 -0.135819 0.370469 -0.00690281 0.999634 0.0261551 -0.305126 0.136041 -0.0249738 0.990388 0.0821258 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 61 end 64 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!710 INF|Input.cpp[getImages,132]: mNbReceivedImages!711 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 14523 o[1]: 2075 o[2]: 751 o[3]: 174 histWeights: 1 1 1.25 1.5overlap: 3274.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 6590 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 62 and 150 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 150 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 150 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 9886 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 706 keyframes 151 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 523 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.775246 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999989 -0.00157549 0.00450354 0.0162811 0.00157263 0.999999 0.000639467 -0.00484693 -0.00450455 -0.000632378 0.99999 -0.00431843 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 150 to 43237152 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.775246) and 705(1311875596.737105) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999989 -0.00157549 0.00450354 0.0162811 0.00157263 0.999999 0.000639467 -0.00484693 -0.00450455 -0.000632378 0.99999 -0.00431843 Input.cpp[readImages,206]: Got image from sensor!710 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999478 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3926/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 150 to 43237152 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.775246) and 705(1311875596.737105) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999991 0.000482287 0.00411639 0.0122892 -0.00049088 0.999998 0.00208691 -0.0194759 -0.00411537 -0.00208891 0.999989 -0.0108101 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 711 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 5): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3736/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 150 to 43237152 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.775246) and 705(1311875596.737105) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999949 0.00076486 0.0100609 0.00117175 -0.00076086 1 -0.000401482 -0.00615403 -0.0100612 0.000393807 0.999949 -0.0077265 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999434 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2063/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.511181 resInfo good: 6590, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11054/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99996 0.000300976 0.00892093 0.00709168 -0.000294166 1 -0.000764614 -0.002433 -0.00892116 0.00076196 0.99996 -0.00724085 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!706 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1137 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!711 INF|Input.cpp[getImages,132]: mNbReceivedImages!712 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.805618 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99991 0.00045401 0.0133811 0.010613 -0.000438689 0.999999 -0.0011479 -0.00364822 -0.0133816 0.00114192 0.99991 -0.0108856 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 150 to 43237152 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.805618) and 705(1311875596.737105) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99991 0.00045401 0.0133811 0.010613 -0.000438689 0.999999 -0.0011479 -0.00364822 -0.0133816 0.00114192 0.99991 -0.0108856 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3301/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 150 to 43237152 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.805618) and 705(1311875596.737105) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999956 -0.00350856 0.00870979 0.0269789 0.00357931 0.999961 -0.00812146 -0.000268519 -0.00868095 0.00815228 0.999929 -0.0159953 Input.cpp[readImages,206]: Got image from sensor!711 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999929 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2973/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 150 to 43237152 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.805618) and 705(1311875596.737105) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999862 -0.0027098 0.0163646 0.0104039 0.00282171 0.999973 -0.0068196 0.00263662 -0.0163456 0.00686484 0.999843 -0.0137011 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999318 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1221/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.688712 resInfo good: 6588, 2 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8753/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999849 -0.00302059 0.017123 0.0111315 0.00309426 0.999986 -0.00427737 -0.00196319 -0.0171099 0.00432971 0.999844 -0.0138151 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!707 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 480 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 712 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.838883 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999764 -0.00467036 0.021228 0.0131306 0.00479921 0.99997 -0.00602327 -0.00171446 -0.0211993 0.00612373 0.999757 -0.017114 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 150 to 43237152 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.838883) and 705(1311875596.737105) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999764 -0.00467036 0.021228 0.0131306 0.00479921 0.99997 -0.00602327 -0.00171446 -0.0211993 0.00612373 0.999757 -0.017114 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!712 INF|Input.cpp[getImages,132]: mNbReceivedImages!713 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999882 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2519/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 150 to 43237152 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.838883) and 705(1311875596.737105) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999783 -0.00323755 0.0205655 0.0134257 0.00338572 0.999969 -0.00717388 -0.00589862 -0.0205416 0.00724196 0.999763 -0.0240697 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999485 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3189/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 150 to 43237152 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.838883) and 705(1311875596.737105) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999729 -0.0033632 0.0230194 0.0120697 0.00346582 0.999984 -0.00441943 -0.00829349 -0.0230042 0.00449802 0.999725 -0.024907 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999343 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1016/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.809801 resInfo good: 6578, 12 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8298/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999738 -0.00354014 0.0226049 0.0160088 0.00367789 0.999975 -0.00605507 -0.0002778 -0.0225829 0.00613662 0.999726 -0.0232571 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!708 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.875915 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,206]: Got image from sensor!712 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999672 -0.0037962 0.0253459 0.0184277 0.00397335 0.999968 -0.00694271 0.000572234 -0.0253187 0.00704113 0.999655 -0.0279869 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 150 to 43237152 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.875915) and 705(1311875596.737105) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999672 -0.0037962 0.0253459 0.0184277 0.00397335 0.999968 -0.00694271 0.000572234 -0.0253187 0.00704113 0.999655 -0.0279869 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 713 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3664/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 150 to 43237152 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.875915) and 705(1311875596.737105) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999662 -0.00496868 0.0255117 0.0221378 0.00515155 0.999961 -0.00710766 -0.00217441 -0.0254754 0.00723669 0.999649 -0.0339409 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999761 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2614/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 150 to 43237152 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.875915) and 705(1311875596.737105) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99963 -0.00464117 0.0268075 0.023572 0.00480073 0.999971 -0.00589089 -0.00218815 -0.0267793 0.00601741 0.999623 -0.0346768 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!713 INF|Input.cpp[getImages,132]: mNbReceivedImages!714 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.99993 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1424/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.923186 resInfo good: 6454, 136 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8887/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99959 -0.00505648 0.0281934 0.0224627 0.0052066 0.999973 -0.00525387 0.00115876 -0.028166 0.0053985 0.999589 -0.0342242 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!709 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.905068 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999503 -0.00581618 0.0309868 0.0256658 0.00596926 0.99997 -0.00485006 0.00187764 -0.0309577 0.00503262 0.999508 -0.0397217 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 150 to 43237152 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.905068) and 705(1311875596.737105) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999503 -0.00581618 0.0309868 0.0256658 0.00596926 0.99997 -0.00485006 0.00187764 -0.0309577 0.00503262 0.999508 -0.0397217 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.99947 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2876/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 150 to 43237152 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.905068) and 705(1311875596.737105) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999482 -0.00687182 0.0314528 0.0300929 0.00702333 0.999964 -0.00470896 -0.00344782 -0.0314193 0.00492742 0.999494 -0.0410011 Input.cpp[readImages,206]: Got image from sensor!713 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 10,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4870/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 150 to 43237152 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.905068) and 705(1311875596.737105) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999446 -0.00730721 0.0324841 0.0323876 0.00739457 0.999969 -0.00256983 -0.00321691 -0.0324643 0.00280861 0.999469 -0.03962 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999055 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1051/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.03256 resInfo good: 6378, 212 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9940/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999416 -0.0074843 0.0333374 0.0324614 0.00757506 0.999968 -0.00259701 4.35319e-05 -0.0333169 0.00284803 0.999441 -0.0382282 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875596.905068 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875596.905068 to keyframe with id: 43237152 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875596.905068 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 714 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1087 size: 7036 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId43237152 timestamp: 1311875596.905068 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -8.39199 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -9.04532 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.19389 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -8.78669 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 696 keyframeId: 148 score: -11.0909 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 700 keyframeId: 149 score: -10.1396 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 151 = 151 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3ddc0840 fh1 0x1ec6dbe0fh->id: 116 151 710goodE: 29 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3ddc0840 fh1 0x226194c0fh->id: 118 151 710goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3ddc0840 fh1 0x2a5d2ba0fh->id: 119 151 710goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3ddc0840 fh1 0xb113840fh->id: 134 151 710goodE: 203 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3ddc0840 fh1 0x3c06d4c0fh->id: 148 151 710goodE: 47 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3ddc0840 fh1 0x3a32d840fh->id: 149 151 710goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3ddc0840 fh1 0x3aa7f2e0fh->id: 150 151 710goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew151 Input.cpp[readImages,192]: readImages loop! INF|LocalMapper.cpp[optimize,276]: Start Energy: 671.891 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 3.66134e-12 -4.34764e-12 -4.36802e-12 6.58061e-12 0.00522172 0.00244673 0.0101488 0.000666007 0.00272726 0.000746731 0.0118897 -0.0106069 0.0227912 -0.00139599 0.00239631 0.00137857 0.0103586 0.00744119 0.0134156 0.000625287 0.00146831 3.46246e-06 -0.000185465 -0.00277602 0.0224178 -0.000645676 0.00185332 0.00180625 -0.00580076 -0.00260192 0.02436 0.000538224 0.00205891 0.00195698 -0.00500174 -0.00749652 0.0227386 -0.000214281 0.00215381 0.00204216 -0.00530691 -0.00656071 0.0192584 3.58108e-05 0.00211399 0.00230844 -0.00719315 -0.00979798 0.0202457 -0.000742795 0.00277248 0.00254125 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2213 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 629.53 0 0 newEnergyL 0 lastEnergy: 671.891 0 0 lastEnergyL: 0mActiveResiduals: 2213 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.2124e-12 -2.26741e-14 -4.10459e-12 -4.86766e-12 0.00165787 -0.00327878 0.00360052 -0.000491319 2.27138e-05 1.46372e-05 -0.00536201 0.00786052 -0.00977249 0.00151748 0.000427989 0.00029746 -0.004896 -0.00219723 -0.00615159 -0.000132124 0.00048801 8.38925e-05 -0.0111286 -0.00262073 -0.00571282 -0.000554573 0.00166391 0.000327656 -0.00759921 -0.00240269 -0.002999 -0.000907031 0.00150173 0.000627152 -0.00899514 0.00334552 0.000863374 6.54912e-05 0.00175284 0.000762284 -0.00960122 0.00229435 0.00352158 -5.87633e-05 0.00189012 0.000233695 -0.0125821 0.00436025 0.00312613 0.000369169 0.00244544 -0.000233796 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2213 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 616.739 0 0 newEnergyL 0 lastEnergy: 629.53 0 0 lastEnergyL: 0mActiveResiduals: 2213 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.87282e-12 2.67847e-12 4.12847e-12 -9.72168e-12 0.000126799 0.000563003 0.00381287 -0.000565082 0.00189029 0.00117669 0.00466629 -0.00631767 0.00300547 -0.00178022 0.0011658 0.000903301 0.00201406 0.00606308 0.000186605 -0.000117238 0.00097195 0.000202057 -0.00205396 -0.00146299 -0.00313555 -0.00119508 0.00154387 0.000143779 0.000123102 0.00435723 0.00132335 -0.000288819 0.00151819 0.000453722 0.000383725 0.0009873 -0.0014649 -0.000784274 0.00155349 0.000406232 6.38973e-05 0.00220719 -0.0024985 -0.000632217 0.00152128 0.000552317 -0.000172486 -0.00344971 -0.00288448 -0.00157171 0.00158529 0.000831306 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2213 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 594.946 0 0 newEnergyL 0 lastEnergy: 616.739 0 0 lastEnergyL: 0mActiveResiduals: 2213 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.9298e-12 -2.03285e-12 -2.55898e-13 7.88688e-12 0.00304982 -0.00114484 0.000924949 -0.000742168 -0.00192483 -0.00108057 -0.00902875 0.00858719 -0.00712292 0.000838077 -0.000879706 -0.00125129 0.00195469 -0.00169183 -0.00259149 -0.000261382 -0.00139949 -0.000172423 0.0015087 -0.00197471 0.000810554 -4.40378e-05 -0.0012997 -0.0011145 0.00211318 -0.00414044 -0.000909196 -0.000654498 -0.000809609 -0.001309 -0.00177738 -0.00300457 0.000166839 -0.000551518 -0.00016006 -0.00167328 -0.00202007 -0.0022144 0.00427905 -0.000489877 1.24853e-05 -0.00164233 -0.000691814 0.00235543 0.00275372 0.000321851 -0.000222697 -0.00173307 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2213 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 589.091 0 0 newEnergyL 0 lastEnergy: 594.946 0 0 lastEnergyL: 0mActiveResiduals: 2213 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.16573e-12 -5.06715e-13 8.15338e-13 -1.85073e-12 0.00326752 -0.00364113 0.00422079 0.000567557 0.00259679 0.00110793 0.00461164 -0.00461221 0.00420079 0.000537072 0.00255601 0.00213287 0.00525412 0.00063226 0.00443831 0.000814187 0.00215967 0.00124274 -0.00284428 0.00209969 -0.00434459 0.000227135 0.00274766 0.0014544 -0.000644438 0.00454864 0.000349284 0.00079294 0.0027593 0.00156926 0.000710074 0.00453456 -0.00159592 0.00100321 0.0025651 0.00181798 0.000290564 0.00285283 -0.00534094 0.000634267 0.00260314 0.00179884 -0.00188175 -0.00109122 -0.00304526 -4.81144e-05 0.00307202 0.00173321 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2213 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 569.808 0 0 newEnergyL 0 lastEnergy: 589.091 0 0 lastEnergyL: 0mActiveResiduals: 2213 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.92791e-12 2.37485e-12 6.38059e-13 -4.86174e-12 -0.00128337 0.00297949 0.00264186 -0.00159923 -0.00018934 -0.00169239 0.00548579 0.00371955 0.00088928 -0.00133999 -0.00109177 -0.00126577 -0.00225654 0.00813467 -0.00241263 -0.000756006 -0.000123357 -0.00150696 0.000390364 -0.00525295 -0.0019743 -0.00128465 0.000107755 -0.00190797 0.00112679 -0.00360824 -0.00422437 -0.00160276 0.00108953 -0.0016639 -0.000337614 -0.00204723 -0.0022834 -0.00147493 0.00132109 -0.00180342 -0.002561 -0.00400407 0.00225956 -0.00182257 0.00184105 -0.00199848 0.0025874 0.00156214 -0.000631372 -0.000921882 0.000941559 -0.00197082 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2213 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 560.753 0 0 newEnergyL 0 lastEnergy: 569.808 0 0 lastEnergyL: 0mActiveResiduals: 2213 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 560.753 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2213 INF|LocalMapper.cpp[optimize,345]: End Energy: 560.753 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.512852 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.512852 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 148 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 148 with idx: 4 and allID: 696 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->148 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 148->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->148 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->148 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->148 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 148->134 INF|LocalMapper.cpp[marginalizeFrame,772]: 148<->148 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 149<->148 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 148->149 INF|LocalMapper.cpp[marginalizeFrame,801]: 148 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 148 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 Input.cpp[readImages,206]: Got image from sensor!714 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 13850 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x3ddc0840 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 151 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 106 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 34 with distance 0.168Found rest min at: 105 with distance 0.102 overall min: 0.102 time: 1 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 34 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 733 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 151 into DB 0.168 34 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 34 and real id(62) current kf: 151(710) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.767028 0.150967 -0.6236 -2.9014 -0.0598844 0.984526 0.164686 0.233286 0.638813 -0.088975 0.7642 -0.641279 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 62 currFrame: 151 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000725881 edge: 151 to 62 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 151 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 710(1311875596.905068) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 715 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 16,0.999527 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4557/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 151 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 710(1311875596.905068) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999976 -0.00433394 -0.00548129 0.00294482 0.00467249 0.997981 0.0633394 -0.489127 0.00519571 -0.0633634 0.997977 0.545381 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!715 INF|Input.cpp[getImages,132]: mNbReceivedImages!716 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 15,0.999768 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3994/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 151 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 710(1311875596.905068) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99752 -0.0480196 -0.0514662 0.0793013 0.0563966 0.982747 0.176146 -0.919799 0.0421198 -0.178612 0.983018 0.369435 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999973 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1645/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.997253 -0.0499723 -0.0546773 0.0868219 0.0588105 0.982938 0.174282 -0.914468 0.0450352 -0.177019 0.983177 0.361331 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 61 end 64 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 15806 o[1]: 2939 o[2]: 755 o[3]: 108 histWeights: 1 1 1.25 1.5overlap: 4044.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7036 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 62 and 151 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 151 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 151 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 14120 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 711 keyframes 152 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 531 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.939510 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,206]: Got image from sensor!715 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999997 -0.00132087 0.00225056 0.00566751 0.00131821 0.999998 0.00117991 -0.000412735 -0.00225211 -0.00117694 0.999997 -0.00113921 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.939510) and 710(1311875596.905068) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999997 -0.00132087 0.00225056 0.00566751 0.00131821 0.999998 0.00117991 -0.000412735 -0.00225211 -0.00117694 0.999997 -0.00113921 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 716 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999654 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2480/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.939510) and 710(1311875596.905068) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999987 0.00302737 -0.00416189 0.0260559 -0.00303812 0.999992 -0.00257764 -0.0129807 0.00415405 0.00259025 0.999988 -0.0137168 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999711 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2023/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.939510) and 710(1311875596.905068) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999984 0.00371026 0.00420631 0.00806439 -0.00369449 0.999986 -0.0037505 -0.000914617 -0.00422017 0.0037349 0.999984 -0.00568127 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999572 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2060/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.482195 resInfo good: 7023, 13 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8299/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999987 0.00285206 0.00419539 0.00981904 -0.00284149 0.999993 -0.00252295 -0.00246135 -0.00420255 0.002511 0.999988 -0.00822857 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!711 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!716 INF|Input.cpp[getImages,132]: mNbReceivedImages!717 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875596.975500 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999949 0.0057146 0.00838348 0.0195964 -0.00567232 0.999971 -0.00505778 -0.00492983 -0.00841214 0.00500996 0.999952 -0.0165045 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.975500) and 710(1311875596.905068) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999949 0.0057146 0.00838348 0.0195964 -0.00567232 0.999971 -0.00505778 -0.00492983 -0.00841214 0.00500996 0.999952 -0.0165045 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999856 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2195/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.975500) and 710(1311875596.905068) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999945 0.00754656 0.00726617 0.0163309 -0.00750839 0.999958 -0.00526617 -0.0048565 -0.0073056 0.00521132 0.99996 -0.0196404 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999626 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2910/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875596.975500) and 710(1311875596.905068) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.9999 0.00788769 0.0117178 0.00947552 -0.00783079 0.999957 -0.00489396 0.000646653 -0.0117559 0.00480171 0.999919 -0.0179651 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.99984 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1580/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.655878 resInfo good: 7036, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7970/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999909 0.00720733 0.0113698 0.0132091 -0.00716423 0.999967 -0.00382683 0.00012328 -0.011397 0.00374503 0.999928 -0.018869 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!712 Input.cpp[readImages,206]: Got image from sensor!716 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 486 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.006765 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 717 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999844 0.0093882 0.0149546 0.0148796 -0.009322 0.999946 -0.00449039 0.0014152 -0.0149959 0.00435028 0.999878 -0.0241971 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.006765) and 710(1311875596.905068) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999844 0.0093882 0.0149546 0.0148796 -0.009322 0.999946 -0.00449039 0.0014152 -0.0149959 0.00435028 0.999878 -0.0241971 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999353 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1552/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.006765) and 710(1311875596.905068) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999877 0.00779715 0.0135781 0.0152471 -0.0077279 0.999957 -0.00514515 -0.00100211 -0.0136176 0.00503959 0.999895 -0.0321231 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999548 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1354/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.006765) and 710(1311875596.905068) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999867 0.00723343 0.0145909 0.0196539 -0.00713984 0.999954 -0.00645609 -0.00420696 -0.0146369 0.00635106 0.999873 -0.02721 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!717 INF|Input.cpp[getImages,132]: mNbReceivedImages!718 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2488/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.767911 resInfo good: 7036, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6913/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999853 0.00741832 0.015485 0.0174149 -0.00734587 0.999962 -0.00472997 -0.00342365 -0.0155195 0.00461553 0.999869 -0.0281385 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!713 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.037249 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999853 0.00741832 0.015485 0.0174149 -0.00734587 0.999962 -0.00472997 -0.00342365 -0.0155195 0.00461553 0.999869 -0.0281385 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.037249) and 710(1311875596.905068) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999853 0.00741832 0.015485 0.0174149 -0.00734587 0.999962 -0.00472997 -0.00342365 -0.0155195 0.00461553 0.999869 -0.0281385 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999635 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2541/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.037249) and 710(1311875596.905068) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999847 0.00898029 0.0150086 0.0159661 -0.00877498 0.999868 -0.0136902 -0.00255281 -0.0151296 0.0135564 0.999794 -0.045474 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999939 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2046/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.037249) and 710(1311875596.905068) on lvl: 0 Input.cpp[readImages,206]: Got image from sensor!717 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999826 0.00734735 0.0171386 0.0161352 -0.00721261 0.999943 -0.00791081 -0.00270477 -0.0171957 0.00778582 0.999822 -0.0403416 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999998 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2289/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.834991 resInfo good: 7036, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9142/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999844 0.00695695 0.0162542 0.0214094 -0.00682337 0.999943 -0.00825934 -0.000428974 -0.0163107 0.00814714 0.999834 -0.0389463 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!714 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 486 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 718 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.075459 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999844 0.00695695 0.0162542 0.0214094 -0.00682337 0.999943 -0.00825934 -0.000428974 -0.0163107 0.00814714 0.999834 -0.0389463 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.075459) and 710(1311875596.905068) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999844 0.00695695 0.0162542 0.0214094 -0.00682337 0.999943 -0.00825934 -0.000428974 -0.0163107 0.00814714 0.999834 -0.0389463 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!718 INF|Input.cpp[getImages,132]: mNbReceivedImages!719 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999412 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3013/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.075459) and 710(1311875596.905068) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999887 0.00518258 0.0140783 0.0227588 -0.00505286 0.999945 -0.0092345 -0.00286675 -0.0141254 0.00916232 0.999858 -0.0533042 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999598 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4333/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.075459) and 710(1311875596.905068) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999929 0.00452485 0.0110582 0.037394 -0.00440297 0.99993 -0.011022 0.0029813 -0.0111073 0.0109725 0.999878 -0.0512287 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999565 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1130/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.896164 resInfo good: 7034, 2 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9813/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999882 0.00562459 0.0143059 0.0303765 -0.00547835 0.999933 -0.0102409 0.00395549 -0.0143625 0.0101613 0.999845 -0.0493035 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!715 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.104876 Input.cpp[readImages,206]: Got image from sensor!718 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999882 0.00562459 0.0143059 0.0303765 -0.00547835 0.999933 -0.0102409 0.00395549 -0.0143625 0.0101613 0.999845 -0.0493035 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.104876) and 710(1311875596.905068) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999882 0.00562459 0.0143059 0.0303765 -0.00547835 0.999933 -0.0102409 0.00395549 -0.0143625 0.0101613 0.999845 -0.0493035 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 719 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999485 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3530/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.104876) and 710(1311875596.905068) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999981 0.00415082 0.00449341 0.0511623 -0.00409226 0.999908 -0.0129646 -0.00359114 -0.00454681 0.012946 0.999906 -0.0640119 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!719 INF|Input.cpp[getImages,132]: mNbReceivedImages!720 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999828 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3458/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.104876) and 710(1311875596.905068) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999927 0.00560691 0.0106898 0.0379449 -0.0054441 0.99987 -0.0151999 0.00692111 -0.0107736 0.0151406 0.999827 -0.0571965 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999654 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2209/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.935583 resInfo good: 7032, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10620/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99991 0.00620886 0.0118763 0.0366011 -0.00606473 0.999908 -0.0121339 0.00150167 -0.0119505 0.0120607 0.999856 -0.0582609 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!716 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1302 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.139407 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999948 0.00736353 0.00701361 0.0491109 -0.00725115 0.999847 -0.0159153 -0.00336681 -0.00712973 0.0158636 0.999849 -0.076144 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.139407) and 710(1311875596.905068) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999948 0.00736353 0.00701361 0.0491109 -0.00725115 0.999847 -0.0159153 -0.00336681 -0.00712973 0.0158636 0.999849 -0.076144 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999674 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:457/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.139407) and 710(1311875596.905068) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999946 0.00760494 0.00712065 0.0343848 -0.00745135 0.999744 -0.0213535 0.00947235 -0.00728122 0.0212993 0.999747 -0.0725928 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999674 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1089/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.139407) and 710(1311875596.905068) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999941 0.00756994 0.00773847 0.0461058 -0.00743678 0.999826 -0.0170937 0.00527931 -0.00786653 0.0170352 0.999824 -0.0680692 Input.cpp[readImages,206]: Got image from sensor!719 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999872 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1040/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.985855 resInfo good: 7016, 20 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3933/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999924 0.00839082 0.00898483 0.0446385 -0.00824261 0.999831 -0.0164074 0.00593934 -0.00912099 0.0163321 0.999825 -0.0678438 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!717 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.177586 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 720 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999926 0.0105604 0.00608401 0.0527131 -0.0104325 0.999732 -0.0206743 0.0103997 -0.00630071 0.0206093 0.999768 -0.0773849 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.177586) and 710(1311875596.905068) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999926 0.0105604 0.00608401 0.0527131 -0.0104325 0.999732 -0.0206743 0.0103997 -0.00630071 0.0206093 0.999768 -0.0773849 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1445/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.177586) and 710(1311875596.905068) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999926 0.0105597 0.0060841 0.0527133 -0.0104319 0.999732 -0.0206744 0.0103995 -0.00630078 0.0206094 0.999768 -0.0773874 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!720 INF|Input.cpp[getImages,132]: mNbReceivedImages!721 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999778 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4134/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 151 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.177586) and 710(1311875596.905068) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99993 0.00896202 0.00767541 0.0524067 -0.00883177 0.999819 -0.0168383 0.00414945 -0.00782493 0.0167694 0.999829 -0.0793796 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.99997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1132/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.0435 resInfo good: 6975, 61 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8146/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999926 0.00939802 0.00772681 0.0545361 -0.00926618 0.999814 -0.0169258 0.00703946 -0.00788444 0.0168529 0.999827 -0.0780697 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875597.177586 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875597.177586 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875597.177586 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1060 size: 7051 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875597.177586 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -8.36112 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -9.05503 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.26756 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -8.78865 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 700 keyframeId: 149 score: -10.9783 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 705 keyframeId: 150 score: -9.95276 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 152 = 152 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x36858540 fh1 0x1ec6dbe0fh->id: 116 152 718goodE: 29 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x36858540 fh1 0x226194c0fh->id: 118 152 718goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x36858540 fh1 0x2a5d2ba0fh->id: 119 152 718goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x36858540 fh1 0xb113840fh->id: 134 152 718goodE: 171 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x36858540 fh1 0x3a32d840fh->id: 149 152 718goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x36858540 fh1 0x3aa7f2e0fh->id: 150 152 718goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x36858540 fh1 0x3ddc0840fh->id: 151 152 718goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew152 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 338 out of 360 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 360 newEdgePixels: 360 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2079 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 336 lastEnergy: 646.059 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 88 INF|LocalMapper.cpp[optimize,276]: Start Energy: 646.059 0 0 lastEnergyL: 0 Input.cpp[readImages,206]: Got image from sensor!720 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 3.37849e-12 -9.39519e-13 6.02845e-12 1.7028e-11 -0.00531268 -0.00347782 -0.000490841 0.0016502 -0.00153067 0.000639725 -0.00967013 0.00289668 -0.0113385 0.00250762 -0.00175953 -0.000643474 -0.0195781 -0.00395866 -0.0103873 0.00128499 -0.000287762 0.000137731 -0.00797803 0.0133343 -0.0176623 0.00274182 -0.000626723 0.00213918 -0.00913501 0.0135323 -0.0123756 0.00271864 -0.00151631 0.00169395 -0.0042343 0.0119912 -0.0171718 0.00302626 -0.00245847 0.00196079 -0.0128161 0.00980286 -0.0170284 0.00256535 -0.0014102 0.00198244 -0.00861287 0.0109737 -0.0163777 0.0028747 -0.00214368 0.00202846 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2079 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 588.819 0 0 newEnergyL 0 lastEnergy: 646.059 0 0 lastEnergyL: 0mActiveResiduals: 2079 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.24865e-13 -1.96179e-12 -2.83758e-13 -2.57228e-14 0.000579326 0.00453037 -0.00170571 0.000559433 -0.000282775 -1.48901e-05 -0.00770048 -0.00500937 -0.00148739 -0.000281126 0.000653053 0.000482524 -0.0106223 0.00568112 -0.00951906 0.000735873 0.000486394 -0.000461343 -0.00465138 0.0116442 -0.00975496 0.00145845 0.000585033 0.000404756 -0.00310026 0.0068301 -0.00561963 0.000611883 0.000265516 0.000717286 -0.00622413 0.00778624 -0.0046177 0.000753832 0.000727427 0.000391994 -0.00432531 0.00230209 -0.00652759 -6.00741e-05 0.000289425 0.000425922 -0.00503045 0.00420247 -0.00400024 0.000254121 0.000339975 -1.99922e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2079 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 568.391 0 0 newEnergyL 0 lastEnergy: 588.819 0 0 lastEnergyL: 0mActiveResiduals: 2079 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 7.84503e-13 -4.09716e-13 5.93444e-13 1.6588e-13 -0.00082065 -0.00181062 -0.00238065 0.000864577 -0.000610049 0.00030431 0.00968518 0.00202643 0.00202206 0.000403268 -0.00183027 -0.000870315 -0.00742291 -0.000980764 0.00337698 0.000657953 0.00062425 0.000630292 -0.0012157 -0.000257118 0.0017911 0.000424562 -0.000341619 0.000872936 0.0020094 0.00128541 -0.000730261 0.00097245 -0.00112973 0.000676481 0.00169518 0.000475957 -0.00163612 0.000938695 -0.00107245 0.00074367 -0.000675924 -0.00104964 -0.00119124 0.00074166 -0.000812271 0.000395613 -0.00112607 0.00194326 -0.00120468 0.00119585 -0.000702034 0.000371346 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2079 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 721 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 544.912 0 0 newEnergyL 0 lastEnergy: 568.391 0 0 lastEnergyL: 0mActiveResiduals: 2079 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -8.15713e-14 -1.39593e-12 1.12025e-12 4.91845e-13 0.00545711 -0.00687647 0.00206487 -0.00201818 -0.00191692 0.00267001 -0.00581336 -0.00446847 -0.00474683 -0.00133334 -0.000612621 0.00313164 -0.00276064 0.00345813 -0.00148674 -0.000642984 -0.000645621 0.00168462 0.000741447 0.00191527 0.00283789 -0.00150885 -0.00166214 0.00150996 -0.000220097 0.000429869 0.000896076 -0.00183651 -0.00166406 0.00141232 -0.00189172 0.000831409 0.00190665 -0.00175592 -0.00147332 0.00128498 0.000992155 0.00179467 -0.00015182 -0.00147053 -0.00194124 0.00152356 -0.000307198 0.000896681 0.00218624 -0.00165744 -0.0018693 0.0013889 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2079 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 539.756 0 0 newEnergyL 0 lastEnergy: 544.912 0 0 lastEnergyL: 0mActiveResiduals: 2079 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -9.84277e-13 2.49316e-12 -4.31315e-12 -2.5777e-12 0.0058515 -0.000785104 0.00506028 0.000596193 9.26633e-05 -0.000801751 0.0102157 0.0125125 0.00416716 0.00168386 -0.000846625 -0.00219619 -0.00848405 -0.00218191 0.00267885 -0.000249427 0.00112166 -0.00155056 -0.00307302 -0.00168295 -0.00315478 0.000648424 0.00110305 -0.000620945 0.00270288 0.000123529 -0.0040286 0.00095786 0.000773874 -0.00050888 0.00260944 -0.000253015 -0.00453535 0.000885161 0.000755506 -0.000550752 -0.00107118 -0.00206408 -0.00188307 0.000474428 0.00135709 -0.00103835 0.0012535 0.000322805 -0.00331486 0.000924503 0.00115508 -0.000287383 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2079 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 527.485 0 0 newEnergyL 0 lastEnergy: 539.756 0 0 lastEnergyL: 0mActiveResiduals: 2079 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 6.46086e-13 -1.89132e-12 2.63624e-12 3.4973e-12 -0.000267911 -0.00790286 -0.00846795 -0.00100181 -0.00256684 0.00248122 -0.00539922 -0.00877279 -0.00675864 -0.00104548 -0.00131239 0.00359882 0.00352795 0.00471286 0.00142051 0.000315797 -0.0014237 0.00250607 0.0014543 0.00157203 0.00532151 -0.000899524 -0.00232225 0.0015709 -0.00266281 0.000266238 0.00170713 -0.00108197 -0.00166594 0.00111744 -0.00319384 0.000736029 0.00305796 -0.000938637 -0.00162287 0.00104268 -0.000354776 0.00227226 0.000990906 -0.000586278 -0.00201503 0.00168964 -0.00323285 0.0014651 0.00494114 -0.000856703 -0.00171835 0.000877542 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2079 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 522.175 0 0 newEnergyL 0 lastEnergy: 527.485 0 0 lastEnergyL: 0mActiveResiduals: 2079 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 522.175 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2079 INF|LocalMapper.cpp[optimize,345]: End Energy: 522.175 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.510203 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.510203 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 149 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 149 with idx: 4 and allID: 700 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->149 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 149->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->149 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->149 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->149 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 149->134 INF|LocalMapper.cpp[marginalizeFrame,772]: 149<->149 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 150<->149 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 149->150 INF|LocalMapper.cpp[marginalizeFrame,801]: 149 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 149 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!721 INF|Input.cpp[getImages,132]: mNbReceivedImages!722 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 14204 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x36858540 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 152 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 107 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 34 with distance 0.17Found rest min at: 106 with distance 0.088 overall min: 0.088 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 34 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 717 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 152 into DB 0.17 34 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 34 and real id(62) current kf: 152(718) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.761127 0.149343 -0.631176 -2.99249 -0.0441811 0.982808 0.179266 0.251775 0.647097 -0.108558 0.754639 -0.629786 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 62 currFrame: 152 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000789625 edge: 152 to 62 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 152 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 718(1311875597.177586) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 15,0.99931 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3656/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 152 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 718(1311875597.177586) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.993882 0.0236271 0.10789 -0.364017 -0.0454306 0.97784 0.204367 -0.812804 -0.100671 -0.208018 0.972931 0.27237 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999846 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:485/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 152 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 718(1311875597.177586) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.993729 0.0245023 0.1091 -0.3686 -0.0469242 0.977006 0.207983 -0.824858 -0.101495 -0.211798 0.972029 0.259781 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999984 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2246/2 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.993303 0.0273398 0.112259 -0.382657 -0.0512399 0.975066 0.215916 -0.844442 -0.103557 -0.220222 0.969937 0.230146 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 61 end 64 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!721 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 17034 o[1]: 2476 o[2]: 650 o[3]: 100 histWeights: 1 1 1.25 1.5overlap: 3438.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7051 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 62 and 152 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 152 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 152 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 10184 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 719 keyframes 153 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.205296 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 722 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0.000247853 -0.000465575 0.00440841 -0.000247722 1 0.000281408 -0.00118585 0.000465645 -0.000281292 1 -0.00718817 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.205296) and 718(1311875597.177586) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0.000247853 -0.000465575 0.00440841 -0.000247722 1 0.000281408 -0.00118585 0.000465645 -0.000281292 1 -0.00718817 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!722 INF|Input.cpp[getImages,132]: mNbReceivedImages!723 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.99939 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3944/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.205296) and 718(1311875597.177586) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999999 0.000914713 -0.000407405 0.000888609 -0.000916336 0.999992 -0.0040021 -0.0052267 0.000403741 0.00400247 0.999992 -0.0108247 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 7): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4876/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.205296) and 718(1311875597.177586) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 1 -0.000504252 0.000452304 0.00412204 0.000504728 0.999999 -0.00105297 -0.00490712 -0.000451772 0.0010532 0.999999 -0.0107666 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999361 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2495/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.348578 resInfo good: 7051, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 12848/12 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999999 -0.000656257 0.00117666 0.00503109 0.000657855 0.999999 -0.00135782 -0.00142882 -0.00117577 0.0013586 0.999998 -0.00943481 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!719 Input.cpp[readImages,206]: Got image from sensor!722 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.239922 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999999 -0.000656257 0.00117666 0.00503109 0.000657855 0.999999 -0.00135782 -0.00142882 -0.00117577 0.0013586 0.999998 -0.00943481 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.239922) and 718(1311875597.177586) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999999 -0.000656257 0.00117666 0.00503109 0.000657855 0.999999 -0.00135782 -0.00142882 -0.00117577 0.0013586 0.999998 -0.00943481 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 723 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4753/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.239922) and 718(1311875597.177586) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999972 -0.00415894 -0.00626094 0.0199498 0.00411509 0.999967 -0.00699987 -0.00411831 0.00628984 0.0069739 0.999956 -0.025828 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!723 INF|Input.cpp[getImages,132]: mNbReceivedImages!724 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 6): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4394/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.239922) and 718(1311875597.177586) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999996 -0.00277524 -0.000444329 0.00900016 0.00277232 0.999975 -0.00643952 0.00104836 0.000462189 0.00643826 0.999979 -0.0212644 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2705/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.472193 resInfo good: 7051, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 13297/13 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999996 -0.00291133 0.000317482 0.00991799 0.00291302 0.999981 -0.00545039 0.00134204 -0.000301608 0.0054513 0.999985 -0.0201576 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!720 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.273159 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 Input.cpp[readImages,206]: Got image from sensor!723 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999996 -0.00291133 0.000317482 0.00991799 0.00291302 0.999981 -0.00545039 0.00134204 -0.000301608 0.0054513 0.999985 -0.0201576 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.273159) and 718(1311875597.177586) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999996 -0.00291133 0.000317482 0.00991799 0.00291302 0.999981 -0.00545039 0.00134204 -0.000301608 0.0054513 0.999985 -0.0201576 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 724 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999802 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3940/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.273159) and 718(1311875597.177586) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999854 -0.00968527 -0.0140649 0.0359235 0.00951292 0.999879 -0.0122696 0.0112253 0.014182 0.012134 0.999826 -0.0395441 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999481 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4075/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.273159) and 718(1311875597.177586) on lvl: 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!724 INF|Input.cpp[getImages,132]: mNbReceivedImages!725 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999944 -0.00794393 -0.00695339 0.0202419 0.00788151 0.999929 -0.00895818 0.00792271 0.00702406 0.00890288 0.999936 -0.0362656 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999432 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:916/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.502274 resInfo good: 7039, 12 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10192/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999968 -0.00693803 -0.00407996 0.0145441 0.00690417 0.999942 -0.00825663 0.00933376 0.00413701 0.0082282 0.999958 -0.0345101 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!721 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.308118 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999904 -0.0109768 -0.00846597 0.0192016 0.0108827 0.999879 -0.0110803 0.0173841 0.00858657 0.0109871 0.999903 -0.0488196 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.308118) and 718(1311875597.177586) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999904 -0.0109768 -0.00846597 0.0192016 0.0108827 0.999879 -0.0110803 0.0173841 0.00858657 0.0109871 0.999903 -0.0488196 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999531 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2390/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.308118) and 718(1311875597.177586) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99986 -0.0138201 -0.00940762 0.019622 0.0137452 0.999874 -0.00797907 0.017774 0.0095167 0.00784864 0.999924 -0.0469037 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999065 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2027/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.308118) and 718(1311875597.177586) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999896 -0.0128552 -0.00654426 0.0193717 0.0128348 0.999913 -0.00315312 0.00963347 0.00658422 0.00306879 0.999974 -0.0470799 Input.cpp[readImages,206]: Got image from sensor!724 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.99995 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:850/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.560646 resInfo good: 7049, 2 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6692/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99988 -0.0141083 -0.00643611 0.0199668 0.0140963 0.999899 -0.00189657 0.00757218 0.00646221 0.00180562 0.999977 -0.0452172 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!722 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 473 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.338657 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 725 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99988 -0.0141083 -0.00643611 0.0199668 0.0140963 0.999899 -0.00189657 0.00757218 0.00646221 0.00180562 0.999977 -0.0452172 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.338657) and 718(1311875597.177586) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99988 -0.0141083 -0.00643611 0.0199668 0.0140963 0.999899 -0.00189657 0.00757218 0.00646221 0.00180562 0.999977 -0.0452172 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!725 INF|Input.cpp[getImages,132]: mNbReceivedImages!726 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999516 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4530/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.338657) and 718(1311875597.177586) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99967 -0.0197923 -0.0163883 0.0397512 0.0197172 0.999794 -0.00473262 0.0107672 0.0164786 0.00440793 0.999855 -0.0565873 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999494 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3547/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.338657) and 718(1311875597.177586) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999786 -0.0179129 -0.0103043 0.0264656 0.0178894 0.999837 -0.0023616 0.00771084 0.010345 0.00217676 0.999944 -0.051973 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2161/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.618986 resInfo good: 7047, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11787/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999785 -0.0180807 -0.0101614 0.0284457 0.0180667 0.999836 -0.0014752 0.00790568 0.0101864 0.0012913 0.999947 -0.0506555 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!723 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.373774 Input.cpp[readImages,206]: Got image from sensor!725 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999785 -0.0180807 -0.0101614 0.0284457 0.0180667 0.999836 -0.0014752 0.00790568 0.0101864 0.0012913 0.999947 -0.0506555 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.373774) and 718(1311875597.177586) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999785 -0.0180807 -0.0101614 0.0284457 0.0180667 0.999836 -0.0014752 0.00790568 0.0101864 0.0012913 0.999947 -0.0506555 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 726 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999382 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3521/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.373774) and 718(1311875597.177586) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.9998 -0.0154628 -0.0126808 0.0308177 0.015427 0.999877 -0.00291531 0.00251822 0.0127243 0.0027191 0.999915 -0.0618694 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999847 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:770/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.373774) and 718(1311875597.177586) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99979 -0.0159634 -0.0128432 0.0336602 0.0159347 0.99987 -0.00233395 0.00322081 0.0128788 0.00212881 0.999915 -0.0640545 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!726 INF|Input.cpp[getImages,132]: mNbReceivedImages!727 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 4): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2948/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.670573 resInfo good: 7047, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9117/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999775 -0.0163997 -0.013438 0.0406947 0.0163658 0.999863 -0.00262637 0.0102261 0.0134792 0.00240586 0.999906 -0.0577821 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!724 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.406116 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999715 -0.0130484 -0.0199965 0.0652738 0.0129526 0.999904 -0.00491194 0.0148296 0.0200587 0.00465153 0.999788 -0.0719067 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.406116) and 718(1311875597.177586) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999715 -0.0130484 -0.0199965 0.0652738 0.0129526 0.999904 -0.00491194 0.0148296 0.0200587 0.00465153 0.999788 -0.0719067 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999117 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3056/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.406116) and 718(1311875597.177586) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999759 -0.0122915 -0.018171 0.0596149 0.0121434 0.999892 -0.00823686 0.0134352 0.0182703 0.00801422 0.999801 -0.0700917 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999526 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1179/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.406116) and 718(1311875597.177586) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999795 -0.0128939 -0.0156117 0.0571076 0.0128313 0.999909 -0.00410538 0.010676 0.0156632 0.00390422 0.99987 -0.0695004 Input.cpp[readImages,206]: Got image from sensor!726 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.99976 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1223/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.764239 resInfo good: 7046, 5 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6718/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999825 -0.0127948 -0.013659 0.0548472 0.0127298 0.999907 -0.00483332 0.0141971 0.0137196 0.0046586 0.999895 -0.0640573 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!725 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 727 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.438083 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!727 INF|Input.cpp[getImages,132]: mNbReceivedImages!728 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999861 -0.00919022 -0.013888 0.0690153 0.00909311 0.999934 -0.00703943 0.0181312 0.0139518 0.00691217 0.999879 -0.0703206 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.438083) and 718(1311875597.177586) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999861 -0.00919022 -0.013888 0.0690153 0.00909311 0.999934 -0.00703943 0.0181312 0.0139518 0.00691217 0.999879 -0.0703206 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999965 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2996/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.438083) and 718(1311875597.177586) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999842 -0.00755983 -0.0160774 0.0701747 0.00730767 0.99985 -0.0156856 0.0261192 0.0161936 0.0155656 0.999748 -0.0744091 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999613 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2014/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.438083) and 718(1311875597.177586) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999883 -0.00808791 -0.0130121 0.0666611 0.0079754 0.999931 -0.00867525 0.01152 0.0130814 0.00857045 0.999878 -0.074325 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999908 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:933/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.879222 resInfo good: 7050, 1 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7337/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999892 -0.00833579 -0.0121129 0.0661285 0.00823567 0.999932 -0.00829227 0.0126511 0.0121812 0.00819161 0.999892 -0.071927 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!726 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1052 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!727 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 728 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!728 INF|Input.cpp[getImages,132]: mNbReceivedImages!729 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.473496 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999937 -0.00387122 -0.0105822 0.0773905 0.00374673 0.999924 -0.011758 0.0110827 0.0106269 0.0117176 0.999875 -0.07982 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.473496) and 718(1311875597.177586) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999937 -0.00387122 -0.0105822 0.0773905 0.00374673 0.999924 -0.011758 0.0110827 0.0106269 0.0117176 0.999875 -0.07982 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999917 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3864/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.473496) and 718(1311875597.177586) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999944 -0.00362575 -0.00997168 0.0662668 0.00344676 0.999834 -0.0179089 0.0186128 0.010035 0.0178736 0.99979 -0.0885527 Input.cpp[readImages,206]: Got image from sensor!728 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999497 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3225/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.473496) and 718(1311875597.177586) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999961 -0.00382597 -0.00793799 0.0655051 0.00369764 0.999863 -0.0161185 0.0205459 0.00799857 0.0160885 0.999839 -0.0860633 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 729 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2643/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.981537 resInfo good: 7050, 1 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11309/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999963 -0.00419296 -0.00745394 0.0666458 0.00407945 0.999876 -0.0151785 0.0207601 0.00751667 0.0151476 0.999857 -0.0836011 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!727 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.505366 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999985 -0.0021094 -0.00513513 0.0668963 0.0020134 0.999824 -0.0186286 0.0248441 0.00517352 0.018618 0.999813 -0.0894179 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.505366) and 718(1311875597.177586) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999985 -0.0021094 -0.00513513 0.0668963 0.0020134 0.999824 -0.0186286 0.0248441 0.00517352 0.018618 0.999813 -0.0894179 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!729 INF|Input.cpp[getImages,132]: mNbReceivedImages!730 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999392 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2343/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.505366) and 718(1311875597.177586) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999996 -0.00284095 -0.000102262 0.0547031 0.00283937 0.999911 -0.0130239 0.0121348 0.000139253 0.0130235 0.999915 -0.0978977 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999984 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1716/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 152 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.505366) and 718(1311875597.177586) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999986 -0.00460173 -0.00244899 0.067157 0.00457459 0.999929 -0.0109757 0.0176906 0.00249932 0.0109643 0.999937 -0.0999228 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2715/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.05673 resInfo good: 6959, 92 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8192/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999987 -0.00467023 -0.00217116 0.068139 0.00464429 0.99992 -0.011805 0.0223495 0.00222611 0.0117948 0.999928 -0.0952835 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875597.505366 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875597.505366 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875597.505366 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1113 size: 6712 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875597.505366 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -8.49043 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -9.19031 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.34012 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -8.91338 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 705 keyframeId: 150 score: -11.873 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -10.6742 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 153 = 153 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x36fb4e00 fh1 0x1ec6dbe0fh->id: 116 153 728goodE: 24 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x36fb4e00 fh1 0x226194c0fh->id: 118 153 728goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x36fb4e00 fh1 0x2a5d2ba0fh->id: 119 153 728goodE: 25 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x36fb4e00 fh1 0xb113840fh->id: 134 153 728goodE: 157 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x36fb4e00 fh1 0x3aa7f2e0fh->id: 150 153 728goodE: 50 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x36fb4e00 fh1 0x3ddc0840fh->id: 151 153 728goodE: 34 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x36fb4e00 fh1 0x36858540fh->id: 152 153 728goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew153 Input.cpp[readImages,206]: Got image from sensor!729 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 730 INF|LocalMapper.cpp[optimize,276]: Start Energy: 708.73 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -2.34613e-12 -6.25107e-12 -7.36589e-12 3.49128e-12 -0.00713826 0.0118804 -0.0059956 0.0014295 0.00381983 -0.00377128 -0.00861203 0.0101311 -0.00228262 0.00121657 0.0033694 -0.00501285 -0.0181035 -0.00257492 0.00292814 -0.000169082 0.00412919 -0.0033359 -0.0126136 0.00359503 0.000533897 0.00161738 0.00471227 -0.00206228 -0.0151776 0.00593415 0.0112595 0.00224903 0.00551648 -0.000568355 -0.0131874 0.00139852 0.0103585 0.00161154 0.00507835 -0.00090454 -0.012247 -0.000533416 0.00822395 0.0016475 0.00520781 0.00024871 -0.0181771 -0.0024708 0.00708129 0.000988794 0.00646344 -0.0012803 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2207 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 639.223 0 0 newEnergyL 0 lastEnergy: 708.73 0 0 lastEnergyL: 0mActiveResiduals: 2207 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 5.96536e-13 -8.40309e-13 2.84204e-12 -2.44389e-12 -0.000236531 -0.000756124 0.00254053 -0.000267378 0.000318699 -0.00025103 -0.00506074 0.0079095 -0.00695826 0.000808529 0.000240636 -0.000734968 -0.00857856 0.00746089 0.005826 0.000510368 0.00120801 -0.000327858 -0.015335 0.00119288 0.005567 6.73295e-05 0.00184433 0.000360752 -0.0160443 0.00393586 0.0129058 0.000783837 0.00234226 0.000714606 -0.0183 0.00305506 0.0136811 0.000695846 0.00286751 0.000765944 -0.0202547 0.00190882 0.0141495 0.000421955 0.00314291 0.00024441 -0.0152204 0.00175597 0.012334 0.000671778 0.00213023 0.000736889 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2207 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 602.976 0 0 newEnergyL 0 lastEnergy: 639.223 0 0 lastEnergyL: 0mActiveResiduals: 2207 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.82158e-12 -1.11242e-12 -3.45156e-12 2.82311e-12 -0.00108439 0.0043475 -0.00287297 0.000368138 5.5996e-05 -0.000861582 0.00157493 -0.00263318 0.00384753 -0.000403848 0.00023494 -0.000173963 -0.00263728 -0.00136275 0.00084694 -0.000236772 0.000471192 -0.000365758 0.000421822 0.00339414 0.00120421 0.00065364 0.000153042 -0.00052658 0.000959277 0.000269093 -0.000511115 0.000117788 -0.000153529 -0.000169877 0.00306386 -0.000512309 -0.000430388 -1.22556e-05 -0.00057247 -0.000319026 0.00137737 -0.00126103 -0.00143493 -8.16693e-05 -0.000351339 -0.000103229 -0.00327127 -0.00135827 -0.000191744 -0.000236828 0.000588358 -0.000679038 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2207 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 578.849 0 0 newEnergyL 0 lastEnergy: 602.976 0 0 lastEnergyL: 0mActiveResiduals: 2207 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.14406e-13 -1.64361e-13 1.56128e-12 2.53373e-12 0.00344332 -1.62775e-06 0.00776523 0.00153273 -0.000534978 0.000694801 0.00122628 0.00622976 -0.00885474 0.0020303 -0.0014375 -0.000542349 -0.00299997 -0.00503753 0.00242348 0.000531721 -6.96756e-05 0.000441267 -0.000558133 -0.00525815 0.00154586 0.000529045 -0.000396879 0.000713143 -3.69613e-05 0.00268742 -0.000641084 0.00176888 3.6338e-05 8.18477e-05 -0.0017851 0.00307013 -0.000813843 0.00191988 0.000410116 0.000217937 -0.00211135 -0.000664694 0.00041369 0.00122296 0.000437791 -0.000242071 0.0045191 0.000176904 -0.00181078 0.00159273 -0.00106682 0.000492017 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2207 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!730 INF|Input.cpp[getImages,132]: mNbReceivedImages!731 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 567.301 0 0 newEnergyL 0 lastEnergy: 578.849 0 0 lastEnergyL: 0mActiveResiduals: 2207 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -4.27194e-13 -2.28247e-12 7.14322e-14 -4.27464e-12 0.000621001 0.00142552 -0.00128318 -0.000870622 0.000675508 -0.000890453 0.000882018 -0.000841328 0.00563813 -0.00071099 0.00123173 -3.65857e-05 -0.000382914 0.00368815 -0.000832426 -0.000228155 0.00075247 -0.000534846 0.000531818 0.000384446 -0.00183375 -0.000442526 0.000816687 -0.00088109 0.000886815 -0.00100278 -0.00171039 -0.000853424 0.000717657 -0.000160178 0.00274783 -0.000924043 -0.000111174 -0.000958333 0.000282487 -0.000418435 0.00218503 -0.00151604 -0.00238829 -0.000917367 0.000333779 0.000137815 -0.00490401 0.000411887 0.00099033 -0.000789011 0.00203642 -0.000455983 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2207 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 560.847 0 0 newEnergyL 0 lastEnergy: 567.301 0 0 lastEnergyL: 0mActiveResiduals: 2207 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.16049e-12 4.22359e-12 1.19657e-12 -3.45919e-14 0.000164264 0.000775186 0.00201183 0.000335435 -4.12517e-05 0.00055943 -0.000504061 -0.00100993 -0.003664 6.46629e-05 -0.000362266 0.000381507 0.000954371 0.000532255 -5.4498e-07 1.1089e-05 -0.000352174 -0.000101542 -0.000107792 -0.0033087 0.00100809 -0.000334132 -0.000175654 0.000446764 -0.000853678 0.000810371 0.000298176 0.00021876 8.05786e-05 5.4507e-05 -0.00340111 0.00181416 -0.000848645 0.000464929 0.000616282 0.000335462 -0.00171229 0.00107595 0.00102413 0.00032817 0.00035089 -9.79598e-05 0.00478047 -0.00111995 8.94383e-05 8.92651e-05 -0.00147238 0.000520123 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2207 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 555.754 0 0 newEnergyL 0 lastEnergy: 560.847 0 0 lastEnergyL: 0mActiveResiduals: 2207 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 555.754 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2207 INF|LocalMapper.cpp[optimize,345]: End Energy: 555.754 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.510202 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.510202 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 150 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 150 with idx: 4 and allID: 705 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->150 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 150->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->150 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->150 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->150 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 150->134 INF|LocalMapper.cpp[marginalizeFrame,772]: 150<->150 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->150 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 150->151 INF|LocalMapper.cpp[marginalizeFrame,801]: 150 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 150 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 14329 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x36fb4e00 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 153 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 108 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 35 with distance 0.18Found rest min at: 107 with distance 0.09 overall min: 0.09 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 35 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 720 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 153 into DB 0.18 35 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 35 and real id(63) current kf: 153(728) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.796386 0.15193 -0.585395 -3.12167 -0.0515716 0.981467 0.184564 0.269613 0.602587 -0.116794 0.789461 -0.441112 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 63 currFrame: 153 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000699023 edge: 153 to 63 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 153 to 63 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 270(1311875581.961760) and 728(1311875597.505366) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 11,0.99924 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2749/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 153 to 63 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 270(1311875581.961760) and 728(1311875597.505366) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.992702 0.0514623 0.109061 -0.312932 -0.0611475 0.994294 0.0874063 -0.409497 -0.10394 -0.0934373 0.990185 0.271861 Input.cpp[readImages,206]: Got image from sensor!730 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999015 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:502/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 153 to 63 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 270(1311875581.961760) and 728(1311875597.505366) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99237 0.0517081 0.11193 -0.321204 -0.0621134 0.99386 0.0915646 -0.422167 -0.106508 -0.0978183 0.989489 0.270882 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 0,0.999124 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:546/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.992218 0.0517538 0.113244 -0.325613 -0.0626621 0.993504 0.094988 -0.431529 -0.107593 -0.101345 0.989016 0.267621 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 62 end 65 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 731 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 15148 o[1]: 2606 o[2]: 814 o[3]: 122 histWeights: 1 1 1.25 1.5overlap: 3806.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 6712 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 63 and 153 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 153 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 153 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 7636 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 729 keyframes 154 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 537 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.537901 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!731 INF|Input.cpp[getImages,132]: mNbReceivedImages!732 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.537901) and 728(1311875597.505366) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999949 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3021/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.537901) and 728(1311875597.505366) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999999 -0.0015551 -0.000735651 0.000412428 0.00155328 0.999996 -0.00246739 -0.00540439 0.000739485 0.00246625 0.999997 -0.0097747 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4460/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.537901) and 728(1311875597.505366) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999994 -0.00292713 0.00161812 -6.80598e-05 0.00292711 0.999996 1.15296e-05 -0.00674594 -0.00161814 -6.79313e-06 0.999999 -0.00696619 Input.cpp[readImages,206]: Got image from sensor!731 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999888 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2504/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.305605 resInfo good: 6710, 2 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11522/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999994 -0.00345613 0.00101831 0.00431916 0.00345735 0.999993 -0.00119874 -0.00104594 -0.00101416 0.00120225 0.999999 -0.00477947 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!729 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.573762 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 732 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999994 -0.00345613 0.00101831 0.00431916 0.00345735 0.999993 -0.00119874 -0.00104594 -0.00101416 0.00120225 0.999999 -0.00477947 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.573762) and 728(1311875597.505366) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999994 -0.00345613 0.00101831 0.00431916 0.00345735 0.999993 -0.00119874 -0.00104594 -0.00101416 0.00120225 0.999999 -0.00477947 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!732 INF|Input.cpp[getImages,132]: mNbReceivedImages!733 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 7): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4269/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.573762) and 728(1311875597.505366) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999999 -0.000301659 -0.00112995 0.00375448 0.000292155 0.999965 -0.0084017 0.0084805 0.00113245 0.00840136 0.999964 -0.0204472 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999031 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3762/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.573762) and 728(1311875597.505366) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999997 -0.00220426 -0.000979075 0.00812146 0.00219962 0.999986 -0.00471998 0.000765693 0.000989466 0.00471781 0.999988 -0.019242 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999934 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2220/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.434029 resInfo good: 6712, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11820/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999997 -0.00232902 -0.000309864 0.00958478 0.00232753 0.999986 -0.00473866 0.00572658 0.000320896 0.00473793 0.999989 -0.0176089 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!730 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.607731 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,206]: Got image from sensor!732 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999998 -0.00176723 -0.000975446 0.0122268 0.00176084 0.999977 -0.00650804 0.00912762 0.000986925 0.00650631 0.999978 -0.024012 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.607731) and 728(1311875597.505366) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999998 -0.00176723 -0.000975446 0.0122268 0.00176084 0.999977 -0.00650804 0.00912762 0.000986925 0.00650631 0.999978 -0.024012 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 733 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4538/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.607731) and 728(1311875597.505366) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999995 -0.00305779 -0.000951665 0.0142731 0.00305468 0.99999 -0.00325078 0.00975283 0.000961596 0.00324786 0.999994 -0.0291332 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!733 INF|Input.cpp[getImages,132]: mNbReceivedImages!734 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 10): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5794/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.607731) and 728(1311875597.505366) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999988 -0.00351511 0.00331609 0.00737801 0.00351108 0.999993 0.00122037 0.00158455 -0.00332035 -0.00120871 0.999994 -0.027103 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 4): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3413/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.549434 resInfo good: 6712, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 15171/15 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999988 -0.00414316 0.00249541 0.0121946 0.00413961 0.99999 0.00142739 0.00373414 -0.0025013 -0.00141704 0.999996 -0.0251961 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!731 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.638364 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,206]: Got image from sensor!733 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999988 -0.00414316 0.00249541 0.0121946 0.00413961 0.99999 0.00142739 0.00373414 -0.0025013 -0.00141704 0.999996 -0.0251961 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.638364) and 728(1311875597.505366) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999988 -0.00414316 0.00249541 0.0121946 0.00413961 0.99999 0.00142739 0.00373414 -0.0025013 -0.00141704 0.999996 -0.0251961 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 734 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.99947 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3493/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.638364) and 728(1311875597.505366) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999973 -0.00544993 -0.00486936 0.0291086 0.00542662 0.999974 -0.00478806 0.000583348 0.00489532 0.00476151 0.999977 -0.0282412 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999954 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:738/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.638364) and 728(1311875597.505366) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999984 -0.0055803 0.000351906 0.0178952 0.00558092 0.999983 -0.00178729 -0.00521361 -0.000341926 0.00178923 0.999998 -0.0326636 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999873 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1085/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.61381 resInfo good: 6712, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6788/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999987 -0.00505897 0.00110475 0.0206137 0.00506089 0.999986 -0.00174486 -0.000573605 -0.00109591 0.00175042 0.999998 -0.0299574 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!732 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.676196 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!734 INF|Input.cpp[getImages,132]: mNbReceivedImages!735 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999982 -0.00597917 -0.000282995 0.0290434 0.00597771 0.99997 -0.00491836 -0.00485852 0.000312395 0.00491658 0.999988 -0.0347206 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.676196) and 728(1311875597.505366) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999982 -0.00597917 -0.000282995 0.0290434 0.00597771 0.99997 -0.00491836 -0.00485852 0.000312395 0.00491658 0.999988 -0.0347206 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999493 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3672/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.676196) and 728(1311875597.505366) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999982 -0.0036679 -0.00471368 0.0314744 0.00362552 0.999953 -0.00896821 -0.00134304 0.00474635 0.00895096 0.999949 -0.045951 Input.cpp[readImages,206]: Got image from sensor!734 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999717 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4254/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.676196) and 728(1311875597.505366) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999993 -0.00381662 7.39945e-05 0.0232789 0.00381709 0.99996 -0.00803257 0.0011218 -4.33343e-05 0.0080328 0.999968 -0.0411397 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 735 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999993 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2067/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.687682 resInfo good: 6712, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11468/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999994 -0.00347905 0.000799624 0.0237547 0.00348584 0.999957 -0.00864769 0.00546806 -0.000769504 0.00865042 0.999962 -0.0391886 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!733 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 470 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.707863 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999994 -0.00347905 0.000799624 0.0237547 0.00348584 0.999957 -0.00864769 0.00546806 -0.000769504 0.00865042 0.999962 -0.0391886 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.707863) and 728(1311875597.505366) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999994 -0.00347905 0.000799624 0.0237547 0.00348584 0.999957 -0.00864769 0.00546806 -0.000769504 0.00865042 0.999962 -0.0391886 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!735 INF|Input.cpp[getImages,132]: mNbReceivedImages!736 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999214 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1743/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.707863) and 728(1311875597.505366) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999996 -0.00297252 -0.000149358 0.0228823 0.00297101 0.999953 -0.00921766 0.00441402 0.00017675 0.00921718 0.999958 -0.0492284 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999433 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3776/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.707863) and 728(1311875597.505366) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999985 -0.00531181 -0.0010281 0.0313083 0.0053045 0.999962 -0.00698698 0.00330971 0.00106518 0.00698143 0.999975 -0.0473941 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999007 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1104/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.751045 resInfo good: 6712, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8068/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999987 -0.00516209 -0.00052926 0.0327542 0.00515767 0.999954 -0.00803479 0.00896506 0.000570713 0.00803195 0.999968 -0.0452786 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!734 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!735 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 736 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!736 INF|Input.cpp[getImages,132]: mNbReceivedImages!737 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.739560 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999987 -0.00516209 -0.00052926 0.0327542 0.00515767 0.999954 -0.00803479 0.00896506 0.000570713 0.00803195 0.999968 -0.0452786 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.739560) and 728(1311875597.505366) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999987 -0.00516209 -0.00052926 0.0327542 0.00515767 0.999954 -0.00803479 0.00896506 0.000570713 0.00803195 0.999968 -0.0452786 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999212 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:682/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.739560) and 728(1311875597.505366) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999948 -0.00870971 -0.0052688 0.0447792 0.00862943 0.999849 -0.0150725 0.014563 0.00539928 0.0150262 0.999873 -0.0405695 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.99974 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2208/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.739560) and 728(1311875597.505366) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999959 -0.00723372 -0.00545291 0.0444107 0.00717691 0.999921 -0.0103655 0.0028549 0.00552745 0.0103259 0.999931 -0.0470349 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2352/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.797211 resInfo good: 6711, 1 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6770/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999967 -0.00713055 -0.00386813 0.042253 0.00708906 0.999918 -0.0106352 0.00508871 0.00394365 0.0106074 0.999936 -0.0466259 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!735 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!736 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 737 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.772910 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!737 INF|Input.cpp[getImages,132]: mNbReceivedImages!738 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999883 -0.0110931 -0.0105302 0.0612864 0.0109254 0.999815 -0.0158549 -0.00259838 0.0107042 0.015738 0.999819 -0.0492549 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.772910) and 728(1311875597.505366) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999883 -0.0110931 -0.0105302 0.0612864 0.0109254 0.999815 -0.0158549 -0.00259838 0.0107042 0.015738 0.999819 -0.0492549 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999347 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3154/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.772910) and 728(1311875597.505366) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999927 -0.00493832 -0.0110443 0.0505209 0.00474092 0.99983 -0.0178282 0.00716117 0.0111305 0.0177745 0.99978 -0.0621346 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999086 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3466/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.772910) and 728(1311875597.505366) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999957 -0.00555682 -0.00740426 0.0459298 0.00543403 0.999849 -0.0165018 0.00887657 0.00749484 0.0164609 0.999836 -0.0589352 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999991 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1955/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.841368 resInfo good: 6710, 2 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10191/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999969 -0.00505102 -0.00609346 0.0447245 0.00494813 0.999847 -0.0167832 0.0121771 0.0061773 0.0167525 0.999841 -0.0566919 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!736 Input.cpp[readImages,206]: Got image from sensor!737 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 738 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!738 INF|Input.cpp[getImages,132]: mNbReceivedImages!739 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.806430 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 11 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999966 -0.00401639 -0.0072109 0.0459742 0.00387252 0.999795 -0.0198552 0.0157426 0.00728917 0.0198266 0.999777 -0.0617065 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.806430) and 728(1311875597.505366) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999966 -0.00401639 -0.0072109 0.0459742 0.00387252 0.999795 -0.0198552 0.0157426 0.00728917 0.0198266 0.999777 -0.0617065 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999882 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:9925/9 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.806430) and 728(1311875597.505366) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99995 -0.00360384 -0.00934723 0.0454281 0.00342623 0.999815 -0.018948 0.0142544 0.00941378 0.018915 0.999777 -0.0622925 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999625 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4285/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.806430) and 728(1311875597.505366) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999922 -0.00686572 -0.0104589 0.0536447 0.0066882 0.999835 -0.0169144 0.00987026 0.0105733 0.0168431 0.999802 -0.0594954 Input.cpp[readImages,206]: Got image from sensor!738 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999868 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2690/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.858527 resInfo good: 6709, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 22467/22 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999939 -0.00562982 -0.00948517 0.053459 0.00548038 0.999862 -0.0157081 0.0123525 0.00957229 0.0156552 0.999832 -0.0597658 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!737 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 738 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 739 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.843670 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!739 INF|Input.cpp[getImages,132]: mNbReceivedImages!740 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999939 -0.00562982 -0.00948517 0.053459 0.00548038 0.999862 -0.0157081 0.0123525 0.00957229 0.0156552 0.999832 -0.0597658 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.843670) and 728(1311875597.505366) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999939 -0.00562982 -0.00948517 0.053459 0.00548038 0.999862 -0.0157081 0.0123525 0.00957229 0.0156552 0.999832 -0.0597658 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999021 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2449/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.843670) and 728(1311875597.505366) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99984 -0.000710408 -0.0178963 0.0623323 0.000294289 0.99973 -0.0232437 0.0100419 0.0179079 0.0232347 0.99957 -0.0710367 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 8): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5271/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.843670) and 728(1311875597.505366) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99988 -0.00170395 -0.0154012 0.0605358 0.00136295 0.999754 -0.022125 0.012105 0.0154351 0.0221013 0.999637 -0.066588 Input.cpp[readImages,206]: Got image from sensor!739 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999617 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1411/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.915133 resInfo good: 6712, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11142/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999897 -0.001422 -0.014309 0.0601025 0.00111393 0.999768 -0.0215147 0.0132211 0.0143363 0.0214965 0.999666 -0.0647622 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!738 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 478 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 740 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.875334 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!740 INF|Input.cpp[getImages,132]: mNbReceivedImages!741 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99986 0.000671324 -0.01673 0.0634345 -0.00107965 0.999701 -0.0244098 0.0136557 0.0167086 0.0244244 0.999562 -0.0672467 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.875334) and 728(1311875597.505366) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99986 0.000671324 -0.01673 0.0634345 -0.00107965 0.999701 -0.0244098 0.0136557 0.0167086 0.0244244 0.999562 -0.0672467 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999915 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2353/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.875334) and 728(1311875597.505366) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999847 0.00380963 -0.0170546 0.0637308 -0.00422532 0.999693 -0.0244046 0.0141796 0.0169564 0.0244729 0.999557 -0.0768041 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.99999 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3928/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.875334) and 728(1311875597.505366) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999865 0.00247625 -0.0162225 0.0679361 -0.00286608 0.999707 -0.0240515 0.0183746 0.0161581 0.0240947 0.999579 -0.0724548 Input.cpp[readImages,206]: Got image from sensor!740 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999631 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1697/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.967193 resInfo good: 6712, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9512/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999878 0.00267825 -0.0154205 0.068116 -0.00303662 0.999725 -0.0232632 0.019212 0.015354 0.0233072 0.99961 -0.0715895 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!739 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 741 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.907712 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!741 INF|Input.cpp[getImages,132]: mNbReceivedImages!742 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999861 0.00472761 -0.015979 0.0721347 -0.00511255 0.999696 -0.0241358 0.0221997 0.01586 0.0242141 0.999581 -0.074996 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.907712) and 728(1311875597.505366) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999861 0.00472761 -0.015979 0.0721347 -0.00511255 0.999696 -0.0241358 0.0221997 0.01586 0.0242141 0.999581 -0.074996 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 6): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4310/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.907712) and 728(1311875597.505366) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999872 0.00330377 -0.0156415 0.0726007 -0.00370399 0.999665 -0.0256277 0.0167458 0.0155516 0.0256823 0.999549 -0.0773804 Input.cpp[readImages,206]: Got image from sensor!741 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999129 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3963/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 153 to 277954400 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.907712) and 728(1311875597.505366) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999887 0.00163369 -0.0149744 0.0760022 -0.00198344 0.999725 -0.0233712 0.0159194 0.0149321 0.0233983 0.999615 -0.0752536 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999992 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2301/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.01866 resInfo good: 6712, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 12215/12 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999913 0.00277895 -0.0128611 0.0725757 -0.00307064 0.999737 -0.0227162 0.0162025 0.0127946 0.0227537 0.999659 -0.0751118 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875597.907712 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875597.907712 to keyframe with id: 277954400 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875597.907712 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 742 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1022 size: 6325 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId277954400 timestamp: 1311875597.907712 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -8.6271 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 567 keyframeId: 118 score: -9.38649 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.43436 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -9.09991 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -8.85878 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 718 keyframeId: 152 score: -7.76207 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 154 = 154 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x10913f80 fh1 0x1ec6dbe0fh->id: 116 154 740goodE: 24 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x10913f80 fh1 0x226194c0fh->id: 118 154 740goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x10913f80 fh1 0x2a5d2ba0fh->id: 119 154 740goodE: 27 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x10913f80 fh1 0xb113840fh->id: 134 154 740goodE: 138 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x10913f80 fh1 0x3ddc0840fh->id: 151 154 740goodE: 48 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x10913f80 fh1 0x36858540fh->id: 152 154 740goodE: 30 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x10913f80 fh1 0x36fb4e00fh->id: 153 154 740goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew154 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 348 out of 356 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 356 newEdgePixels: 356 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2207 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 320 lastEnergy: 697.491 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 87 INF|LocalMapper.cpp[optimize,276]: Start Energy: 697.491 0 0 lastEnergyL: 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!742 INF|Input.cpp[getImages,132]: mNbReceivedImages!743 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -6.80569e-12 -4.07856e-12 -1.40524e-11 9.02845e-12 -0.00393232 -0.00103502 0.00355923 -0.00126322 0.000559983 -0.000109597 -0.00803897 0.00204762 0.00726555 -0.000474464 0.00122073 0.000182289 -0.0122754 -0.00538983 -0.00628935 -0.000960031 0.000704167 0.000498806 -0.00143542 -0.00110463 -0.00140282 -0.000926623 -0.000193035 -0.000282889 0.000146188 6.15849e-05 0.00346253 -0.000805929 -0.000567721 -0.000244319 0.00115393 -0.00576573 -0.00486797 -0.00186613 -0.00110129 -0.000218358 -0.00554773 -0.00471173 -0.00216323 -0.00172022 0.000681933 -0.000585642 0.00085806 -0.00747736 -0.00335587 -0.00274649 -0.000503231 -0.000574506 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2207 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 612.993 0 0 newEnergyL 0 lastEnergy: 697.491 0 0 lastEnergyL: 0mActiveResiduals: 2207 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.52755e-12 1.09364e-12 5.5315e-12 -2.42623e-12 -0.000263046 0.000529609 -0.000805534 0.000212424 -2.52402e-05 0.000112541 0.00328357 -0.0083735 -0.0041372 -0.000721089 -0.000564326 0.000955017 -0.00732079 -0.00399211 -0.0012874 -0.000174505 0.000729898 0.000504184 -0.000773003 -0.00469889 -0.00339792 -0.000527459 4.31983e-05 -1.10113e-05 -0.00495958 -0.000694622 -0.000884152 -9.21424e-05 0.000977817 -2.7467e-05 -0.00839646 0.00266504 0.00172188 0.000516654 0.00174407 -0.000107402 -0.000867989 -0.000493839 -0.000569623 -6.83199e-05 0.000244086 0.000133766 -0.00564868 0.00146815 0.00318029 0.000500497 0.000917777 -0.000229305 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2207 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 582.213 0 0 newEnergyL 0 lastEnergy: 612.993 0 0 lastEnergyL: 0mActiveResiduals: 2207 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.27605e-12 -1.70995e-13 5.26015e-13 3.75369e-12 -6.23654e-05 -0.000370071 -0.00296601 -0.00152605 0.00105051 -0.000331649 -0.000170963 3.70647e-05 0.0159558 -0.00161357 0.00214953 -0.000344066 -0.00167197 0.00128247 -0.00584596 -0.00122748 0.000713876 -0.00081608 0.000715228 0.00656305 -0.00315345 -0.000263365 0.00104311 -0.000686604 0.00195602 0.000159076 -0.000191613 -0.00140353 0.000903027 -0.000127035 0.00262467 -0.00183642 -0.00182084 -0.00178647 0.000677956 -8.42561e-05 -0.00262378 -0.00143139 0.000394041 -0.00180617 0.00172193 -0.000234287 0.00298492 -0.00216364 -0.00144512 -0.00212668 0.000875712 -0.000287487 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2207 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 550.135 0 0 newEnergyL 0 lastEnergy: 582.213 0 0 lastEnergyL: 0mActiveResiduals: 2207 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.04764e-13 -4.59576e-13 4.67177e-13 -7.84952e-12 0.00104433 -0.00202507 0.00387903 0.000410198 -0.000151103 -0.000375862 0.0017451 0.00331952 -0.0144807 0.00108037 -0.00150162 -0.00083429 0.00493623 0.000969396 0.00650707 0.000742883 -0.000363375 -8.49293e-05 -0.00121287 -0.00529239 -0.000973352 4.89752e-05 9.40453e-06 -0.000193218 -0.00261942 0.000310797 -0.00140997 0.000908249 0.000719131 -0.00060399 -0.00340676 0.000388971 0.000928434 0.000921436 0.0009971 -0.000583204 0.00161573 -0.000197202 -0.000324254 0.000776796 -8.78928e-06 -0.000618216 -0.0028857 0.00178171 0.000913441 0.00140982 0.000395806 -0.000650623 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2207 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 536.741 0 0 newEnergyL 0 lastEnergy: 550.135 0 0 lastEnergyL: 0mActiveResiduals: 2207 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 2.25562e-12 1.09663e-12 3.47664e-12 1.10181e-12 -0.00137931 -0.00112954 -0.00286783 -0.00150496 0.000106132 0.00120498 -0.000192726 -0.00337395 0.011908 -0.00239084 0.000882138 0.000431516 -0.00317955 0.0032791 -0.00650469 -0.00111583 -9.4916e-06 -1.77716e-06 -6.56688e-05 0.00401365 -0.000895667 -0.000951006 -0.000115946 -8.06799e-06 0.0021579 0.000541651 0.00154649 -0.00170538 -0.000562502 0.000319545 0.00305354 0.00111405 0.000355473 -0.0016081 -0.000831423 0.000192504 -0.00162934 -0.00129619 0.000902582 -0.00211494 2.52108e-05 0.000264902 0.00178639 -0.00306338 -0.00171609 -0.00267407 -0.000161677 9.28431e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2207 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 528.623 0 0 newEnergyL 0 lastEnergy: 536.741 0 0 lastEnergyL: 0mActiveResiduals: 2207 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -2.63787e-12 1.42383e-12 -6.40136e-12 -8.47107e-12 0.00487253 9.16693e-05 0.00830941 0.000499504 0.000157849 -0.000697169 -0.000684391 0.00541977 -0.013132 0.00184958 -0.000503815 -0.000271512 0.000974206 -0.00124115 0.00527577 0.000417113 0.000219103 -0.000552425 0.000667647 -0.00504998 -0.000868205 8.30003e-05 0.000238257 -0.000287622 -0.00180098 -0.000572826 -0.00204564 0.000674706 0.000712483 -0.000512246 -0.00301417 -0.00106836 -0.00109508 0.000646208 0.000942791 -0.000304724 0.00250265 0.00193124 -0.000284431 0.0012455 -0.000224665 -0.000412099 -0.00172288 0.00165267 0.000605313 0.00140136 -0.000149321 -0.000552574 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2207 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 526.837 0 0 newEnergyL 0 lastEnergy: 528.623 0 0 lastEnergyL: 0mActiveResiduals: 2207 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 526.837 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2207 INF|LocalMapper.cpp[optimize,345]: End Energy: 526.837 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.498271 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.498271 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 118 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 118 with idx: 1 and allID: 567 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->118 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 118<->118 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->118 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->118 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->118 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 152<->118 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 153<->118 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->118 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 118 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 567: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 117/565: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 116/561: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 116 allId: 561 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.99974 -0.0211629 0.00850595 0.0138224 0.0210851 0.999736 0.00913019 -0.368858 -0.00869692 -0.00894847 0.999922 -0.111167 worldPose: 0.661744 -0.0635892 -0.747028 -2.09437 -0.340541 0.862187 -0.375055 1.71049 0.667927 0.502584 0.548893 2.13784 after: 0.661744 -0.0635892 -0.747028 -2.09437 -0.340541 0.862187 -0.375055 1.71049 0.667927 0.502584 0.548893 2.13784 worldPose of new: 0.656564 -0.0564399 -0.752156 -2.20788 -0.361888 0.851354 -0.379779 1.98731 0.661786 0.521546 0.538544 2.38094 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.99974 -0.0211629 0.00850595 0.0138224 0.0210851 0.999736 0.00913019 -0.368858 -0.00869692 -0.00894847 0.999922 -0.111167 INF|Mapper.cpp[changeRefFrame,578]: Updating: 568 from old kf id: 118/567 with new ref frame: 561/116 INF|Mapper.cpp[changeRefFrame,578]: Updating: 569 from old kf id: 118/567 with new ref frame: 561/116 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 567 after changeRefFrame: 0.99974 -0.0211629 0.00850595 0.0138224 0.0210851 0.999736 0.00913019 -0.368858 -0.00869692 -0.00894847 0.999922 -0.111167 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 118 to normal frame with refFrame: 116 frame id kf: 567 newref id: 561 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 118 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 12740 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x10913f80 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 154 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 109 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 34 with distance 0.196Found rest min at: 108 with distance 0.094 overall min: 0.094 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 34 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 721 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 154 into DB 0.196 34 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 34 and real id(62) current kf: 154(740) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.775925 0.175376 -0.605957 -3.23272 -0.0535849 0.97543 0.213695 0.252433 0.628545 -0.133341 0.766258 -0.590191 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 62 currFrame: 154 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000893763 edge: 154 to 62 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 0 < 6325 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 154 and 62 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 154 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 154 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1337 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 741 keyframes 155 Input.cpp[readImages,206]: Got image from sensor!742 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 519 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.943630 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 743 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.943630) and 740(1311875597.907712) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999429 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2203/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.943630) and 740(1311875597.907712) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999985 -0.000301243 -0.00550425 0.00995696 0.000271412 0.999985 -0.00541966 -0.00542061 0.0055058 0.00541808 0.99997 -0.0150798 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!743 INF|Input.cpp[getImages,132]: mNbReceivedImages!744 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999095 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2600/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.943630) and 740(1311875597.907712) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 1 0.000724061 0.000127191 0.000195916 -0.000723347 0.999984 -0.0055263 0.0011619 -0.00013119 0.00552621 0.999985 -0.00739609 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999587 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2991/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.323595 resInfo good: 6325, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9238/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 1 0.000338299 0.000613971 0.00187032 -0.000335453 0.999989 -0.00463081 0.00162162 -0.000615531 0.0046306 0.999989 -0.00681289 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!741 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 687 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875597.976437 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0.000338299 0.000613971 0.00187032 -0.000335453 0.999989 -0.00463081 0.00162162 -0.000615531 0.0046306 0.999989 -0.00681289 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.976437) and 740(1311875597.907712) on lvl: 2 Input.cpp[readImages,206]: Got image from sensor!743 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0.000338299 0.000613971 0.00187032 -0.000335453 0.999989 -0.00463081 0.00162162 -0.000615531 0.0046306 0.999989 -0.00681289 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999589 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1190/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.976437) and 740(1311875597.907712) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999995 -0.0030742 -0.000424759 -0.000922877 0.00307172 0.999979 -0.0057116 0.00111408 0.000442309 0.00571027 0.999984 -0.0269629 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 744 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3372/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875597.976437) and 740(1311875597.907712) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999991 -0.00327423 -0.0028201 0.00869022 0.00325686 0.999976 -0.00614232 0.00736315 0.00284014 0.00613308 0.999977 -0.0206371 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999153 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2452/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.376448 resInfo good: 6325, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8172/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999994 -0.00321368 -0.00123033 0.00692799 0.00320739 0.999982 -0.00508228 0.00725927 0.00124664 0.0050783 0.999986 -0.0179975 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!742 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!744 INF|Input.cpp[getImages,132]: mNbReceivedImages!745 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.005117 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.005117) and 740(1311875597.907712) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999852 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2315/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.005117) and 740(1311875597.907712) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999959 -0.00723811 -0.00539733 0.00763341 0.00720596 0.999956 -0.00595266 0.00714448 0.00544018 0.00591352 0.999968 -0.0242371 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999155 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2765/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.005117) and 740(1311875597.907712) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999962 -0.00779724 -0.00389441 0.00862005 0.00778903 0.999967 -0.00212093 0.0022033 0.00391082 0.00209051 0.99999 -0.0237813 Input.cpp[readImages,206]: Got image from sensor!744 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999828 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2949/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.402462 resInfo good: 6323, 2 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9173/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999954 -0.0084387 -0.0044505 0.0129554 0.00842832 0.999962 -0.0023444 0.00544846 0.00447011 0.00230678 0.999987 -0.0225208 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!743 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 745 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.041604 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!745 INF|Input.cpp[getImages,132]: mNbReceivedImages!746 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.041604) and 740(1311875597.907712) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.99935 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2531/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.041604) and 740(1311875597.907712) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999895 -0.00633451 -0.0130666 0.0258647 0.0062496 0.999959 -0.00652886 0.00405172 0.0131074 0.00644651 0.999893 -0.0326067 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999926 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3167/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.041604) and 740(1311875597.907712) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999949 -0.00605624 -0.00811036 0.018336 0.00601562 0.999969 -0.00502325 0.00603959 0.00814053 0.00497421 0.999954 -0.029357 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999569 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2027/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.451117 resInfo good: 6323, 2 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9087/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999939 -0.00700308 -0.00859593 0.0223567 0.00697248 0.999969 -0.00358466 0.00505781 0.00862077 0.0035245 0.999957 -0.0296284 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!744 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!745 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 746 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.074145 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!746 INF|Input.cpp[getImages,132]: mNbReceivedImages!747 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999849 -0.00414703 -0.0168916 0.0412456 0.00404538 0.999974 -0.006047 0.00426211 0.0169162 0.00597776 0.999839 -0.0437279 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.074145) and 740(1311875597.907712) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999849 -0.00414703 -0.0168916 0.0412456 0.00404538 0.999974 -0.006047 0.00426211 0.0169162 0.00597776 0.999839 -0.0437279 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999552 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1188/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.074145) and 740(1311875597.907712) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999851 -0.00416889 -0.0167343 0.0412749 0.00406546 0.999972 -0.00621009 0.00371613 0.0167597 0.00614113 0.999841 -0.0423966 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999777 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3771/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.074145) and 740(1311875597.907712) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999946 -0.00404692 -0.00956508 0.0279805 0.00400793 0.999984 -0.00409186 0.00546646 0.00958148 0.0040533 0.999946 -0.0369843 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999738 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1459/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.5249 resInfo good: 6325, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7804/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999943 -0.00438869 -0.00971661 0.0308975 0.00435645 0.999985 -0.0033359 0.00447053 0.0097311 0.00329338 0.999947 -0.0344647 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!745 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!746 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 747 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!747 INF|Input.cpp[getImages,132]: mNbReceivedImages!748 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.106305 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999943 -0.00438869 -0.00971661 0.0308975 0.00435645 0.999985 -0.0033359 0.00447053 0.0097311 0.00329338 0.999947 -0.0344647 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.106305) and 740(1311875597.907712) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999943 -0.00438869 -0.00971661 0.0308975 0.00435645 0.999985 -0.0033359 0.00447053 0.0097311 0.00329338 0.999947 -0.0344647 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3800/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.106305) and 740(1311875597.907712) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999907 -0.00176881 -0.0135451 0.0368538 0.00169537 0.999984 -0.00543123 -0.00520577 0.0135545 0.00540776 0.999894 -0.0483361 Input.cpp[readImages,206]: Got image from sensor!747 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999048 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2228/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.106305) and 740(1311875597.907712) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999931 -0.00101286 -0.0117419 0.0366492 0.000935233 0.999978 -0.00661485 0.00098644 0.0117484 0.0066034 0.999909 -0.0408902 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999472 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1424/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.598875 resInfo good: 6325, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8811/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99995 -0.00207369 -0.00982314 0.0349377 0.00202073 0.999983 -0.0053985 0.00371835 0.00983417 0.00537838 0.999937 -0.0393724 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!746 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 748 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!748 INF|Input.cpp[getImages,132]: mNbReceivedImages!749 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.141703 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999951 -0.000916275 -0.0098782 0.0369574 0.000852784 0.999979 -0.0064297 0.0033426 0.00988388 0.00642096 0.999931 -0.0418268 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.141703) and 740(1311875597.907712) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999951 -0.000916275 -0.0098782 0.0369574 0.000852784 0.999979 -0.0064297 0.0033426 0.00988388 0.00642096 0.999931 -0.0418268 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999732 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3845/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.141703) and 740(1311875597.907712) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999888 -0.00182967 -0.0148354 0.0368718 0.00165239 0.999927 -0.0119531 0.00716819 0.0148562 0.0119273 0.999818 -0.0510343 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999224 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:848/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.141703) and 740(1311875597.907712) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999915 -0.00197797 -0.0128523 0.0345864 0.00186795 0.999962 -0.00856707 0.00115371 0.0128688 0.00854234 0.999881 -0.0489239 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999098 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1185/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.649866 resInfo good: 6325, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7318/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999903 -0.00338975 -0.013475 0.0411505 0.00326921 0.999955 -0.00895679 0.00711517 0.0135048 0.00891187 0.999869 -0.0480179 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!747 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 488 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!748 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 749 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.175940 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!749 INF|Input.cpp[getImages,132]: mNbReceivedImages!750 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999766 -0.00606046 -0.020764 0.0536574 0.0057269 0.999854 -0.0160865 0.0140245 0.0208584 0.0159639 0.999655 -0.0652037 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.175940) and 740(1311875597.907712) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999766 -0.00606046 -0.020764 0.0536574 0.0057269 0.999854 -0.0160865 0.0140245 0.0208584 0.0159639 0.999655 -0.0652037 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999703 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3467/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.175940) and 740(1311875597.907712) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999857 -0.00319663 -0.016579 0.0319667 0.00310594 0.99998 -0.00549334 -0.00917473 0.0165963 0.00544106 0.999847 -0.0600531 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999754 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3158/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.175940) and 740(1311875597.907712) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999813 -0.00467796 -0.0187414 0.0438847 0.00452548 0.999956 -0.00817004 0.00363928 0.0187788 0.0080837 0.999791 -0.0578374 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999801 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1389/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.644708 resInfo good: 6325, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9387/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999815 -0.00508593 -0.0185455 0.0460639 0.00493745 0.999955 -0.00804361 0.00619439 0.0185856 0.00795056 0.999796 -0.0554354 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!748 Input.cpp[readImages,206]: Got image from sensor!749 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 498 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 750 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.208093 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!750 INF|Input.cpp[getImages,132]: mNbReceivedImages!751 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999698 -0.00677721 -0.023617 0.0510165 0.00661029 0.999953 -0.0071389 0.00527481 0.0236643 0.00698063 0.999696 -0.0628269 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.208093) and 740(1311875597.907712) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999698 -0.00677721 -0.023617 0.0510165 0.00661029 0.999953 -0.0071389 0.00527481 0.0236643 0.00698063 0.999696 -0.0628269 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4575/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.208093) and 740(1311875597.907712) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999625 -0.00445536 -0.0270259 0.0551862 0.00423993 0.999959 -0.00802327 -0.00399658 0.0270606 0.00790567 0.999603 -0.0642738 Input.cpp[readImages,206]: Got image from sensor!750 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999693 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3593/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.208093) and 740(1311875597.907712) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999668 -0.00494888 -0.0252897 0.0557585 0.00476207 0.999961 -0.00744163 -4.27432e-05 0.0253255 0.00731873 0.999652 -0.0611678 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999952 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2037/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.683158 resInfo good: 6325, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11637/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999683 -0.00501272 -0.0246895 0.0567072 0.0048262 0.999959 -0.00760878 0.0033271 0.0247266 0.0074872 0.999666 -0.0581563 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!749 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 479 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 751 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!751 INF|Input.cpp[getImages,132]: mNbReceivedImages!752 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.243634 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999304 -0.00485777 -0.0369745 0.0780419 0.00461171 0.999967 -0.00673708 -0.0024148 0.0370059 0.00656188 0.999294 -0.0633981 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.243634) and 740(1311875597.907712) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999304 -0.00485777 -0.0369745 0.0780419 0.00461171 0.999967 -0.00673708 -0.0024148 0.0370059 0.00656188 0.999294 -0.0633981 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4254/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.243634) and 740(1311875597.907712) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999648 -0.00274471 -0.0263703 0.0493545 0.00247849 0.999946 -0.0101231 -0.00650578 0.0263966 0.0100542 0.999601 -0.0668849 Input.cpp[readImages,206]: Got image from sensor!751 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999243 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3035/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.243634) and 740(1311875597.907712) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999545 -0.00475821 -0.0297863 0.0638725 0.00444588 0.999935 -0.0105433 -0.00107968 0.0298345 0.0104061 0.999501 -0.066555 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999847 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1894/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.756647 resInfo good: 6325, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10568/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999563 -0.00473509 -0.0291713 0.0646544 0.00441995 0.999931 -0.0108582 0.00334097 0.0292207 0.0107245 0.999515 -0.0633562 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!750 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 476 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 752 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!752 INF|Input.cpp[getImages,132]: mNbReceivedImages!753 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.274787 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999424 -0.00447198 -0.0336533 0.0726249 0.0039991 0.999893 -0.0141056 0.0033692 0.0337128 0.0139629 0.999334 -0.0685204 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.274787) and 740(1311875597.907712) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999424 -0.00447198 -0.0336533 0.0726249 0.0039991 0.999893 -0.0141056 0.0033692 0.0337128 0.0139629 0.999334 -0.0685204 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999997 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3518/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.274787) and 740(1311875597.907712) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999388 -0.00209194 -0.0349196 0.0681722 0.00166636 0.999924 -0.012212 0.00189387 0.0349425 0.0121463 0.999316 -0.074743 Input.cpp[readImages,206]: Got image from sensor!752 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999217 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3878/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.274787) and 740(1311875597.907712) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999393 -0.00348711 -0.034658 0.072018 0.00313775 0.999944 -0.0101295 0.00091445 0.0346914 0.0100146 0.999348 -0.0746278 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 753 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2270/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.787896 resInfo good: 6325, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11145/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999416 -0.00369114 -0.0339727 0.0726667 0.00332875 0.999937 -0.0107175 0.00499488 0.0340102 0.0105981 0.999365 -0.0713148 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!751 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.308353 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999049 -0.00160147 -0.0435728 0.0888105 0.00114843 0.999945 -0.0104203 0.00827373 0.0435871 0.0103604 0.998996 -0.0871167 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.308353) and 740(1311875597.907712) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999049 -0.00160147 -0.0435728 0.0888105 0.00114843 0.999945 -0.0104203 0.00827373 0.0435871 0.0103604 0.998996 -0.0871167 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!753 INF|Input.cpp[getImages,132]: mNbReceivedImages!754 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999986 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2409/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.308353) and 740(1311875597.907712) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999178 -0.00271186 -0.0404566 0.0758184 0.00230226 0.999946 -0.0101677 -4.69482e-05 0.040482 0.0100662 0.99913 -0.0847299 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999729 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1466/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.308353) and 740(1311875597.907712) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999198 -0.0025229 -0.0399505 0.077282 0.00219259 0.999963 -0.00830954 -0.00345391 0.03997 0.00821528 0.999167 -0.0788867 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999879 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1408/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.814523 resInfo good: 6325, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6401/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999223 -0.00226014 -0.0393499 0.0779682 0.00187811 0.999951 -0.00974284 0.00543912 0.0393699 0.00966136 0.999178 -0.0753463 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!752 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!753 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 754 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.343675 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!754 INF|Input.cpp[getImages,132]: mNbReceivedImages!755 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998744 0.000616877 -0.0500963 0.0886378 -0.00100738 0.999969 -0.00777019 0.00629282 0.0500899 0.0078109 0.998714 -0.0833249 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.343675) and 740(1311875597.907712) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998744 0.000616877 -0.0500963 0.0886378 -0.00100738 0.999969 -0.00777019 0.00629282 0.0500899 0.0078109 0.998714 -0.0833249 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 10,0.999911 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4350/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.343675) and 740(1311875597.907712) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998823 0.00172756 -0.048466 0.0819404 -0.00213149 0.999963 -0.0082837 -0.00280386 0.0484499 0.00837726 0.99879 -0.0886268 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999369 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:876/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.343675) and 740(1311875597.907712) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998902 0.00170338 -0.0468119 0.0829361 -0.00214992 0.999953 -0.00949026 0.00865983 0.0467936 0.00958049 0.998859 -0.0857032 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1792/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.877077 resInfo good: 6325, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8483/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99888 0.000425197 -0.0473206 0.0861717 -0.000831845 0.999963 -0.0085741 0.00598366 0.0473152 0.00860386 0.998843 -0.0815816 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!753 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!754 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 755 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.374869 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998466 0.00311889 -0.0552852 0.0944259 -0.00353242 0.999967 -0.00738378 0.00649898 0.0552603 0.00756775 0.998443 -0.087752 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.374869) and 740(1311875597.907712) on lvl: 2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!755 INF|Input.cpp[getImages,132]: mNbReceivedImages!756 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998466 0.00311889 -0.0552852 0.0944259 -0.00353242 0.999967 -0.00738378 0.00649898 0.0552603 0.00756775 0.998443 -0.087752 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999947 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2987/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.374869) and 740(1311875597.907712) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998507 0.00619167 -0.0542725 0.0855747 -0.00665575 0.999943 -0.00837435 0.000894477 0.0542176 0.00872307 0.998491 -0.0931253 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999237 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1865/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.374869) and 740(1311875597.907712) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99842 0.00506376 -0.055959 0.0928464 -0.00535916 0.999972 -0.00513011 -0.00302776 0.0559315 0.0054219 0.99842 -0.0895222 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2273/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.955127 resInfo good: 6325, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8551/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998439 0.00433776 -0.055677 0.094922 -0.00469624 0.999969 -0.00630932 0.002206 0.0556479 0.00656094 0.998429 -0.0840445 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!754 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!755 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 756 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.408138 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.997914 0.00826722 -0.0640205 0.103677 -0.00854153 0.999955 -0.00401226 -0.00161145 0.0639845 0.00455073 0.997941 -0.0864265 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.408138) and 740(1311875597.907712) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.997914 0.00826722 -0.0640205 0.103677 -0.00854153 0.999955 -0.00401226 -0.00161145 0.0639845 0.00455073 0.997941 -0.0864265 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!756 INF|Input.cpp[getImages,132]: mNbReceivedImages!757 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999926 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2607/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.408138) and 740(1311875597.907712) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997768 0.0161085 -0.0648098 0.0967902 -0.0167734 0.999812 -0.00972917 -0.00372127 0.0646409 0.0107945 0.99785 -0.0854184 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.99984 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:869/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 154 to 1159479296 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.408138) and 740(1311875597.907712) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.997876 0.012356 -0.0639548 0.101353 -0.0130258 0.999864 -0.010066 0.00480364 0.0638218 0.0108777 0.997902 -0.0865119 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999544 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:962/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.04999 resInfo good: 6325, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5799/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.997851 0.0108965 -0.0646187 0.105478 -0.0114355 0.999903 -0.00797723 -0.000489229 0.0645255 0.00869903 0.997878 -0.0838549 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875598.408138 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875598.408138 to keyframe with id: 1159479296 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875598.408138 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 846 size: 5986 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId1159479296 timestamp: 1311875598.408138 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -7.18457 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -6.98558 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -8.30577 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -12.0679 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 718 keyframeId: 152 score: -12.3741 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 728 keyframeId: 153 score: -8.17566 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 155 = 155 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3b911660 fh1 0x1ec6dbe0fh->id: 116 155 755goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3b911660 fh1 0x2a5d2ba0fh->id: 119 155 755goodE: 26 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3b911660 fh1 0xb113840fh->id: 134 155 755goodE: 111 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3b911660 fh1 0x3ddc0840fh->id: 151 155 755goodE: 289 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3b911660 fh1 0x36858540fh->id: 152 155 755goodE: 51 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3b911660 fh1 0x36fb4e00fh->id: 153 155 755goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3b911660 fh1 0x10913f80fh->id: 154 155 755goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew155 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 117 out of 127 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 127 newEdgePixels: 127 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2665 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 419 lastEnergy: 790.313 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 100 INF|LocalMapper.cpp[optimize,276]: Start Energy: 790.313 0 0 lastEnergyL: 0 Input.cpp[readImages,206]: Got image from sensor!756 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.40391e-12 9.94782e-13 -2.33093e-12 1.87407e-11 -0.00500102 0.00390739 -0.00332619 0.00173925 -0.0009581 -0.000205585 0.00367087 -0.00297035 -0.00354878 0.00140568 -0.00105907 0.00130653 0.00886763 0.00565036 0.00651039 0.001908 -0.00218016 0.00153218 0.00296751 -0.0061504 0.00667374 0.000938377 -0.0020352 0.00147144 0.00398233 -0.00676837 0.00493459 0.000850495 -0.00231751 0.00144844 -0.00327434 -0.0104597 0.000775072 0.000413492 -0.000888972 0.000924838 0.00299567 -0.00642881 0.00399942 0.00100616 -0.00155352 0.00143556 0.00440186 -0.014893 -0.000538568 -0.000717643 -0.00257005 0.000932839 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2665 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 716.697 0 0 newEnergyL 0 lastEnergy: 790.313 0 0 lastEnergyL: 0mActiveResiduals: 2665 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.61676e-13 -2.97923e-12 -2.01028e-12 -1.77225e-12 0.0018847 -0.00186054 -0.00236474 0.000169105 -0.00037369 0.000460181 -0.00230282 0.00251834 -0.00046161 0.000231852 -2.26601e-05 -0.000177363 -0.00398857 -0.00548821 -0.00350511 -0.000827109 0.000417602 0.00011893 0.00178974 0.00207628 -0.00198868 8.8217e-06 -0.000123952 -0.00060284 0.0016909 0.00179532 -4.2368e-05 -1.88358e-05 -8.76189e-05 -0.000247579 0.00168695 0.00257074 0.000321647 0.000173497 -0.000344762 0.00015876 -0.0036744 0.00227514 -0.00134479 0.000314672 0.000325214 -8.43997e-05 -0.00103923 0.00274507 -0.00198394 0.00026048 0.000153422 -0.000921572 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2665 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 687.956 0 0 newEnergyL 0 lastEnergy: 716.697 0 0 lastEnergyL: 0mActiveResiduals: 2665 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 757 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 2.2708e-12 -1.92193e-12 6.21676e-12 7.12983e-12 -0.00632459 0.00156826 -0.00270766 -1.68347e-06 -0.000187832 -0.00136352 0.00102176 -0.00287433 -0.000578858 -0.000140849 -0.000489924 -0.000207979 0.00172352 0.0010328 0.00161688 0.000664736 -0.00065328 -0.00082013 0.00074665 0.00178872 0.00285831 0.000775662 -0.000530604 -0.000258186 0.000111077 0.000427892 0.000604896 0.000519129 -0.000481495 -0.0004621 0.000288861 -0.000896886 1.12866e-05 0.000326343 -0.000326501 -0.000854009 -0.000903889 -0.00115977 0.000174493 3.01006e-05 9.39968e-05 -0.000750717 0.000237441 -0.00184543 0.000282347 0.000154619 -0.00050884 -0.000419702 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2665 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 668.151 0 0 newEnergyL 0 lastEnergy: 687.956 0 0 lastEnergyL: 0mActiveResiduals: 2665 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -4.00042e-13 1.97338e-12 -5.88897e-12 -1.00307e-11 0.0104442 -0.00104465 0.00531211 0.000680741 0.000652802 0.00187532 -0.00270159 0.00126867 0.00269267 -8.66745e-05 0.00139218 0.000120781 -0.00111753 7.77449e-05 -0.00208917 -0.000475304 0.00122104 0.000944362 -0.000689366 -0.0012011 -0.00325451 -0.000650742 0.00142014 0.000839124 0.000274557 0.000609939 -0.00106619 -0.000220658 0.00125686 0.00110552 0.000484648 0.00281682 1.26068e-05 0.000182553 0.00102363 0.00145282 0.00191381 0.000359859 -0.00164647 0.000218248 0.000349566 0.0014529 -0.00235287 0.00151813 -0.00240169 0.000158662 0.00149813 0.00137 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2665 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 668.182 0 0 newEnergyL 0 lastEnergy: 668.151 0 0 lastEnergyL: 0mActiveResiduals: 2665 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 3.33157e-12 -4.24628e-13 4.98627e-12 6.41967e-12 -0.0105051 2.3421e-05 -0.00765045 -0.000759898 -0.000540523 -0.00221371 0.00534169 -0.00118213 -0.00134226 -4.83958e-05 -0.00133227 -0.000470747 0.0006787 0.00159083 0.00229702 0.000815775 -0.000742424 -0.00104134 0.0010589 0.000736688 0.00360299 0.000659254 -0.000562798 -0.000849793 -0.000214132 -0.00225335 0.00135908 6.31657e-05 -0.000351355 -0.00118612 -0.000520604 -0.00124477 -6.24426e-05 0.000303443 -6.57874e-05 -0.00136489 -0.00235785 -0.000909882 0.000950493 -0.000105459 0.000769153 -0.000996207 -0.000118085 -0.00104808 0.0014592 3.62502e-05 -1.40696e-05 -0.00178015 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2665 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 661.248 0 0 newEnergyL 0 lastEnergy: 668.182 0 0 lastEnergyL: 0mActiveResiduals: 2665 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.67371e-12 -6.24306e-13 -5.77203e-12 -4.16798e-12 0.00805981 -0.000710042 0.00311511 0.000595334 0.000451093 0.00155796 -0.00232168 0.00045974 0.00276896 0.000197218 0.00108518 0.000567614 -0.00117233 -0.000794509 -0.00230906 -0.000434612 0.000839228 0.000513401 0.000249719 0.000490253 -0.00186115 -0.00029181 0.000690302 0.000278312 0.000682534 0.0032106 5.82241e-05 0.000295178 0.000650842 0.000612884 0.000469272 0.000575117 0.000565549 -0.000203503 0.000318734 0.000894449 -0.00103612 0.00225147 -0.000551821 0.00061696 8.00697e-05 0.000346404 -0.00022416 -0.00248971 -0.00334735 -0.00017364 -0.000142359 0.00205935 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2665 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 662.835 0 0 newEnergyL 0 lastEnergy: 661.248 0 0 lastEnergyL: 0mActiveResiduals: 2665 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 662.835 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2665 INF|LocalMapper.cpp[optimize,345]: End Energy: 662.835 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.507653 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.507653 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!757 INF|Input.cpp[getImages,132]: mNbReceivedImages!758 INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 152 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 152 with idx: 4 and allID: 718 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->152 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 152->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->152 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->152 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 152->134 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->152 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 152->151 INF|LocalMapper.cpp[marginalizeFrame,801]: 152 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 152 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 14290 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x3b911660 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 155 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 110 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 34 with distance 0.186Found rest min at: 109 with distance 0.092 overall min: 0.092 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 34 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 727 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 155 into DB 0.186 34 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 34 and real id(62) current kf: 155(755) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.814659 0.170465 -0.554321 -3.36421 -0.0550948 0.974251 0.218631 0.268649 0.577317 -0.14757 0.803074 -0.584805 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 62 currFrame: 155 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00080951 edge: 155 to 62 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 0 < 5986 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 155 and 62 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 155 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 155 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1170 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 756 keyframes 156 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 555 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.444127 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999953 0.00632991 -0.00730471 0.00775508 -0.00636152 0.99997 -0.00431176 0.00365074 0.00727721 0.00435803 0.999964 0.00326029 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.444127) and 755(1311875598.408138) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999953 0.00632991 -0.00730471 0.00775508 -0.00636152 0.99997 -0.00431176 0.00365074 0.00727721 0.00435803 0.999964 0.00326029 Input.cpp[readImages,206]: Got image from sensor!757 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999938 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2484/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.444127) and 755(1311875598.408138) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999918 0.00938439 -0.00869996 0.00446192 -0.00942887 0.999943 -0.00508679 -0.000211333 0.00865173 0.0051684 0.999949 -0.0111414 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999032 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2285/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.444127) and 755(1311875598.408138) on lvl: 0 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 758 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999931 0.00880519 -0.00771271 0.00729187 -0.00883158 0.999955 -0.00339304 0.00066741 0.00768249 0.00346092 0.999965 -0.0111813 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2422/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.396724 resInfo good: 5986, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8229/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999938 0.00867162 -0.00701859 0.00806122 -0.00869405 0.999957 -0.00317258 0.00256395 0.00699078 0.0032334 0.99997 -0.00960707 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!756 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 469 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.475878 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!758 INF|Input.cpp[getImages,132]: mNbReceivedImages!759 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999751 0.0173196 -0.014064 0.0162116 -0.0174094 0.999829 -0.00628391 0.00508818 0.0139528 0.00652719 0.999881 -0.0191492 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.475878) and 755(1311875598.408138) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999751 0.0173196 -0.014064 0.0162116 -0.0174094 0.999829 -0.00628391 0.00508818 0.0139528 0.00652719 0.999881 -0.0191492 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999192 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1881/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.475878) and 755(1311875598.408138) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99982 0.0128278 -0.0139729 0.0148378 -0.0128986 0.999904 -0.00498767 0.0051254 0.0139076 0.00516701 0.99989 -0.015799 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3765/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.475878) and 755(1311875598.408138) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999841 0.0126801 -0.0125539 0.0158746 -0.0127076 0.999917 -0.00211386 0.00295867 0.0125261 0.00227305 0.999919 -0.0157003 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999577 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1307/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.472737 resInfo good: 5986, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7890/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999849 0.0127439 -0.0117756 0.0163306 -0.0127659 0.999917 -0.0017945 0.00501674 0.0117518 0.00194455 0.999929 -0.0137298 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!757 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1163 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!758 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 759 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!759 INF|Input.cpp[getImages,132]: mNbReceivedImages!760 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.505210 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 7 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999722 0.016822 -0.0165268 0.0246293 -0.0168308 0.999858 -0.000397069 0.0074302 0.0165178 0.000675118 0.999863 -0.0178165 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.505210) and 755(1311875598.408138) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999722 0.016822 -0.0165268 0.0246293 -0.0168308 0.999858 -0.000397069 0.0074302 0.0165178 0.000675118 0.999863 -0.0178165 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999186 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4728/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.505210) and 755(1311875598.408138) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999658 0.0146025 -0.0216875 0.0265937 -0.0147114 0.99988 -0.0048693 0.00564075 0.0216138 0.00518669 0.999753 -0.0231887 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999707 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5782/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.505210) and 755(1311875598.408138) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999714 0.0153173 -0.0183849 0.0225426 -0.0153567 0.99988 -0.00200511 0.00232427 0.018352 0.00228687 0.999829 -0.0208317 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999924 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2803/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.577482 resInfo good: 5986, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 15741/15 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999716 0.0146948 -0.0187529 0.0258892 -0.0147189 0.999891 -0.00114568 0.00447508 0.018734 0.00142138 0.999823 -0.019803 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!758 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 919 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!759 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 760 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.543324 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!760 INF|Input.cpp[getImages,132]: mNbReceivedImages!761 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 10 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999292 0.0186073 -0.0327003 0.0451291 -0.018611 0.999827 0.000192751 0.00332409 0.0326983 0.000415971 0.999465 -0.0317476 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.543324) and 755(1311875598.408138) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999292 0.0186073 -0.0327003 0.0451291 -0.018611 0.999827 0.000192751 0.00332409 0.0326983 0.000415971 0.999465 -0.0317476 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999946 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:9559/9 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.543324) and 755(1311875598.408138) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999407 0.016365 -0.0302872 0.0423599 -0.0163721 0.999866 1.33606e-05 0.0053249 0.0302834 0.000482513 0.999541 -0.0336394 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999026 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1330/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.543324) and 755(1311875598.408138) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999523 0.0180758 -0.0250596 0.031128 -0.0180315 0.999835 0.00198966 0.00235497 0.0250914 -0.00153685 0.999684 -0.0320329 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3630/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.682232 resInfo good: 5986, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 18455/18 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999537 0.0172252 -0.0250934 0.0357781 -0.0171814 0.99985 0.0019584 0.00889865 0.0251234 -0.00152635 0.999683 -0.0265866 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!759 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 873 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!760 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 761 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.575992 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!761 INF|Input.cpp[getImages,132]: mNbReceivedImages!762 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99931 0.019774 -0.031425 0.0457209 -0.0196239 0.999795 0.00507801 0.0132765 0.031519 -0.00445783 0.999493 -0.0333207 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.575992) and 755(1311875598.408138) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99931 0.019774 -0.031425 0.0457209 -0.0196239 0.999795 0.00507801 0.0132765 0.031519 -0.00445783 0.999493 -0.0333207 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999638 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3700/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.575992) and 755(1311875598.408138) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999358 0.0197375 -0.0299078 0.0378977 -0.0195073 0.999778 0.00796922 -0.00293718 0.0300584 -0.00738068 0.999521 -0.0327216 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999445 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3517/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.575992) and 755(1311875598.408138) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999362 0.0191039 -0.0301822 0.0436293 -0.0188731 0.999791 0.00791556 0.00348197 0.0303271 -0.00734087 0.999513 -0.0298821 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1239/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.770009 resInfo good: 5986, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9691/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99936 0.018483 -0.0306267 0.0473467 -0.0182633 0.999806 0.00743615 0.00671132 0.0307582 -0.00687204 0.999503 -0.0264667 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!760 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 473 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!761 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 762 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.608071 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99936 0.018483 -0.0306267 0.0473467 -0.0182633 0.999806 0.00743615 0.00671132 0.0307582 -0.00687204 0.999503 -0.0264667 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.608071) and 755(1311875598.408138) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99936 0.018483 -0.0306267 0.0473467 -0.0182633 0.999806 0.00743615 0.00671132 0.0307582 -0.00687204 0.999503 -0.0264667 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!762 INF|Input.cpp[getImages,132]: mNbReceivedImages!763 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999501 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2360/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.608071) and 755(1311875598.408138) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999031 0.0233356 -0.0373248 0.056285 -0.0230493 0.999702 0.00808342 0.00487231 0.0375023 -0.00721528 0.99927 -0.0366989 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999406 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2225/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.608071) and 755(1311875598.408138) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99904 0.0229525 -0.0373218 0.0602355 -0.0225948 0.999695 0.00997791 0.00356957 0.0375394 -0.00912505 0.999253 -0.0337553 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999485 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:829/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.846657 resInfo good: 5986, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6383/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999068 0.0224805 -0.0368404 0.0615956 -0.0221352 0.999707 0.00975439 0.00681545 0.0370489 -0.00892984 0.999274 -0.0298924 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!761 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 475 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!762 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 763 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.643828 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!763 INF|Input.cpp[getImages,132]: mNbReceivedImages!764 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998902 0.0244839 -0.0399432 0.0687281 -0.0240655 0.999651 0.0109225 0.00684362 0.0401967 -0.00994927 0.999142 -0.031572 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.643828) and 755(1311875598.408138) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998902 0.0244839 -0.0399432 0.0687281 -0.0240655 0.999651 0.0109225 0.00684362 0.0401967 -0.00994927 0.999142 -0.031572 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999932 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3249/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.643828) and 755(1311875598.408138) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998849 0.027676 -0.0391685 0.0617012 -0.0272643 0.999568 0.0110066 0.000872474 0.0394562 -0.009926 0.999172 -0.0368432 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999707 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3013/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.643828) and 755(1311875598.408138) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998854 0.0266731 -0.0397493 0.0679104 -0.0262383 0.99959 0.011419 0.00509823 0.0400376 -0.0103629 0.999144 -0.0338779 Input.cpp[readImages,206]: Got image from sensor!763 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999998 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1482/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.890177 resInfo good: 5986, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8749/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998871 0.0258409 -0.0398495 0.0703327 -0.0253894 0.999608 0.0117944 0.00677654 0.0401386 -0.0107693 0.999136 -0.0314146 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!762 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 764 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.675680 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!764 INF|Input.cpp[getImages,132]: mNbReceivedImages!765 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998766 0.0275231 -0.0413513 0.0747029 -0.0270141 0.999553 0.012818 0.00674508 0.0416856 -0.0116851 0.999062 -0.0321657 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.675680) and 755(1311875598.408138) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998766 0.0275231 -0.0413513 0.0747029 -0.0270141 0.999553 0.012818 0.00674508 0.0416856 -0.0116851 0.999062 -0.0321657 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999773 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2197/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.675680) and 755(1311875598.408138) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998478 0.030749 -0.0457815 0.0773928 -0.0301861 0.999461 0.0129358 0.00201113 0.0461545 -0.0115342 0.998868 -0.0429515 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999088 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2260/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.675680) and 755(1311875598.408138) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998583 0.0303364 -0.04373 0.0771311 -0.0297367 0.999455 0.0142992 0.0040885 0.0441399 -0.0129785 0.998941 -0.0392245 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1676/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.948801 resInfo good: 5982, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7098/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998595 0.0293614 -0.0441113 0.080415 -0.0287636 0.999486 0.0141253 0.00754321 0.0445034 -0.0128367 0.998927 -0.0367219 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!763 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!764 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 765 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.705930 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998445 0.0311248 -0.0462389 0.0854656 -0.0304468 0.999419 0.0152962 0.00790906 0.0466881 -0.0138646 0.998813 -0.0393599 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.705930) and 755(1311875598.408138) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998445 0.0311248 -0.0462389 0.0854656 -0.0304468 0.999419 0.0152962 0.00790906 0.0466881 -0.0138646 0.998813 -0.0393599 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!765 INF|Input.cpp[getImages,132]: mNbReceivedImages!766 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999684 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1592/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.705930) and 755(1311875598.408138) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998314 0.031953 -0.0484576 0.0842916 -0.0311644 0.999371 0.016944 0.00139423 0.0489685 -0.0154053 0.998682 -0.0450555 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999642 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1193/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.705930) and 755(1311875598.408138) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99839 0.031396 -0.0472457 0.0869954 -0.0305933 0.999377 0.0176197 0.00317271 0.0477694 -0.0161459 0.998728 -0.0391609 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999823 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:813/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.998844 resInfo good: 5982, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4705/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998369 0.0305579 -0.0482193 0.0901033 -0.0297537 0.999407 0.0173075 0.00567548 0.0487196 -0.0158446 0.998687 -0.037808 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!764 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!765 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 766 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.744090 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!766 INF|Input.cpp[getImages,132]: mNbReceivedImages!767 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998369 0.0305579 -0.0482193 0.0901033 -0.0297537 0.999407 0.0173075 0.00567548 0.0487196 -0.0158446 0.998687 -0.037808 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.744090) and 755(1311875598.408138) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998369 0.0305579 -0.0482193 0.0901033 -0.0297537 0.999407 0.0173075 0.00567548 0.0487196 -0.0158446 0.998687 -0.037808 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999873 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1756/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.744090) and 755(1311875598.408138) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998005 0.0345646 -0.0528283 0.0914945 -0.0337788 0.999306 0.0156967 0.00270887 0.0533342 -0.0138809 0.99848 -0.0493078 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999673 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:702/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 155 to 35307648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.744090) and 755(1311875598.408138) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998003 0.0336257 -0.0534771 0.0998972 -0.032817 0.999334 0.0159307 0.00742232 0.0539772 -0.0141439 0.998442 -0.0429842 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999606 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:655/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.03319 resInfo good: 5986, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4118/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998049 0.0323848 -0.0533865 0.0997571 -0.0315273 0.999361 0.0168278 0.00610132 0.0538973 -0.0151118 0.998432 -0.0414015 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875598.744090 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875598.744090 to keyframe with id: 35307648 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875598.744090 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1087 size: 6961 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId35307648 timestamp: 1311875598.744090 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -7.30454 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.06587 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -8.44213 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -8.84351 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 728 keyframeId: 153 score: -10.2014 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -8.20092 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 156 = 156 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c8172b20 fh1 0x1ec6dbe0fh->id: 116 156 765goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c8172b20 fh1 0x2a5d2ba0fh->id: 119 156 765goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c8172b20 fh1 0xb113840fh->id: 134 156 765goodE: 103 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c8172b20 fh1 0x3ddc0840fh->id: 151 156 765goodE: 309 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c8172b20 fh1 0x36fb4e00fh->id: 153 156 765goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c8172b20 fh1 0x10913f80fh->id: 154 156 765goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c8172b20 fh1 0x3b911660fh->id: 155 156 765goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew156 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 170 out of 185 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 185 newEdgePixels: 185 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2685 Input.cpp[readImages,206]: Got image from sensor!766 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 491 lastEnergy: 864.692 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 145 INF|LocalMapper.cpp[optimize,276]: Start Energy: 864.692 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.25979e-11 8.57891e-12 2.8105e-13 -2.36117e-12 -0.00299816 -0.00159066 0.00123733 -0.000733616 -0.000225188 7.96687e-05 0.00612741 0.000655941 0.000838274 -4.14993e-05 -0.00104541 0.000279893 0.000895746 0.0013129 0.00926026 5.68974e-05 -0.000932307 -0.000223326 0.000309566 0.00231918 0.00866087 0.000522556 -0.00119673 -0.000256095 -0.000164276 0.00366158 0.00749209 0.000568489 -0.000852226 -0.00102129 -0.00073487 -0.00414197 0.00528539 -0.0009941 -0.000498923 -0.000652663 0.00034731 0.00389492 0.00828931 0.000519169 -0.000903557 -0.00203958 -0.000775333 -0.0012528 0.00276952 -0.000512396 -0.0012484 -0.00187851 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2685 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 770.942 0 0 newEnergyL 0 lastEnergy: 864.692 0 0 lastEnergyL: 0mActiveResiduals: 2685 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 7.10553e-12 7.49695e-13 2.44284e-12 -1.4748e-12 0.00193853 -0.0023789 -0.00112775 -8.96789e-05 -0.000293916 0.000334947 -0.003356 0.00346101 -0.00559134 0.000405194 -3.04366e-05 -0.000122169 -0.00066642 0.00297002 -0.00628549 0.000224305 0.000142741 0.00012544 -0.0054104 0.00470688 -0.00773581 7.1135e-05 0.000858701 -0.000350228 -0.00166429 0.00532263 -0.0052087 0.000268129 9.2595e-05 0.000613958 -0.00615091 0.00879409 -0.00434083 0.0011319 0.000665263 6.35674e-05 -0.00511186 0.00584693 -0.0058557 0.000506723 0.000652096 0.000957734 -0.0046266 0.00422497 -0.0106724 0.000122214 0.000614836 -0.000514804 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2685 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 740.036 0 0 newEnergyL 0 lastEnergy: 770.942 0 0 lastEnergyL: 0mActiveResiduals: 2685 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 767 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -4.54539e-12 1.15046e-12 -5.87551e-12 -4.3442e-12 -0.00828227 0.00196786 -0.00329402 0.000491362 0.000410626 -0.00117307 0.00554031 -0.00168402 0.000396221 0.00053726 -0.000645548 -0.000295422 0.000929459 -0.000921757 -0.00116703 0.000770128 -0.000137101 -0.000516901 0.00112213 0.000399877 0.0027883 0.00103078 -5.6702e-05 -0.000609859 -0.000499137 0.00148696 -0.000277885 0.00121891 0.000355917 -0.000954456 0.000614135 -0.000587693 0.000472421 0.000550886 0.000431469 -0.000875615 -0.00302966 0.000241053 0.000418511 0.000725547 0.000965477 -0.00185061 0.000947704 -0.00307935 0.00151979 0.000379607 1.18337e-05 -0.000634006 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2685 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 715.867 0 0 newEnergyL 0 lastEnergy: 740.036 0 0 lastEnergyL: 0mActiveResiduals: 2685 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.23295e-12 3.89435e-12 3.50906e-12 -7.49713e-12 0.00741167 -0.00143452 0.00321059 -4.80007e-06 0.000319377 0.000640769 -0.00262241 0.00128788 0.000992089 0.000174879 0.00103772 0.000797903 -0.00213537 -0.00026882 -0.000150533 -0.000546961 0.000912583 0.000495608 0.00138772 0.000597113 -0.00358074 -0.000497014 0.000375399 0.000467704 0.00167248 -0.000102524 -0.00060328 -0.00059554 0.000177796 0.00089819 0.00124434 0.00325473 0.000460309 0.000353273 3.15849e-05 0.000985013 -0.00276172 -0.000969905 -0.00110845 -0.000533537 0.000744617 0.00131446 -0.000674154 0.000267959 -0.000957459 -0.000436462 0.000596653 0.000757814 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2685 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 708.976 0 0 newEnergyL 0 lastEnergy: 715.867 0 0 lastEnergyL: 0mActiveResiduals: 2685 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.30749e-12 -2.11996e-12 -2.48506e-12 1.15457e-11 -0.00648739 0.000305792 -0.00623663 0.000286659 -0.000511064 -0.00125974 0.00516797 -0.00269598 0.00078441 0.000305786 -0.000860213 -1.62048e-05 -0.00106364 0.00258999 0.000967025 0.00119456 -0.000256858 -0.000562932 4.82818e-05 -0.000523813 0.00289773 0.000883753 -0.000207473 -0.000353647 -0.000214683 7.57668e-06 -0.00051928 0.000996471 3.86442e-05 -0.000642212 -0.000890569 -0.00441115 -0.00180094 -7.59346e-05 0.000368962 -0.000696748 0.00126976 0.00107159 0.000935602 0.00105768 -7.23108e-05 -0.00112515 -0.00211789 0.00114719 0.00243951 0.00114602 0.000251985 -0.000583881 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2685 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 698.457 0 0 newEnergyL 0 lastEnergy: 708.976 0 0 lastEnergyL: 0mActiveResiduals: 2685 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -8.14021e-13 -2.03706e-12 2.89293e-12 -7.92714e-12 0.00725757 -0.00639833 -0.00101878 -0.000355059 0.000361548 0.00168592 0.00112191 0.00239539 0.00279526 4.46618e-05 0.00103587 0.000784465 -0.00133209 0.00183285 -0.000818878 -0.00039259 0.00102497 0.00068551 -0.00159178 0.00157308 -0.00124579 -0.000463071 0.00138902 0.000622096 -0.00105976 0.000182975 0.000708999 -0.000609791 0.00117169 0.00100753 -0.00040042 0.00325803 0.00152151 0.00038016 0.000867643 0.00116583 -0.00354015 -0.000808914 -0.000712755 -0.000621813 0.00160887 0.00149139 0.00199727 -0.000346258 -0.00409337 -0.000568033 0.000843934 0.00101396 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2685 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 692.381 0 0 newEnergyL 0 lastEnergy: 698.457 0 0 lastEnergyL: 0mActiveResiduals: 2685 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!767 INF|Input.cpp[getImages,132]: mNbReceivedImages!768 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 692.381 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2685 INF|LocalMapper.cpp[optimize,345]: End Energy: 692.381 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.514856 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.514856 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 153 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 153 with idx: 4 and allID: 728 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->153 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 153->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->153 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->153 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 153->134 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->153 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 153->151 INF|LocalMapper.cpp[marginalizeFrame,801]: 153 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 153 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 14712 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04c8172b20 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 156 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 111 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 34 with distance 0.198Found rest min at: 110 with distance 0.098 overall min: 0.098 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 34 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 718 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 156 into DB 0.198 34 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 34 and real id(62) current kf: 156(765) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.848481 0.136837 -0.511229 -3.47071 -0.0371239 0.979005 0.20043 0.274146 0.527922 -0.151082 0.835747 -0.607241 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 62 currFrame: 156 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000705871 edge: 156 to 62 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 0 < 6961 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 156 and 62 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 156 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 156 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 1326 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 766 keyframes 157 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 527 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.775386 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999975 0.00222105 -0.00670888 0.0117372 -0.00225123 0.999987 -0.00449393 0.00996503 0.00669881 0.00450892 0.999967 0.00256746 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.775386) and 765(1311875598.744090) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999975 0.00222105 -0.00670888 0.0117372 -0.00225123 0.999987 -0.00449393 0.00996503 0.00669881 0.00450892 0.999967 0.00256746 Input.cpp[readImages,206]: Got image from sensor!767 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 768 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4592/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.775386) and 765(1311875598.744090) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999971 0.00201801 -0.00738272 0.00874473 -0.00204491 0.999991 -0.00363769 0.00868363 0.00737532 0.00365268 0.999966 -0.00945844 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999993 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4094/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.775386) and 765(1311875598.744090) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999982 0.00167631 -0.00569956 0.00893301 -0.00167047 0.999998 0.00102907 0.00149522 0.00570127 -0.00101953 0.999983 -0.0084577 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!768 INF|Input.cpp[getImages,132]: mNbReceivedImages!769 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999734 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3693/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.338295 resInfo good: 6959, 2 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 14154/14 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999989 0.00141183 -0.00446251 0.00860024 -0.00140237 0.999997 0.00212088 0.00194538 0.00446549 -0.0021146 0.999988 -0.00609209 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!766 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 471 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.805680 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999989 0.00141183 -0.00446251 0.00860024 -0.00140237 0.999997 0.00212088 0.00194538 0.00446549 -0.0021146 0.999988 -0.00609209 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.805680) and 765(1311875598.744090) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999989 0.00141183 -0.00446251 0.00860024 -0.00140237 0.999997 0.00212088 0.00194538 0.00446549 -0.0021146 0.999988 -0.00609209 Input.cpp[readImages,206]: Got image from sensor!768 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999826 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4418/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.805680) and 765(1311875598.744090) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999933 0.0020145 -0.0113575 0.0150208 -0.00198898 0.999995 0.00225777 -0.00729944 0.011362 -0.00223503 0.999933 -0.0108639 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 769 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999929 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2652/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.805680) and 765(1311875598.744090) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999958 0.00255738 -0.00877462 0.0138314 -0.00252697 0.999991 0.00347496 -0.00403734 0.00878342 -0.00345264 0.999955 -0.0065987 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!769 INF|Input.cpp[getImages,132]: mNbReceivedImages!770 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:4303/4 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.413801 resInfo good: 6960, 1 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 12963/12 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999962 0.00212704 -0.0085128 0.0155096 -0.00208834 0.999987 0.00455252 -0.00418984 0.00852238 -0.00453457 0.999953 -0.00541575 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!767 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.842625 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999856 0.00358683 -0.0166076 0.0293066 -0.00343064 0.99995 0.00942395 -0.0164696 0.0166406 -0.00936561 0.999818 -0.00393444 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.842625) and 765(1311875598.744090) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999856 0.00358683 -0.0166076 0.0293066 -0.00343064 0.99995 0.00942395 -0.0164696 0.0166406 -0.00936561 0.999818 -0.00393444 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999108 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1565/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.842625) and 765(1311875598.744090) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999808 0.00446619 -0.0190691 0.0240036 -0.00447776 0.99999 -0.000563864 -0.0130309 0.0190664 0.000649143 0.999818 -0.014238 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999131 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2263/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.842625) and 765(1311875598.744090) on lvl: 0 Input.cpp[readImages,206]: Got image from sensor!769 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999884 0.00412757 -0.014634 0.0204186 -0.00413431 0.999991 -0.000430169 -0.00531713 0.0146321 0.000490621 0.999893 -0.0126333 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999421 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3157/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.512017 resInfo good: 6961, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8371/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999879 0.00314113 -0.0152058 0.0248421 -0.0031453 0.999995 -0.000249947 -0.00387751 0.0152049 0.000297743 0.999884 -0.0113643 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!768 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 770 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.875951 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999752 0.00412284 -0.0219029 0.0342147 -0.00423431 0.999978 -0.00504522 -0.00354605 0.0218816 0.00513671 0.999747 -0.0172488 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.875951) and 765(1311875598.744090) on lvl: 2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!770 INF|Input.cpp[getImages,132]: mNbReceivedImages!771 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999752 0.00412284 -0.0219029 0.0342147 -0.00423431 0.999978 -0.00504522 -0.00354605 0.0218816 0.00513671 0.999747 -0.0172488 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999834 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4217/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.875951) and 765(1311875598.744090) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999687 0.00429667 -0.0246281 0.0297572 -0.00433807 0.999989 -0.00162776 -0.00647703 0.0246209 0.00173409 0.999695 -0.0258701 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999762 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3188/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.875951) and 765(1311875598.744090) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999736 0.00436023 -0.0225774 0.0300489 -0.00438837 0.99999 -0.00119706 -0.00144015 0.022572 0.00129582 0.999744 -0.0212935 Input.cpp[readImages,206]: Got image from sensor!770 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999887 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3257/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.614917 resInfo good: 6956, 5 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 12812/12 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999753 0.00368723 -0.021903 0.0313008 -0.00370096 0.999993 -0.000586292 -0.000275875 0.0219007 0.000667209 0.99976 -0.0201832 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!769 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 536 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 771 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!771 INF|Input.cpp[getImages,132]: mNbReceivedImages!772 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.907950 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999366 0.00477194 -0.0352946 0.0444006 -0.00481898 0.999988 -0.00124778 0.00692581 0.0352883 0.00141707 0.999376 -0.0376864 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.907950) and 765(1311875598.744090) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999366 0.00477194 -0.0352946 0.0444006 -0.00481898 0.999988 -0.00124778 0.00692581 0.0352883 0.00141707 0.999376 -0.0376864 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999955 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4355/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.907950) and 765(1311875598.744090) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999423 0.00289888 -0.033849 0.0385772 -0.00290942 0.999996 -0.000262141 -0.00337308 0.0338481 0.00036047 0.999427 -0.029426 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999628 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1855/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.907950) and 765(1311875598.744090) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99953 0.00424733 -0.0303532 0.0365255 -0.00417931 0.999989 0.00230406 -0.00242013 0.0303626 -0.00217613 0.999537 -0.0249786 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999029 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:939/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.743012 resInfo good: 6958, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8716/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999518 0.00334704 -0.0308504 0.0386588 -0.00326144 0.999991 0.00282467 -0.0026348 0.0308596 -0.0027227 0.99952 -0.0220426 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!770 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!771 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 772 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.941074 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999203 0.00303721 -0.0397964 0.0460339 -0.00279137 0.999977 0.00623154 -0.0049974 0.0398144 -0.00611549 0.999188 -0.023828 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.941074) and 765(1311875598.744090) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999203 0.00303721 -0.0397964 0.0460339 -0.00279137 0.999977 0.00623154 -0.0049974 0.0398144 -0.00611549 0.999188 -0.023828 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!772 INF|Input.cpp[getImages,132]: mNbReceivedImages!773 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999394 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1979/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.941074) and 765(1311875598.744090) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998991 0.00263079 -0.044836 0.054138 -0.0026644 0.999996 -0.00068974 -0.0133152 0.044834 0.000808504 0.998994 -0.0269911 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999111 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2446/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.941074) and 765(1311875598.744090) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999171 0.00367327 -0.0405458 0.0478861 -0.00365757 0.999993 0.000461317 -0.0102192 0.0405472 -0.000312636 0.999178 -0.0207802 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999107 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1029/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.847946 resInfo good: 6931, 30 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7060/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999195 0.00334565 -0.0399778 0.0491725 -0.00330413 0.999994 0.00110474 -0.00877162 0.0399813 -0.000971761 0.9992 -0.0192807 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!771 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 495 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!772 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 773 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875598.976006 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!773 INF|Input.cpp[getImages,132]: mNbReceivedImages!774 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998788 0.00332828 -0.0491019 0.0596608 -0.00336252 0.999994 -0.000614732 -0.0149131 0.0490996 0.000779093 0.998794 -0.0164335 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.976006) and 765(1311875598.744090) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998788 0.00332828 -0.0491019 0.0596608 -0.00336252 0.999994 -0.000614732 -0.0149131 0.0490996 0.000779093 0.998794 -0.0164335 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999868 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3763/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.976006) and 765(1311875598.744090) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998661 0.00465917 -0.0515236 0.069068 -0.00515114 0.999942 -0.00941987 -0.0028612 0.0514767 0.00967266 0.998627 -0.0305894 Input.cpp[readImages,206]: Got image from sensor!773 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 11): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5810/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875598.976006) and 765(1311875598.744090) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998821 0.00422299 -0.0483554 0.0655286 -0.00444749 0.99998 -0.00453616 -0.0100219 0.0483353 0.00474588 0.99882 -0.0285481 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999912 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2055/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.921737 resInfo good: 6958, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 13280/13 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99888 0.00421388 -0.0471255 0.0649381 -0.00441193 0.999982 -0.00409943 -0.00820683 0.0471074 0.00430276 0.998881 -0.0243834 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!772 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 774 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.007605 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998095 0.00583693 -0.0614263 0.0965782 -0.00673865 0.999872 -0.0144829 -0.00704013 0.0613339 0.0148692 0.998007 -0.0342407 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.007605) and 765(1311875598.744090) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998095 0.00583693 -0.0614263 0.0965782 -0.00673865 0.999872 -0.0144829 -0.00704013 0.0613339 0.0148692 0.998007 -0.0342407 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!774 INF|Input.cpp[getImages,132]: mNbReceivedImages!775 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999456 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3729/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.007605) and 765(1311875598.744090) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998481 0.00276714 -0.0550259 0.073231 -0.00347829 0.999912 -0.0128324 -0.00742872 0.0549855 0.0130043 0.998402 -0.0345776 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999783 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2689/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.007605) and 765(1311875598.744090) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998679 0.00269533 -0.0513047 0.0689222 -0.00320794 0.999946 -0.00991175 -0.00939868 0.0512752 0.0100632 0.998634 -0.0304258 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3131/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.965296 resInfo good: 6959, 2 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10851/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.998755 0.00262836 -0.0498122 0.0676252 -0.00308749 0.999953 -0.00914249 -0.00800547 0.0497859 0.00928491 0.998717 -0.0267081 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!773 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!774 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 775 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.041144 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!775 INF|Input.cpp[getImages,132]: mNbReceivedImages!776 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998621 0.00102947 -0.0524906 0.0703183 -0.0017766 0.999898 -0.0141889 -0.00778836 0.0524706 0.0142626 0.998521 -0.0290245 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.041144) and 765(1311875598.744090) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998621 0.00102947 -0.0524906 0.0703183 -0.0017766 0.999898 -0.0141889 -0.00778836 0.0524706 0.0142626 0.998521 -0.0290245 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999664 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3748/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.041144) and 765(1311875598.744090) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998448 0.00149238 -0.0556787 0.0685869 -0.00226329 0.999902 -0.0137851 -0.00972172 0.0556527 0.0138897 0.998354 -0.0339727 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.99939 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:734/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 156 to 937837248 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.041144) and 765(1311875598.744090) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998398 0.00105586 -0.0565757 0.0745292 -0.00172295 0.99993 -0.0117438 -0.0121586 0.0565593 0.0118224 0.998329 -0.0361533 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999919 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1772/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.02697 resInfo good: 6955, 6 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7914/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998389 -0.00044476 -0.0567378 0.0799979 -0.0002461 0.999926 -0.0121688 -0.00621079 0.056739 0.0121632 0.998315 -0.0306157 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875599.041144 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875599.041144 to keyframe with id: 937837248 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875599.041144 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1127 size: 7914 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId937837248 timestamp: 1311875599.041144 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -7.38105 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -7.10547 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 624 keyframeId: 134 score: -8.51557 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -7.684 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -8.39338 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 755 keyframeId: 155 score: -6.94454 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 157 = 157 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x37e642e0 fh1 0x1ec6dbe0fh->id: 116 157 774goodE: 22 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x37e642e0 fh1 0x2a5d2ba0fh->id: 119 157 774goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x37e642e0 fh1 0xb113840fh->id: 134 157 774goodE: 103 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x37e642e0 fh1 0x3ddc0840fh->id: 151 157 774goodE: 344 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x37e642e0 fh1 0x10913f80fh->id: 154 157 774goodE: 32 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x37e642e0 fh1 0x3b911660fh->id: 155 157 774goodE: 14 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x37e642e0 fh1 0x7f04c8172b20fh->id: 156 157 774goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew157 Input.cpp[readImages,206]: Got image from sensor!775 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 146 out of 165 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 165 newEdgePixels: 165 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2789 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 422 lastEnergy: 870.659 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 88 INF|LocalMapper.cpp[optimize,276]: Start Energy: 870.659 0 0 lastEnergyL: 0 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 776 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -5.07775e-12 5.53785e-12 -7.70724e-12 1.37765e-13 -0.00221187 0.00730197 0.00169222 -0.000378251 -0.00065439 -0.000420237 -0.00152996 -0.00076718 0.000714487 -0.000535338 -0.000709039 3.06881e-05 0.00381281 -0.00491102 0.00433993 -0.0011225 -0.00151975 -0.000192128 -0.00502256 -0.00192263 0.0064058 -0.000620103 -0.000376219 -0.00100288 -0.00435457 -0.00289044 0.00505903 -0.00153975 -0.000163533 -0.00107714 -0.00382983 0.00141139 0.00655941 -0.000393616 -0.000183882 -0.00162229 -0.00771897 0.000859303 0.00730226 -0.000526402 0.000153078 -0.00174427 -0.0082262 -0.00672746 0.00934129 -0.00188351 4.19844e-05 -0.00172719 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2789 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 807.955 0 0 newEnergyL 0 lastEnergy: 870.659 0 0 lastEnergyL: 0mActiveResiduals: 2789 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -5.62896e-12 2.20914e-12 -7.02926e-13 -1.99291e-11 0.00154112 -0.00331971 -0.000593336 -0.00020469 -0.00019613 0.000323515 -0.00573092 0.000339483 -0.00325446 0.000163596 0.000332527 7.77967e-05 -0.00478752 -0.00143069 -0.00506421 -0.000367069 0.000580112 0.00021291 -0.00651067 0.00133785 -0.00631338 -0.000292322 0.000848006 -0.000162352 -0.00326993 0.00553815 -0.000665247 0.000817212 6.13292e-05 0.000449382 -0.00812398 0.00192055 -0.00241225 -6.03935e-05 0.00103393 8.35854e-05 -0.00537307 0.00313618 -0.00270587 0.000305094 0.000644618 0.00043351 -0.00447065 0.00418396 -0.00585352 0.000301465 0.000333455 -0.000176975 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2789 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 773.57 0 0 newEnergyL 0 lastEnergy: 807.955 0 0 lastEnergyL: 0mActiveResiduals: 2789 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -3.14485e-13 -3.65238e-12 2.95448e-14 1.00396e-11 -0.00372608 0.00436131 0.00173352 -0.000346626 0.000502677 -0.00134956 0.00227981 0.000944574 -0.00226144 -0.000366698 -0.000346535 -0.000915373 0.000323921 -0.00108505 -0.000583828 -0.000147464 0.000193099 -0.00123797 0.000811839 -0.00140099 0.000739032 -0.000243521 0.000486059 -0.000883287 -0.000486312 -0.00486104 -0.00321949 -0.00131106 0.00110102 -0.00120254 0.0018608 0.000320983 -0.000671608 -5.22434e-06 0.000768088 -0.00107755 -0.00131606 0.00184831 0.0014179 4.27296e-05 0.00134518 -0.0016243 -8.15318e-05 -0.00019863 0.00151472 -0.000249777 0.00101338 -0.00122347 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2789 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 752.026 0 0 newEnergyL 0 lastEnergy: 773.57 0 0 lastEnergyL: 0mActiveResiduals: 2789 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.29235e-12 1.9277e-12 4.36891e-12 -8.89974e-12 0.00813716 -0.00448522 -0.000640157 -0.000155315 4.78594e-05 0.00163238 -0.000913467 0.00120992 0.00217191 5.47844e-05 0.000975009 0.00081044 -0.0020441 0.00201245 -1.68273e-05 -0.000238774 0.000932651 0.000823411 -0.00214168 -0.000672072 -0.00149879 -0.000630776 0.00110093 0.000626974 0.000626974 0.00464101 0.00227154 0.000641229 0.000449699 0.00109306 -0.00171462 -0.00260211 -8.74214e-05 -0.00078295 0.0008907 0.00112315 0.000872048 0.00118474 -0.000621506 8.35646e-05 0.000567186 0.00141351 -0.000183514 0.000471491 -0.00437497 -0.000254341 0.000793919 0.000765764 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2789 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 742.829 0 0 newEnergyL 0 lastEnergy: 752.026 0 0 lastEnergyL: 0mActiveResiduals: 2789 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!776 INF|Input.cpp[getImages,132]: mNbReceivedImages!777 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.96232e-12 2.3638e-12 -4.75712e-12 7.3682e-13 -0.00419004 0.00502833 -0.000130541 2.13185e-05 0.000372104 -0.00199581 0.00387613 -0.00037767 -0.000328675 -0.000116464 -0.000524873 -0.00116484 -0.000891781 -0.00180537 -0.00132354 0.000193688 0.000317007 -0.00144451 0.00199701 0.000945804 0.000219277 0.000595319 -3.76155e-05 -0.000755001 -0.00163027 -0.00449553 -0.00306963 -0.00059864 0.000962589 -0.00133054 0.00351767 0.00334894 -0.000925982 0.000895547 7.88855e-05 -0.00113516 -0.00203479 -0.00133637 -0.000427056 -0.000128374 0.00100801 -0.0014294 -0.00132264 -0.0015332 0.00423885 0.000177916 0.000869791 -0.00063842 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2789 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 734.58 0 0 newEnergyL 0 lastEnergy: 742.829 0 0 lastEnergyL: 0mActiveResiduals: 2789 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 3.57782e-12 9.38163e-13 8.22569e-12 -1.82255e-12 0.0047074 -0.00568462 0.00220084 0.000409554 0.000608841 0.00212195 -0.000401976 5.59029e-05 0.000281226 0.000687747 0.000914952 0.00139299 -0.00108749 0.000708751 -0.0008354 -9.27367e-05 0.00072097 0.00178922 -0.00236061 -6.83874e-05 -6.27965e-05 -0.0001577 0.00079224 0.00135895 0.00220133 0.00409522 0.00261435 0.00104112 -0.000356083 0.00201109 -0.00310024 -0.00338108 -0.000825193 -0.00045232 0.00049288 0.00204635 0.000703599 0.0030992 0.000254255 0.000941928 -1.24225e-05 0.00208029 0.00179316 0.00216943 -0.0027019 0.000358592 -0.000302103 0.00159296 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2789 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 729.143 0 0 newEnergyL 0 lastEnergy: 734.58 0 0 lastEnergyL: 0mActiveResiduals: 2789 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 729.143 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2789 INF|LocalMapper.cpp[optimize,345]: End Energy: 729.143 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.519762 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.519762 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 134 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 134 with idx: 2 and allID: 624 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->134 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 134->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->134 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 134<->134 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->134 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 134->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->134 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 134->154 INF|LocalMapper.cpp[marginalizeFrame,801]: 134 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 134 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 14362 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x37e642e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 157 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 112 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 34 with distance 0.194Found rest min at: 111 with distance 0.108 overall min: 0.108 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 34 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 723 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 157 into DB 0.194 34 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 34 and real id(62) current kf: 157(774) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.87712 0.144785 -0.457928 -3.5601 -0.0508246 0.976106 0.211269 0.290288 0.477574 -0.162034 0.86352 -0.622139 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 62 currFrame: 157 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000536671 edge: 157 to 62 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 157 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 774(1311875599.041144) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999593 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3350/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 157 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 774(1311875599.041144) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999456 0.00213813 0.0329216 -0.102185 -0.00178834 0.999942 -0.0106508 -0.0781771 -0.0329425 0.0105861 0.999401 0.226398 Input.cpp[readImages,206]: Got image from sensor!776 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999767 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1035/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 157 to 62 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 266(1311875581.822220) and 774(1311875599.041144) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999464 0.00174892 0.0326841 -0.103804 -0.00135088 0.999925 -0.0121966 -0.0840458 -0.032703 0.0121459 0.999391 0.237839 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999911 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2623/2 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.999381 -0.000366166 0.0351684 -0.111244 0.000835178 0.999911 -0.0133224 -0.0912345 -0.0351604 0.0133435 0.999293 0.25494 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 61 end 64 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 777 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 14935 o[1]: 2152 o[2]: 927 o[3]: 257 histWeights: 1 1 1.25 1.5overlap: 3696.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7914 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 62 and 157 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 157 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 157 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 10926 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 775 keyframes 158 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 512 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.076041 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!777 INF|Input.cpp[getImages,132]: mNbReceivedImages!778 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999902 -0.00729596 -0.0119696 0.0218849 0.00717138 0.99992 -0.0104183 0.0135501 0.0120447 0.0103314 0.999874 -0.00569332 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 157 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.076041) and 774(1311875599.041144) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999902 -0.00729596 -0.0119696 0.0218849 0.00717138 0.99992 -0.0104183 0.0135501 0.0120447 0.0103314 0.999874 -0.00569332 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999189 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1250/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 157 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.076041) and 774(1311875599.041144) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999926 -0.00713051 -0.00990156 0.0166002 0.00705437 0.999945 -0.00770395 0.00790425 0.00995595 0.00763352 0.999921 -0.0066785 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.99989 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2051/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 157 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.076041) and 774(1311875599.041144) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999973 -0.00501531 -0.00532833 0.00761903 0.00500244 0.999985 -0.0024254 -0.0043844 0.00534041 0.00239868 0.999983 -0.00302804 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2725/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.316115 resInfo good: 7914, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7841/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999982 -0.00465333 -0.00367301 0.00885653 0.00464691 0.999988 -0.0017544 -0.00326832 0.00368113 0.0017373 0.999992 -0.00288491 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!775 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!777 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.111810 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 778 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999842 -0.0139785 -0.0109941 0.0266462 0.0139208 0.999889 -0.00531424 -0.00966612 0.0110672 0.00516035 0.999925 -0.0085737 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 157 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.111810) and 774(1311875599.041144) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999842 -0.0139785 -0.0109941 0.0266462 0.0139208 0.999889 -0.00531424 -0.00966612 0.0110672 0.00516035 0.999925 -0.0085737 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999236 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1950/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 157 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.111810) and 774(1311875599.041144) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999922 -0.00305465 -0.0121371 0.0126901 0.00292441 0.999938 -0.010734 -0.0140979 0.0121692 0.0106977 0.999869 -0.0109814 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!778 INF|Input.cpp[getImages,132]: mNbReceivedImages!779 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999356 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3237/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 157 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.111810) and 774(1311875599.041144) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999925 -0.00418058 -0.0114815 0.0167129 0.0040484 0.999926 -0.0115122 -0.0061837 0.0115288 0.0114649 0.999868 -0.00896359 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999796 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1206/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.586503 resInfo good: 7877, 37 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8213/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999938 -0.00456361 -0.0101978 0.0153149 0.0044504 0.999929 -0.0110968 -0.00497121 0.0102477 0.0110507 0.999886 -0.00704197 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!776 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 471 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.141481 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99985 -0.00453467 -0.0167226 0.0218002 0.00419255 0.999782 -0.0204367 -0.00663623 0.0168117 0.0203635 0.999651 -0.0111725 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 157 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.141481) and 774(1311875599.041144) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99985 -0.00453467 -0.0167226 0.0218002 0.00419255 0.999782 -0.0204367 -0.00663623 0.0168117 0.0203635 0.999651 -0.0111725 Input.cpp[readImages,206]: Got image from sensor!778 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999994 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2267/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 157 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.141481) and 774(1311875599.041144) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999847 -0.00420216 -0.0169951 0.0211601 0.00385981 0.99979 -0.0201268 -0.00604654 0.0170761 0.0200581 0.999653 -0.00942667 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 779 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4694/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 157 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.141481) and 774(1311875599.041144) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999811 -0.00416638 -0.0189662 0.0302752 0.00382429 0.99983 -0.0180377 -0.00685017 0.0190381 0.0179618 0.999657 -0.0114655 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999195 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2460/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.746775 resInfo good: 7906, 8 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11242/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999846 -0.00370343 -0.0171518 0.0280415 0.00340082 0.999839 -0.0176384 -0.00503783 0.0172143 0.0175774 0.999697 -0.0125116 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!777 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!779 INF|Input.cpp[getImages,132]: mNbReceivedImages!780 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.173492 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999515 -0.00211943 -0.0310731 0.0536067 0.00116516 0.999528 -0.0306965 -0.00510166 0.0311235 0.0306454 0.999046 -0.0231861 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 157 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.173492) and 774(1311875599.041144) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999515 -0.00211943 -0.0310731 0.0536067 0.00116516 0.999528 -0.0306965 -0.00510166 0.0311235 0.0306454 0.999046 -0.0231861 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999815 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3560/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 157 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.173492) and 774(1311875599.041144) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999774 -0.00170047 -0.0211747 0.0278543 0.00113 0.999637 -0.026924 -0.00645325 0.0212127 0.026894 0.999413 -0.0111936 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999539 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1620/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 157 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.173492) and 774(1311875599.041144) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999742 -0.0045856 -0.0222661 0.0330781 0.00402922 0.99968 -0.0249687 -0.00816834 0.0223735 0.0248725 0.99944 -0.0119936 Input.cpp[readImages,206]: Got image from sensor!779 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999903 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1346/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.862476 resInfo good: 7831, 83 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8301/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999753 -0.00444698 -0.021755 0.0349466 0.00394757 0.999729 -0.0229454 -0.00988462 0.0218511 0.0228539 0.9995 -0.0151322 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!778 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 780 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.211867 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!780 INF|Input.cpp[getImages,132]: mNbReceivedImages!781 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999503 -0.00600689 -0.0309478 0.0488025 0.00496715 0.999424 -0.0335646 -0.0195232 0.0311316 0.0333942 0.998957 -0.0203542 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 157 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.211867) and 774(1311875599.041144) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999503 -0.00600689 -0.0309478 0.0488025 0.00496715 0.999424 -0.0335646 -0.0195232 0.0311316 0.0333942 0.998957 -0.0203542 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999378 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1809/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 157 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.211867) and 774(1311875599.041144) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999415 0.000942541 -0.0341939 0.0469244 -0.00219663 0.999325 -0.0366569 -0.017613 0.0341362 0.0367106 0.998743 -0.0237362 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999711 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1854/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 157 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.211867) and 774(1311875599.041144) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99948 0.000456848 -0.0322353 0.0468639 -0.00163266 0.999334 -0.0364591 -0.0162096 0.0321971 0.0364928 0.998815 -0.0227266 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999621 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1331/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.0633 resInfo good: 7751, 163 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6940/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999527 -0.000316938 -0.030762 0.0434446 -0.000793171 0.999349 -0.036068 -0.0159698 0.0307535 0.0360754 0.998876 -0.0241549 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875599.211867 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875599.211867 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875599.211867 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1003 size: 7250 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875599.211867 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -6.23762 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -5.58362 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -8.4612 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -10.9881 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 755 keyframeId: 155 score: -11.2198 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 765 keyframeId: 156 score: -8.31898 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 158 = 158 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd02e80 fh1 0x1ec6dbe0fh->id: 116 158 779goodE: 23 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd02e80 fh1 0x2a5d2ba0fh->id: 119 158 779goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd02e80 fh1 0x3ddc0840fh->id: 151 158 779goodE: 363 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd02e80 fh1 0x10913f80fh->id: 154 158 779goodE: 51 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd02e80 fh1 0x3b911660fh->id: 155 158 779goodE: 22 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd02e80 fh1 0x7f04c8172b20fh->id: 156 158 779goodE: 25 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2dd02e80 fh1 0x37e642e0fh->id: 157 158 779goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew158 Input.cpp[readImages,206]: Got image from sensor!780 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 188 out of 201 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 201 newEdgePixels: 201 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 781 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3200 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 500 lastEnergy: 951.059 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 102 INF|LocalMapper.cpp[optimize,276]: Start Energy: 951.059 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -2.18089e-12 4.96072e-12 -4.79461e-12 -2.34158e-12 -0.00764141 0.00167983 -0.000656435 -0.000228687 -0.000845323 -0.00105064 0.0180492 -0.00478668 0.0134276 9.07206e-05 -0.00221608 0.00107019 -0.00138542 0.00263452 -0.00748408 0.000556178 -0.00180987 -0.000518824 -0.00752766 -0.00243636 -0.012423 -0.000822226 -0.000534391 -0.00125512 -0.000289798 0.00316563 -0.0091283 0.000434186 -0.00158901 -0.000809457 0.00232833 -0.00163014 -0.0161121 -0.000655533 -0.00227806 -0.000812394 0.00104156 0.000699599 -0.0108738 -1.37049e-06 -0.00167847 -6.49003e-05 0.00414867 -0.0084517 -0.0142563 -0.00176716 -0.00241118 0.000577835 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3200 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 847.651 0 0 newEnergyL 0 lastEnergy: 951.059 0 0 lastEnergyL: 0mActiveResiduals: 3200 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.13733e-12 5.09502e-13 5.33247e-12 -6.34288e-12 0.0006305 -0.000663571 -0.00396558 0.000139704 -0.000466711 0.000214458 -0.00129428 -0.00113145 1.13097e-05 -0.000452252 -0.000159347 -0.000401292 -0.00273048 -0.000785084 -0.00286512 -0.000575766 8.53766e-05 0.000251694 0.00247417 0.00215103 -0.00307524 0.000339881 -0.00112405 0.00114705 -0.000965299 -0.00347286 -0.00702459 -0.000923513 -0.000570315 0.00082463 -0.00262159 0.000460026 -0.0055507 -7.80629e-05 -7.82907e-05 0.000862456 -0.00139052 0.00148064 -0.00549085 -0.000171636 -0.000230816 0.000480432 -0.00260202 0.00118031 -0.0028343 -0.000436062 0.000340195 0.000423622 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3200 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 799.443 0 0 newEnergyL 0 lastEnergy: 847.651 0 0 lastEnergyL: 0mActiveResiduals: 3200 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.9747e-12 5.88993e-13 5.95014e-12 2.0606e-12 -0.00232806 -0.00293501 0.000897827 -0.00244103 -0.000326673 -0.000251841 0.00105896 0.00519391 -0.0045346 -0.00134394 -0.00108255 -0.00109765 -0.00053078 -0.000582078 0.00159631 -0.00165425 -0.000169203 -0.00088094 -0.00359317 -0.00206709 -0.0011554 -0.00239762 0.000691358 -0.0015423 -1.29776e-05 0.00237662 0.000574804 -0.00147449 3.56039e-05 -0.00127159 0.00168111 -0.00114204 0.00107639 -0.0022132 -0.000276717 -0.00138462 0.00053838 -0.000495621 0.00109726 -0.00193263 -0.000135541 -0.00121959 0.000780956 -0.00202673 -0.000256699 -0.00214441 -0.000258041 -0.0012802 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!781 INF|Input.cpp[getImages,132]: mNbReceivedImages!782 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3200 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 781.143 0 0 newEnergyL 0 lastEnergy: 799.443 0 0 lastEnergyL: 0mActiveResiduals: 3200 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 8.49054e-12 -1.75403e-12 -2.09613e-13 1.90425e-12 -0.00038964 0.000633381 -0.00270555 0.00103306 -0.000559756 0.000583041 -0.00185686 -0.00151277 0.00253453 0.000367055 -3.27741e-05 0.000195154 0.00223994 -0.000654186 0.000315263 0.000425127 -0.000858431 -8.09804e-05 0.0050869 0.00218749 0.00276585 0.00128199 -0.00161261 0.000677005 -0.000822707 -0.00299269 -6.93709e-05 0.000227332 -0.000655644 0.000249629 -0.00155396 0.00038194 9.26231e-05 0.00085374 -0.000400496 0.00042018 -0.00189176 0.000666918 -0.00244527 0.000713738 -0.000521992 -6.98234e-05 -0.0010677 0.000923281 5.54507e-05 0.000799723 -0.000443923 0.000250164 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3200 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 764.276 0 0 newEnergyL 0 lastEnergy: 781.143 0 0 lastEnergyL: 0mActiveResiduals: 3200 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -8.99957e-12 1.27845e-12 1.15842e-12 -6.01697e-12 0.00263034 -0.00238355 0.00448851 -0.002016 0.000592105 -0.000103033 -0.000754578 0.00375227 -0.00349916 -0.000906412 0.000352572 -0.000322574 -0.00134326 0.000569376 9.12466e-05 -0.00128169 0.000619368 1.64216e-05 -0.00353649 -0.00123021 -0.00235831 -0.00202935 0.00123233 -0.000684171 0.00161201 0.00365095 0.000259921 -0.00103125 0.00043577 -0.000362393 0.00176042 -0.000550549 -0.000541909 -0.00182173 0.000215312 -0.000544206 0.000406464 -0.00102141 0.00183586 -0.00170928 0.000698039 -0.000151974 0.000321198 -0.00187614 -0.00106323 -0.00194508 0.000342731 -0.000407891 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3200 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 760.341 0 0 newEnergyL 0 lastEnergy: 764.276 0 0 lastEnergyL: 0mActiveResiduals: 3200 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 9.28313e-12 -2.05467e-12 -5.90149e-13 9.32813e-12 -0.00261123 0.00508816 -0.00427772 0.00151045 -0.000975242 -0.00102427 -0.000476761 -0.00352474 0.00274215 0.000375125 -0.000578188 -0.000196971 0.00165529 -0.00163947 0.000469221 0.000788642 -0.000637353 -0.0010039 0.003696 0.000683597 0.00176831 0.00154499 -0.00127329 -8.47528e-05 -0.000648195 -0.00341534 0.000578717 0.000670273 -0.000619343 -0.000407862 -0.00173442 -5.16781e-05 0.000139727 0.00139149 -0.000320338 -0.000172851 -0.00120572 0.000839189 -0.0021342 0.00138747 -0.000649395 -0.00078705 0.000110313 0.00106011 0.000590849 0.00152991 -0.000474473 -0.000303381 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3200 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 747.463 0 0 newEnergyL 0 lastEnergy: 760.341 0 0 lastEnergyL: 0mActiveResiduals: 3200 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 747.463 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3200 INF|LocalMapper.cpp[optimize,345]: End Energy: 747.463 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.492709 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.492709 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 155 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 155 with idx: 4 and allID: 755 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->155 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 155->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->155 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->155 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 155->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->155 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 155->154 INF|LocalMapper.cpp[marginalizeFrame,801]: 155 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 155 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 16319 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2dd02e80 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 158 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code:  INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 113 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 64 with distance 0.214Found rest min at: 112 with distance 0.154 overall min: 0.154 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 64 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 723 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 158 into DB 0.214 64 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 64 and real id(92) current kf: 158(779) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.921444 -0.16604 0.351243 -1.84191 0.175081 0.984535 0.00610572 -0.464539 -0.346825 0.0558698 0.936264 1.07442 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 92 currFrame: 158 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.921444 -0.16604 0.351243 -1.84191 0.175081 0.984535 0.00610572 -0.464539 -0.346825 0.0558698 0.936264 1.07442 avg 0.000443551 eye: 0.00072404 edge: 158 to 92 INF|Tracker.cpp[trackFrames,78]: initPose: 0.921444 -0.16604 0.351243 -1.84191 0.175081 0.984535 0.00610572 -0.464539 -0.346825 0.0558698 0.936264 1.07442 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 158 to 92 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 436(1311875587.762870) and 779(1311875599.211867) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.921444 -0.16604 0.351243 -1.84191 0.175081 0.984535 0.00610572 -0.464539 -0.346825 0.0558698 0.936264 1.07442 Input.cpp[readImages,206]: Got image from sensor!781 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 14,0.999524 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3528/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 158 to 92 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 436(1311875587.762870) and 779(1311875599.211867) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.911581 -0.149262 0.383068 -1.85476 0.183818 0.981419 -0.0550215 -0.703351 -0.367738 0.120572 0.92208 1.90623 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999375 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1177/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 158 to 92 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 436(1311875587.762870) and 779(1311875599.211867) on lvl: 0 Input.cpp[readImages,215]: mInputFrameQueue: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.907041 -0.146924 0.394576 -1.87588 0.183674 0.981344 -0.0568135 -0.686648 -0.378868 0.124006 0.917105 1.91813 Input.cpp[readImages,218]: mNbOfImages: 782 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999551 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:993/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.906246 -0.146162 0.396681 -1.87883 0.183338 0.981382 -0.0572455 -0.681495 -0.380928 0.124605 0.91617 1.92324 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 91 end 94 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 12329 o[1]: 1307 o[2]: 115 o[3]: 3 histWeights: 1 1 1.25 1.5overlap: 1455.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7250 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 92 and 158 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 158 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 158 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 9808 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 780 keyframes 159 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 542 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!782 INF|Input.cpp[getImages,132]: mNbReceivedImages!783 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.241888 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999987 0.00279559 -0.00422551 0.00326255 -0.00282835 0.999966 -0.00776737 -3.10351e-06 0.00420365 0.00777922 0.999961 -0.00473176 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 158 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.241888) and 779(1311875599.211867) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999987 0.00279559 -0.00422551 0.00326255 -0.00282835 0.999966 -0.00776737 -3.10351e-06 0.00420365 0.00777922 0.999961 -0.00473176 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3581/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 158 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.241888) and 779(1311875599.211867) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999994 0.00139448 -0.00326409 0.00185638 -0.00143122 0.999935 -0.0112815 -0.0022977 0.00324815 0.0112861 0.999931 -0.00484885 Input.cpp[readImages,206]: Got image from sensor!782 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999878 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3756/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 158 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.241888) and 779(1311875599.211867) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999993 0.000352329 -0.00380084 0.00854259 -0.000390401 0.99995 -0.0100206 -0.000525193 0.00379711 0.010022 0.999943 -0.00686693 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 783 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999925 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2760/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.494393 resInfo good: 7250, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11620/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999992 5.64681e-05 -0.00394363 0.0105903 -9.35812e-05 0.999956 -0.00941135 0.000341827 0.00394293 0.00941165 0.999948 -0.00559433 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!780 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 468 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.273466 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99993 5.80451e-05 -0.0118314 0.0318369 -0.00039204 0.999601 -0.0282292 0.00117998 0.011825 0.0282319 0.999531 -0.0166466 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 158 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.273466) and 779(1311875599.211867) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99993 5.80451e-05 -0.0118314 0.0318369 -0.00039204 0.999601 -0.0282292 0.00117998 0.011825 0.0282319 0.999531 -0.0166466 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!783 INF|Input.cpp[getImages,132]: mNbReceivedImages!784 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999933 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2925/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 158 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.273466) and 779(1311875599.211867) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999975 -0.00364094 -0.0061207 0.00850827 0.00353729 0.999852 -0.01686 -0.0242783 0.00618118 0.0168379 0.999839 -0.0155956 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 10,0.999969 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4766/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 158 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.273466) and 779(1311875599.211867) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999986 -0.00261441 -0.00450512 0.00949316 0.00250976 0.99973 -0.0230819 -0.00272508 0.00456425 0.0230703 0.999723 -0.0112545 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999625 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1349/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.717409 resInfo good: 7250, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10371/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999979 -0.00394372 -0.0051393 0.0137889 0.00383153 0.999758 -0.0216598 -0.0042056 0.00522348 0.0216396 0.999752 -0.0121814 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!781 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 482 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!783 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.312529 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 8 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 784 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999949 -0.00795816 -0.00628587 0.0170137 0.00774059 0.999395 -0.0339096 -0.00865936 0.00655192 0.0338592 0.999405 -0.0188195 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 158 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.312529) and 779(1311875599.211867) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999949 -0.00795816 -0.00628587 0.0170137 0.00774059 0.999395 -0.0339096 -0.00865936 0.00655192 0.0338592 0.999405 -0.0188195 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999361 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3167/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 158 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.312529) and 779(1311875599.211867) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99989 -0.00713717 -0.0130303 0.0194721 0.00668007 0.999372 -0.0347926 -0.0122635 0.0132704 0.0347017 0.99931 -0.0206349 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!784 INF|Input.cpp[getImages,132]: mNbReceivedImages!785 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.9992 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3296/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 158 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.312529) and 779(1311875599.211867) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999919 -0.00681089 -0.0107625 0.0189744 0.006426 0.999353 -0.0354007 -0.00542596 0.0109966 0.0353286 0.999315 -0.0202962 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.99998 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3443/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.896297 resInfo good: 7233, 17 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11617/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999915 -0.00717607 -0.0108555 0.0215201 0.00679407 0.99937 -0.0348266 -0.00457768 0.0110986 0.0347499 0.999334 -0.0191378 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!782 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1268 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.344720 Input.cpp[readImages,206]: Got image from sensor!784 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999808 -0.010483 -0.0165283 0.0292926 0.00967884 0.9988 -0.0480041 -0.00483476 0.0170117 0.0478349 0.99871 -0.0260532 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 158 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.344720) and 779(1311875599.211867) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999808 -0.010483 -0.0165283 0.0292926 0.00967884 0.9988 -0.0480041 -0.00483476 0.0170117 0.0478349 0.99871 -0.0260532 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 785 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999662 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2154/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 158 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.344720) and 779(1311875599.211867) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999787 -0.0116357 -0.0170711 0.0272244 0.0108085 0.9988 -0.0477722 -0.00717357 0.0176065 0.0475774 0.998712 -0.0326649 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999325 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2011/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 158 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.344720) and 779(1311875599.211867) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999817 -0.0103714 -0.0160902 0.0267253 0.00963303 0.998927 -0.0453047 -0.00711501 0.0165428 0.0451414 0.998844 -0.0298231 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999473 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1536/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.02821 resInfo good: 7132, 118 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7110/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999813 -0.0105851 -0.0161897 0.0290552 0.0098298 0.998891 -0.0460441 -0.00417839 0.0166591 0.0458763 0.998808 -0.0274575 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875599.344720 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875599.344720 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875599.344720 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!785 INF|Input.cpp[getImages,132]: mNbReceivedImages!786 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 980 size: 7804 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875599.344720 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -6.19327 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -5.58056 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -8.18466 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -8.94327 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 765 keyframeId: 156 score: -9.67413 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 774 keyframeId: 157 score: -8.39271 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 159 = 159 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3105a2a0 fh1 0x1ec6dbe0fh->id: 116 159 783goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3105a2a0 fh1 0x2a5d2ba0fh->id: 119 159 783goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3105a2a0 fh1 0x3ddc0840fh->id: 151 159 783goodE: 389 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3105a2a0 fh1 0x10913f80fh->id: 154 159 783goodE: 59 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3105a2a0 fh1 0x7f04c8172b20fh->id: 156 159 783goodE: 32 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3105a2a0 fh1 0x37e642e0fh->id: 157 159 783goodE: 60 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3105a2a0 fh1 0x2dd02e80fh->id: 158 159 783goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew159 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 122 out of 132 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 132 newEdgePixels: 132 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3135 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 570 lastEnergy: 852.237 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 142 INF|LocalMapper.cpp[optimize,276]: Start Energy: 852.237 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.15331e-11 -7.13533e-12 -2.00136e-11 -2.03111e-12 0.00219815 -0.000885654 0.00466172 0.001782 0.00141278 0.000893912 0.00137295 0.00798836 -0.00709227 0.00258519 0.000903809 0.000539868 0.00269462 0.00290492 -0.00277312 0.00186451 0.000213196 0.00211855 0.00143308 -0.00261692 -0.00327949 0.000866995 0.000617424 0.00132079 0.00596396 -0.00437964 -0.00308301 0.000542238 -0.000198534 0.00137654 0.00302454 -0.00612785 -0.00115913 0.000343155 0.000544486 0.00213489 0.00457223 -0.0048912 -0.0049047 0.000637117 -0.000398814 0.00218655 -0.00229537 -0.00903101 -0.0106482 -0.000205167 0.000717572 0.00230449 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3135 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 796.082 0 0 newEnergyL 0 lastEnergy: 852.237 0 0 lastEnergyL: 0mActiveResiduals: 3135 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.14491e-11 -2.65547e-12 -6.17381e-12 1.12883e-11 -0.000237913 0.00266653 -0.000619098 0.000255857 -9.63693e-06 -0.000247618 -0.000582739 -0.00392727 0.00149143 -0.000489868 0.000146466 0.000192978 0.00180379 -0.00364563 0.000447342 -0.000631007 -0.000267233 0.000245003 0.00486599 -4.51728e-05 0.000513764 0.000197939 -0.00111736 0.000805404 -0.00108228 -0.00323933 -0.00103272 -0.000385939 -5.18707e-06 0.000482682 -0.00429885 -0.00211733 -0.00290678 -0.000392491 0.000471984 -4.97529e-05 0.00307987 -0.000214935 0.000242865 2.68123e-05 -0.000583955 0.000260601 -0.000953508 -0.00263783 -0.00156478 -0.000470608 0.000169326 -0.000475403 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3135 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 773.932 0 0 newEnergyL 0 lastEnergy: 796.082 0 0 lastEnergyL: 0mActiveResiduals: 3135 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.16092e-11 1.39181e-12 6.86825e-12 -9.84409e-12 -0.00131404 0.00149982 0.00279735 -0.000564083 0.00114044 -0.00104868 0.00186105 -0.00158035 -0.00241596 -0.000523682 0.0001787 -0.000766752 -0.00194476 0.00346926 0.000944407 0.000318109 0.00107134 -0.000507707 -0.00193203 0.000450022 0.000787621 -0.000290269 0.00130919 -0.000706174 0.000986185 -0.000302533 -0.00100361 -0.000317432 0.000545792 -0.000749171 0.00216953 -0.00366604 0.000961629 -0.000909104 0.000428813 -0.000172751 0.00107734 0.000935444 -0.00149915 -1.77709e-05 0.000304362 -0.00049191 -0.000333593 -0.000619084 -7.98065e-05 -0.000450905 0.000731263 -0.000295221 Input.cpp[readImages,206]: Got image from sensor!785 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3135 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 746.47 0 0 newEnergyL 0 lastEnergy: 773.932 0 0 lastEnergyL: 0mActiveResiduals: 3135 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.29271e-11 -2.56415e-12 1.72077e-12 1.36317e-11 -0.000995288 0.00244788 -0.00132744 0.00183126 -0.000113251 -5.93231e-05 0.000502563 -0.00386797 0.00253779 0.000385159 1.96895e-05 -8.77902e-05 -6.30134e-05 -0.000305395 -0.000465403 0.00114657 4.19529e-05 0.000515897 0.00361477 0.00124491 0.000294214 0.00163846 -0.000896114 0.000990988 -0.000825252 -0.00223991 -0.000653128 0.00108861 -4.44147e-05 0.00105414 -0.00249804 0.000880046 -0.00083214 0.00158593 0.000243274 0.000674395 0.000635197 0.00236215 0.00197987 0.00182063 -5.74704e-05 0.000860657 -1.81835e-05 -0.000220516 -0.000644287 0.00134985 -0.000152159 0.000573461 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3135 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 745.537 0 0 newEnergyL 0 lastEnergy: 746.47 0 0 lastEnergyL: 0mActiveResiduals: 3135 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.16074e-11 3.55746e-12 -2.39995e-12 -1.1574e-11 -0.000506294 -0.00099002 0.00161273 -0.00125573 0.000999211 -0.000487715 0.00119604 0.00115969 -0.00195663 -0.000441505 0.000301326 -0.000508176 0.000714237 0.00287842 0.00124752 -0.000300872 0.000509897 -0.000422911 -0.00379424 -0.00114354 -0.000661046 -0.00106507 0.00149183 -0.000893907 0.000613039 0.00194336 0.00022546 -0.000452728 0.000514473 -0.000760018 0.0019747 -0.00181193 0.00099267 -0.0011087 0.000231302 -0.000284721 -0.00105624 -0.00134545 -0.00205506 -0.000995359 0.000410401 -0.000652012 0.000937747 -0.000657487 0.000299839 -0.000905427 0.000196816 -0.000215966 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3135 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 786 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 730.316 0 0 newEnergyL 0 lastEnergy: 745.537 0 0 lastEnergyL: 0mActiveResiduals: 3135 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 3.57919e-12 -2.61655e-12 6.71294e-12 3.12774e-12 0.00130092 -0.000775234 -0.00102221 0.00106261 -0.000331942 0.000798483 -0.00134696 -0.00104474 0.00234307 0.000573202 0.000331601 0.000864319 0.000340758 -0.00212197 -0.0006284 0.000309086 -0.000240445 0.00102517 0.00502533 0.00294892 0.00165469 0.00144699 -0.00131995 0.00139263 -0.00154248 -0.00281977 -0.000836769 0.000333263 -0.000114047 0.00115944 -0.00290012 0.00144532 -0.00168189 0.001022 0.000146586 0.000785537 0.000870151 0.00149608 0.00138812 0.0010542 -0.000197857 0.00107214 -0.000950983 0.00138621 -0.000524219 0.000996565 -1.70748e-05 0.000907468 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3135 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 729.999 0 0 newEnergyL 0 lastEnergy: 730.316 0 0 lastEnergyL: 0mActiveResiduals: 3135 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 729.999 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3135 INF|LocalMapper.cpp[optimize,345]: End Energy: 729.999 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.49084 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.49084 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 156 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 156 with idx: 4 and allID: 765 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->156 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 156->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->156 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->156 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 156->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->156 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 156->154 INF|LocalMapper.cpp[marginalizeFrame,801]: 156 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 156 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 17293 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x3105a2a0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 159 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 114 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 64 with distance 0.198Found rest min at: 113 with distance 0.094 overall min: 0.094 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 64 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 719 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 159 into DB 0.198 64 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 64 and real id(92) current kf: 159(783) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.916264 -0.175423 0.360121 -1.86243 0.167195 0.984436 0.0541454 -0.470172 -0.364015 0.0105988 0.931333 1.10505 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 92 currFrame: 159 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!786 INF|Input.cpp[getImages,132]: mNbReceivedImages!787 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.916264 -0.175423 0.360121 -1.86243 0.167195 0.984436 0.0541454 -0.470172 -0.364015 0.0105988 0.931333 1.10505 avg 0.000423517 eye: 0.000570369 edge: 159 to 92 INF|Tracker.cpp[trackFrames,78]: initPose: 0.916264 -0.175423 0.360121 -1.86243 0.167195 0.984436 0.0541454 -0.470172 -0.364015 0.0105988 0.931333 1.10505 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 159 to 92 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 436(1311875587.762870) and 783(1311875599.344720) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.916264 -0.175423 0.360121 -1.86243 0.167195 0.984436 0.0541454 -0.470172 -0.364015 0.0105988 0.931333 1.10505 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 22,0.999221 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:5406/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 159 to 92 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 436(1311875587.762870) and 783(1311875599.344720) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.899297 -0.153118 0.409658 -1.89102 0.171333 0.985182 -0.00788603 -0.685251 -0.40238 0.0772799 0.912205 1.89445 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999337 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1151/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 159 to 92 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 436(1311875587.762870) and 783(1311875599.344720) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.896143 -0.153221 0.416475 -1.90017 0.17115 0.985228 -0.00580502 -0.679042 -0.409433 0.076482 0.909129 1.8961 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999218 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:766/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.895717 -0.153225 0.417389 -1.90087 0.171632 0.985138 -0.00667379 -0.673919 -0.410163 0.0776151 0.908704 1.89613 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 91 end 94 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!786 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 12472 o[1]: 2102 o[2]: 221 o[3]: 13 histWeights: 1 1 1.25 1.5overlap: 2397.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7804 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 92 and 159 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 159 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 159 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 11443 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 784 keyframes 160 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 499 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.376662 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 787 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999991 -0.00183885 -0.00387624 0.0069254 0.00181295 0.999976 -0.00667473 0.00258152 0.00388842 0.00666764 0.99997 -0.00210826 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 159 to 4530392085389324185 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.376662) and 783(1311875599.344720) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999991 -0.00183885 -0.00387624 0.0069254 0.00181295 0.999976 -0.00667473 0.00258152 0.00388842 0.00666764 0.99997 -0.00210826 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999721 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1758/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 159 to 4530392085389324185 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.376662) and 783(1311875599.344720) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999976 -0.00330829 -0.00614579 0.00108936 0.00325957 0.999963 -0.00792118 -0.00137843 0.00617177 0.00790096 0.99995 -0.00458917 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!787 INF|Input.cpp[getImages,132]: mNbReceivedImages!788 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999913 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4252/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 159 to 4530392085389324185 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.376662) and 783(1311875599.344720) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999977 -0.00508241 -0.00447473 0.00490428 0.00505215 0.999964 -0.00674859 0.00110392 0.00450887 0.00672583 0.999967 -0.00907295 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999345 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2662/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.388549 resInfo good: 7804, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10144/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999976 -0.00530647 -0.00441935 0.00704247 0.00527708 0.999964 -0.00663614 0.00311084 0.00445441 0.00661266 0.999968 -0.00847393 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!784 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 473 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.412410 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999785 -0.0160057 -0.0131513 0.021189 0.0157411 0.999677 -0.0199764 0.00961215 0.0134668 0.0197651 0.999714 -0.0252644 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 159 to 4530392085389324185 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.412410) and 783(1311875599.344720) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999785 -0.0160057 -0.0131513 0.021189 0.0157411 0.999677 -0.0199764 0.00961215 0.0134668 0.0197651 0.999714 -0.0252644 Input.cpp[readImages,206]: Got image from sensor!787 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999998 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3056/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 159 to 4530392085389324185 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.412410) and 783(1311875599.344720) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999934 -0.00645974 -0.00944816 0.00288279 0.00635366 0.999917 -0.0112154 -0.0143814 0.00951983 0.0111546 0.999892 -0.0153236 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 788 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999092 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2953/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 159 to 4530392085389324185 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.412410) and 783(1311875599.344720) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999928 -0.00684144 -0.0098454 0.00859749 0.00671739 0.999898 -0.0125787 -0.00513259 0.00993045 0.0125116 0.999872 -0.014372 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2789/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.593073 resInfo good: 7786, 18 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10277/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999912 -0.00794872 -0.0106279 0.0133296 0.00782095 0.999897 -0.0120099 -0.00390201 0.0107223 0.0119257 0.999871 -0.0142031 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!785 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 449 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!788 INF|Input.cpp[getImages,132]: mNbReceivedImages!789 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.442008 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999647 -0.0133315 -0.0230004 0.0260649 0.012807 0.999658 -0.0228029 -0.0177866 0.0232965 0.0225003 0.999475 -0.0256551 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 159 to 4530392085389324185 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.442008) and 783(1311875599.344720) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999647 -0.0133315 -0.0230004 0.0260649 0.012807 0.999658 -0.0228029 -0.0177866 0.0232965 0.0225003 0.999475 -0.0256551 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999608 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2438/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 159 to 4530392085389324185 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.442008) and 783(1311875599.344720) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999847 -0.00415392 -0.0169758 0.0192896 0.00368161 0.999608 -0.0277598 -0.00544367 0.0170845 0.0276931 0.99947 -0.0184004 Input.cpp[readImages,206]: Got image from sensor!788 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 9): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5528/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 159 to 4530392085389324185 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.442008) and 783(1311875599.344720) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999859 -0.00442237 -0.0162291 0.0217137 0.00400868 0.999668 -0.0254357 -0.00577359 0.0163362 0.025367 0.999545 -0.021229 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 789 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999326 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1661/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.82007 resInfo good: 7794, 10 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10958/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999867 -0.00471443 -0.015633 0.0221817 0.00433932 0.999704 -0.0239422 -0.00757751 0.0157413 0.0238712 0.999591 -0.021599 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!786 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.476965 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999785 -0.00154016 -0.020676 0.0310583 0.000798032 0.999357 -0.0358535 -0.0111939 0.0207179 0.0358293 0.999143 -0.0289948 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 159 to 4530392085389324185 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.476965) and 783(1311875599.344720) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999785 -0.00154016 -0.020676 0.0310583 0.000798032 0.999357 -0.0358535 -0.0111939 0.0207179 0.0358293 0.999143 -0.0289948 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!789 INF|Input.cpp[getImages,132]: mNbReceivedImages!790 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999255 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2878/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 159 to 4530392085389324185 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.476965) and 783(1311875599.344720) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999805 -0.00297994 -0.0195253 0.0286265 0.00229527 0.999385 -0.0349947 -0.00625072 0.0196176 0.0349431 0.999197 -0.0277626 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999888 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4020/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 159 to 4530392085389324185 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.476965) and 783(1311875599.344720) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999841 -0.00251546 -0.0176751 0.0280222 0.00191925 0.999431 -0.0336682 -0.00481133 0.0177498 0.0336289 0.999277 -0.0307291 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999988 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2065/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.931306 resInfo good: 7724, 80 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10420/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999847 -0.00268847 -0.0172821 0.0294144 0.00210823 0.999436 -0.0335057 -0.00277541 0.0173625 0.0334641 0.999289 -0.0298077 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!787 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 489 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!789 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.512501 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 790 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999835 -0.00168145 -0.0181139 0.0330394 0.000986889 0.999266 -0.0382849 -0.000350501 0.018165 0.0382607 0.999103 -0.0338903 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 159 to 4530392085389324185 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.512501) and 783(1311875599.344720) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999835 -0.00168145 -0.0181139 0.0330394 0.000986889 0.999266 -0.0382849 -0.000350501 0.018165 0.0382607 0.999103 -0.0338903 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999813 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1118/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 159 to 4530392085389324185 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.512501) and 783(1311875599.344720) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999758 0.00154919 -0.0219421 0.0274498 -0.00238397 0.999272 -0.0380701 -0.00285016 0.0218672 0.0381132 0.999034 -0.0358007 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999774 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1977/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 159 to 4530392085389324185 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.512501) and 783(1311875599.344720) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999774 1.48373e-05 -0.0212485 0.0365301 -0.000764244 0.999378 -0.035261 -0.00540568 0.0212347 0.0352693 0.999152 -0.0372192 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!790 INF|Input.cpp[getImages,132]: mNbReceivedImages!791 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 4): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2967/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.987241 resInfo good: 7746, 58 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7483/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999792 0.000482583 -0.0203948 0.0368931 -0.00119767 0.999384 -0.0350645 -0.00354597 0.0203654 0.0350817 0.999177 -0.0360094 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!788 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.543621 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999622 0.00680944 -0.0266344 0.0518986 -0.00782336 0.999241 -0.038151 -0.00513063 0.0263544 0.038345 0.998917 -0.048349 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 159 to 4530392085389324185 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.543621) and 783(1311875599.344720) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999622 0.00680944 -0.0266344 0.0518986 -0.00782336 0.999241 -0.038151 -0.00513063 0.0263544 0.038345 0.998917 -0.048349 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999715 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1476/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 159 to 4530392085389324185 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.543621) and 783(1311875599.344720) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999612 0.00601955 -0.0271969 0.0422112 -0.00724238 0.998957 -0.0450895 -0.00892942 0.0268971 0.045269 0.998613 -0.037741 Input.cpp[readImages,206]: Got image from sensor!790 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999773 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3250/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 159 to 4530392085389324185 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.543621) and 783(1311875599.344720) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99967 0.00539673 -0.0251241 0.0423674 -0.0064672 0.999066 -0.0427229 -0.00994039 0.0248701 0.0428713 0.998771 -0.0415531 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 791 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2254/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.09759 resInfo good: 7630, 174 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8216/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999684 0.00535378 -0.0245724 0.042917 -0.00640334 0.999062 -0.0428349 -0.00703488 0.0243201 0.0429787 0.99878 -0.0406212 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875599.543621 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875599.543621 to keyframe with id: 4530392085389324185 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875599.543621 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1145 size: 6903 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId4530392085389324185 timestamp: 1311875599.543621 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -6.17194 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -5.5636 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -8.06809 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -8.26461 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 774 keyframeId: 157 score: -11.5662 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 779 keyframeId: 158 score: -10.4635 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 160 = 160 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbef2c60 fh1 0x1ec6dbe0fh->id: 116 160 789goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbef2c60 fh1 0x2a5d2ba0fh->id: 119 160 789goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbef2c60 fh1 0x3ddc0840fh->id: 151 160 789goodE: 375 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbef2c60 fh1 0x10913f80fh->id: 154 160 789goodE: 55 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbef2c60 fh1 0x37e642e0fh->id: 157 160 789goodE: 72 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbef2c60 fh1 0x2dd02e80fh->id: 158 160 789goodE: 24 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbef2c60 fh1 0x3105a2a0fh->id: 159 160 789goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew160 Input.cpp[readImages,192]: readImages loop! INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 120 out of 134 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 134 newEdgePixels: 134 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3034 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 496 lastEnergy: 846.939 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 112 INF|LocalMapper.cpp[optimize,276]: Start Energy: 846.939 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.95565e-12 2.06055e-12 -1.53258e-11 -4.95165e-12 0.000739745 0.00333278 0.0050128 -0.000816564 -0.00113819 0.00024252 -0.00353518 -0.00853685 0.00305817 -0.00191568 -0.000665007 0.000655244 0.00530939 -0.000573886 0.00129323 -0.000878179 -0.00205588 -0.000760934 -0.00127701 -0.00394545 -0.00390079 -0.00169028 -0.000765066 -0.0013184 0.00724221 -0.00763641 -0.0048617 -0.00249443 -0.00252797 -0.00124728 0.00161282 -0.00645761 -0.00819335 -0.00212924 -0.00169968 -0.0011522 0.00468081 -0.00524901 -0.00496625 -0.00194487 -0.00204401 -0.00136195 -0.00132028 -0.00861757 -0.00534547 -0.00278509 -0.000846766 -0.00218934 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3034 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 774.547 0 0 newEnergyL 0 lastEnergy: 846.939 0 0 lastEnergyL: 0mActiveResiduals: 3034 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.90023e-12 2.35569e-12 3.06973e-12 1.23694e-12 0.00138261 -0.00641422 -0.00698095 -0.000306158 -0.000621309 0.000582929 -0.00297455 -0.0103817 -0.000245883 -0.000520089 0.000453872 0.00123801 -0.00210984 -0.0011595 -0.00421745 -5.29651e-05 0.000130135 0.000923583 -0.000372064 0.00140341 -0.00247257 0.000453212 -0.000329525 0.000862531 -0.00266939 0.000645506 -0.00445365 0.000219983 0.000281944 0.000730198 0.000386004 0.00204675 -0.00442461 0.000461999 -0.000157064 0.00069078 -0.00111418 -0.00052413 -0.00406949 -8.37023e-05 5.18654e-05 0.000842128 -0.00345389 -0.00627116 -0.00748192 -0.00128573 0.000413639 0.000826023 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3034 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 740.782 0 0 newEnergyL 0 lastEnergy: 774.547 0 0 lastEnergyL: 0mActiveResiduals: 3034 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 2.24995e-12 -3.56293e-12 2.79845e-12 -2.86505e-12 0.00103963 0.00166094 0.000739653 -0.000524506 -0.000246182 -0.000239432 -0.00195019 0.000436966 -0.00059016 -0.000267141 4.97736e-05 5.78997e-05 0.000409897 0.000972661 0.00125454 -0.000258987 -0.000105539 -0.000735475 0.00066145 4.10022e-05 -0.00188075 -0.000488205 -7.87692e-05 -0.000796076 0.00135302 -0.00182611 0.000326563 -0.000847902 -0.000274224 -0.000824721 -6.33978e-05 -0.000337696 -0.00018381 -0.00053455 -8.12154e-05 -0.000936446 -0.000448649 -0.00104568 -0.000141759 -0.000718933 -2.65662e-05 -0.00102437 -0.00085842 0.000394938 -0.00026036 -0.000469634 0.000227745 -0.0016219 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3034 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 721.622 0 0 newEnergyL 0 lastEnergy: 740.782 0 0 lastEnergyL: 0mActiveResiduals: 3034 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -6.96668e-13 -4.79718e-13 -1.31455e-12 5.58436e-12 0.000606105 -0.00135915 0.000297326 0.000549189 -0.000328416 0.000440259 -0.00198399 -0.00310992 0.000679869 0.000119544 5.8221e-05 0.00067784 0.000434309 0.00123418 0.00174183 0.000778916 -0.000641784 0.00129339 0.00171459 0.00212723 0.00300435 0.00113295 -0.0010929 0.00135938 -0.00173256 0.000941287 -0.00125113 0.000868697 -0.000480353 0.00142429 0.00153397 0.00137562 4.15142e-05 0.000924812 -0.000967032 0.00124341 0.000821314 0.0010352 0.000639332 0.000740997 -0.000812285 0.0013102 -0.000714075 -0.00222379 -0.00242064 0.000184518 -0.000801153 0.00141486 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3034 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 709.306 0 0 newEnergyL 0 lastEnergy: 721.622 0 0 lastEnergyL: 0mActiveResiduals: 3034 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.80318e-12 1.98542e-12 8.01835e-12 -4.77024e-12 -0.000998475 0.000624342 -0.000601531 -0.000744418 -0.000308897 -9.49412e-05 0.000894525 0.00302896 -0.00138885 -0.000305801 -0.000554591 -0.000557366 -0.00107272 -0.00136895 -0.000402015 -0.000901751 0.000120682 -0.00131302 -0.00127174 -0.00146031 -0.00301083 -0.00113003 0.000290652 -0.00129643 0.00198957 -0.000819942 0.0015497 -0.000944136 -0.000275925 -0.00131421 -0.00201096 -0.00134046 8.80997e-05 -0.000984602 0.000254704 -0.00110447 -0.000548917 -0.00126346 0.000111543 -0.000942795 8.58212e-06 -0.00155581 0.00136343 0.00177327 0.00189794 -0.000488819 -9.11269e-05 -0.00176896 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3034 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 702.801 0 0 newEnergyL 0 lastEnergy: 709.306 0 0 lastEnergyL: 0mActiveResiduals: 3034 Input.cpp[readImages,206]: Got image from sensor!791 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 4.57748e-14 -2.2596e-12 -8.40856e-12 3.75782e-12 0.00250422 -0.00337609 -0.000800744 0.000301895 -9.4597e-05 0.000810018 -0.00122907 -0.000160031 0.00196081 0.000606563 0.000639499 0.00137702 0.000819628 0.000595626 0.00058001 0.000347179 -0.000123129 0.00136938 0.00156824 0.00166275 0.002423 0.000690398 -0.00041215 0.001471 -0.0012526 0.00089521 -0.000750343 0.000525075 0.000297093 0.00120716 0.00112617 0.00134342 0.000183254 0.000476768 8.29222e-05 0.000998973 -0.000356496 0.000850488 -2.86765e-05 0.000386535 0.000322446 0.00146016 -0.00177428 -0.000905705 -0.00302769 5.29447e-05 0.000267914 0.00122929 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3034 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 697.227 0 0 newEnergyL 0 lastEnergy: 702.801 0 0 lastEnergyL: 0mActiveResiduals: 3034 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 697.227 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3034 INF|LocalMapper.cpp[optimize,345]: End Energy: 697.227 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.48591 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.48591 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 157 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 157 with idx: 4 and allID: 774 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->157 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 157->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->157 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->157 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 157->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->157 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 157->154 INF|LocalMapper.cpp[marginalizeFrame,801]: 157 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 157 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 792 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 16644 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04bbef2c60 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 160 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 115 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 64 with distance 0.178Found rest min at: 114 with distance 0.132 overall min: 0.132 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 64 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 718 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 160 into DB 0.178 64 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 64 and real id(92) current kf: 160(789) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.90691 -0.196429 0.372732 -1.89211 0.169099 0.979989 0.10501 -0.475735 -0.385901 -0.0322064 0.921978 1.15277 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 92 currFrame: 160 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.90691 -0.196429 0.372732 -1.89211 0.169099 0.979989 0.10501 -0.475735 -0.385901 -0.0322064 0.921978 1.15277 avg 0.000537657 eye: 0.000563473 edge: 160 to 92 INF|Tracker.cpp[trackFrames,78]: initPose: 0.90691 -0.196429 0.372732 -1.89211 0.169099 0.979989 0.10501 -0.475735 -0.385901 -0.0322064 0.921978 1.15277 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 160 to 92 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 436(1311875587.762870) and 789(1311875599.543621) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.90691 -0.196429 0.372732 -1.89211 0.169099 0.979989 0.10501 -0.475735 -0.385901 -0.0322064 0.921978 1.15277 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 11,0.999965 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2942/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 160 to 92 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 436(1311875587.762870) and 789(1311875599.543621) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.916954 -0.17151 0.360249 -1.8182 0.148741 0.984751 0.0902333 -0.827686 -0.370232 -0.0291561 0.928482 2.05212 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!792 INF|Input.cpp[getImages,132]: mNbReceivedImages!793 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999223 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1147/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 160 to 92 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 436(1311875587.762870) and 789(1311875599.543621) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.919423 -0.164932 0.357013 -1.80047 0.140071 0.985612 0.0946028 -0.829202 -0.367479 -0.0369728 0.929297 2.03647 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999244 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:968/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.919776 -0.163402 0.356807 -1.79807 0.138212 0.985819 0.0951794 -0.827164 -0.3673 -0.0382289 0.929317 2.03839 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 91 end 94 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 11548 o[1]: 1263 o[2]: 94 o[3]: 4 histWeights: 1 1 1.25 1.5overlap: 1386.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 6903 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 92 and 160 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 160 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 160 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 9198 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 790 keyframes 161 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 519 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.577057 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999978 0.00339394 -0.00562977 0.0107996 -0.00345077 0.999943 -0.0101158 0.00156205 0.00559512 0.0101351 0.999933 -0.000845054 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 160 to 139658301261712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.577057) and 789(1311875599.543621) on lvl: 2 Input.cpp[readImages,206]: Got image from sensor!792 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999978 0.00339394 -0.00562977 0.0107996 -0.00345077 0.999943 -0.0101158 0.00156205 0.00559512 0.0101351 0.999933 -0.000845054 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.99959 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1835/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 160 to 139658301261712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.577057) and 789(1311875599.543621) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999963 0.00389244 -0.00767385 0.00460868 -0.00398847 0.999913 -0.0125389 -0.00343675 0.00762438 0.0125691 0.999892 -0.00554897 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 793 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999788 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2564/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 160 to 139658301261712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.577057) and 789(1311875599.543621) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999983 0.00275108 -0.0051554 0.00649502 -0.00281056 0.999929 -0.0115656 0.000493477 0.00512322 0.0115799 0.99992 -0.00941887 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999901 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1639/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.503935 resInfo good: 6903, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7704/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999985 0.00291964 -0.00472511 0.00695653 -0.00297447 0.999928 -0.0116404 0.00268299 0.00469078 0.0116542 0.999921 -0.00762475 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!790 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.611766 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!793 INF|Input.cpp[getImages,132]: mNbReceivedImages!794 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999938 0.00578395 -0.00948376 0.0139568 -0.00600329 0.999711 -0.0232649 0.00543385 0.00934645 0.0233204 0.999684 -0.015185 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 160 to 139658301261712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.611766) and 789(1311875599.543621) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999938 0.00578395 -0.00948376 0.0139568 -0.00600329 0.999711 -0.0232649 0.00543385 0.00934645 0.0233204 0.999684 -0.015185 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999891 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3983/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 160 to 139658301261712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.611766) and 789(1311875599.543621) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999942 0.00526468 -0.00942521 0.00483609 -0.0054165 0.999855 -0.0161558 -0.00501831 0.00933879 0.0162059 0.999825 -0.014732 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999234 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3360/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 160 to 139658301261712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.611766) and 789(1311875599.543621) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999942 0.00514329 -0.00944341 0.00943866 -0.00530641 0.999836 -0.0173302 0.00290498 0.00935272 0.0173793 0.999805 -0.0145612 Input.cpp[readImages,206]: Got image from sensor!793 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999972 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3091/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.635 resInfo good: 6903, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11729/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999942 0.00434798 -0.00985108 0.0124553 -0.00451852 0.999839 -0.0173553 0.00491702 0.00977403 0.0173988 0.999801 -0.0142072 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!791 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 794 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.644648 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999772 0.00711609 -0.0201261 0.0235634 -0.0076935 0.999557 -0.0287592 0.00947264 0.0199126 0.0289075 0.999384 -0.0272488 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 160 to 139658301261712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.644648) and 789(1311875599.543621) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999772 0.00711609 -0.0201261 0.0235634 -0.0076935 0.999557 -0.0287592 0.00947264 0.0199126 0.0289075 0.999384 -0.0272488 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!794 INF|Input.cpp[getImages,132]: mNbReceivedImages!795 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999439 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3088/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 160 to 139658301261712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.644648) and 789(1311875599.543621) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999741 0.0103138 -0.0203013 0.0210758 -0.0108463 0.999595 -0.0262966 -1.49417e-05 0.0200218 0.02651 0.999448 -0.0199402 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999314 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3340/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 160 to 139658301261712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.644648) and 789(1311875599.543621) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999784 0.0113898 -0.0173862 0.0176335 -0.0117994 0.999651 -0.0236422 -0.00150427 0.0171109 0.0238422 0.999569 -0.0198502 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.99926 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2331/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.800487 resInfo good: 6900, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10271/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999779 0.0111332 -0.0178188 0.0208358 -0.0115476 0.999661 -0.0233257 -0.000109413 0.0175531 0.0235263 0.999569 -0.0187073 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!792 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1329 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.675061 Input.cpp[readImages,206]: Got image from sensor!794 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999507 0.0178687 -0.0258256 0.0292163 -0.0186223 0.999399 -0.0292388 -0.00516686 0.0252877 0.0297053 0.999239 -0.0231724 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 160 to 139658301261712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.675061) and 789(1311875599.543621) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999507 0.0178687 -0.0258256 0.0292163 -0.0186223 0.999399 -0.0292388 -0.00516686 0.0252877 0.0297053 0.999239 -0.0231724 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 795 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999446 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2052/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 160 to 139658301261712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.675061) and 789(1311875599.543621) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999557 0.0144152 -0.0260459 0.0277016 -0.015345 0.999239 -0.0358595 -0.00614039 0.0255091 0.0362433 0.999017 -0.0235717 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999579 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2478/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 160 to 139658301261712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.675061) and 789(1311875599.543621) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999636 0.0146392 -0.0226796 0.0240871 -0.0153986 0.999314 -0.0336775 -0.000742767 0.022171 0.0340144 0.999175 -0.024591 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999444 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1128/1 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!795 INF|Input.cpp[getImages,132]: mNbReceivedImages!796 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.941137 resInfo good: 6867, 36 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7297/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999623 0.0144394 -0.0233692 0.0271763 -0.015219 0.999322 -0.0335345 -7.79333e-05 0.0228691 0.0338775 0.999164 -0.0236576 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!793 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.712752 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999424 0.0176877 -0.0289523 0.033544 -0.0189443 0.998864 -0.0437191 -1.77259e-05 0.0281461 0.0442424 0.998624 -0.0285728 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 160 to 139658301261712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.712752) and 789(1311875599.543621) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999424 0.0176877 -0.0289523 0.033544 -0.0189443 0.998864 -0.0437191 -1.77259e-05 0.0281461 0.0442424 0.998624 -0.0285728 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999802 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3063/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 160 to 139658301261712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.712752) and 789(1311875599.543621) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999276 0.0149742 -0.0349612 0.0310119 -0.016414 0.999013 -0.0412671 -0.00287192 0.0343088 0.0418111 0.998536 -0.030424 Input.cpp[readImages,206]: Got image from sensor!795 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999541 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2496/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 160 to 139658301261712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.712752) and 789(1311875599.543621) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999274 0.0162204 -0.0344773 0.032507 -0.0176383 0.998994 -0.0412263 0.00194038 0.0337739 0.0418045 0.998555 -0.0306441 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2511/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.05097 resInfo good: 6807, 96 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9436/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999301 0.0158354 -0.033876 0.034936 -0.0172408 0.998985 -0.041604 0.00521945 0.0331828 0.0421589 0.99856 -0.0296924 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875599.712752 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875599.712752 to keyframe with id: 139658301261712 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875599.712752 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 796 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1105 size: 8251 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId139658301261712 timestamp: 1311875599.712752 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -6.19253 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -5.58447 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -8.14939 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -8.21235 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 779 keyframeId: 158 score: -12.2342 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 783 keyframeId: 159 score: -10.9354 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 161 = 161 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3ec60b00 fh1 0x1ec6dbe0fh->id: 116 161 794goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3ec60b00 fh1 0x2a5d2ba0fh->id: 119 161 794goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3ec60b00 fh1 0x3ddc0840fh->id: 151 161 794goodE: 375 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3ec60b00 fh1 0x10913f80fh->id: 154 161 794goodE: 60 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3ec60b00 fh1 0x2dd02e80fh->id: 158 161 794goodE: 28 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3ec60b00 fh1 0x3105a2a0fh->id: 159 161 794goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x3ec60b00 fh1 0x7f04bbef2c60fh->id: 160 161 794goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew161 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 188 out of 205 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 205 newEdgePixels: 205 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!796 INF|Input.cpp[getImages,132]: mNbReceivedImages!797 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3081 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 533 lastEnergy: 849.83 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 151 INF|LocalMapper.cpp[optimize,276]: Start Energy: 849.83 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 3.95493e-12 5.03078e-12 -2.35187e-11 -2.3759e-11 -0.00366321 0.00354661 -0.000422059 0.000588445 0.000892558 -0.000784948 0.00358485 -0.000219073 -0.00375251 -0.000443945 -0.000471486 -0.00204093 0.00080811 -0.00215044 0.00413024 0.000394077 0.000542445 -0.000837614 0.00105498 -0.0028819 0.00370641 0.000264821 0.000786556 -0.000753165 -0.00122208 -0.00949803 0.00128769 -0.000798553 0.000655647 -0.000456193 -0.00207886 -0.00596741 0.000934193 -0.000144501 0.000742423 -0.00091396 0.00107219 -0.00367092 0.00455367 0.000379918 0.000541671 -0.000520522 0.00104902 -0.00307595 0.00281791 0.000506829 0.000311912 6.14445e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3081 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 773.856 0 0 newEnergyL 0 lastEnergy: 849.83 0 0 lastEnergyL: 0mActiveResiduals: 3081 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -2.04243e-12 -1.77217e-12 1.07588e-11 9.35171e-12 0.000190487 -0.00397794 -0.000189816 -0.000299633 4.46827e-05 0.00014373 0.00388499 -0.00884611 -0.000478115 -0.000517433 -0.000249495 0.000987823 -0.00101216 0.00216745 6.74188e-05 0.000400198 0.000298931 0.000208168 0.000951239 0.00164455 -0.00136405 0.000366286 -0.00025377 0.000362023 -0.00495725 0.00360072 -9.71102e-05 0.000714058 0.00112059 -1.47798e-05 -0.00206779 0.00210601 0.000591484 0.000531215 0.000733425 9.25853e-05 -0.00465842 -0.00120209 -0.000238835 -8.51267e-05 0.000881161 0.000985531 -0.00358226 0.000313764 0.00156541 0.000195246 0.000734142 0.00100954 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3081 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 741.489 0 0 newEnergyL 0 lastEnergy: 773.856 0 0 lastEnergyL: 0mActiveResiduals: 3081 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -2.89419e-12 1.5222e-13 1.21748e-12 -2.52284e-12 0.00236661 0.00205354 0.00216576 -0.00095861 0.000512574 -0.00030611 -0.00404844 0.00141808 -0.00135159 -0.000817264 0.000656063 -0.00100472 0.0035171 0.00061941 0.000749181 -0.000755486 -0.000236292 -0.000865181 0.000216506 -0.00204217 0.000748766 -0.00124064 0.000325179 -0.00066726 -0.00111324 -0.00268892 -0.00143536 -0.00143317 -5.12054e-06 -0.000981047 -0.00209671 -0.000251083 -0.00167289 -0.0010275 8.21659e-05 -0.00139571 0.00158315 0.00119048 0.00085583 -0.000742556 -0.000265307 -0.00129394 0.000901792 0.000597917 -0.000755286 -0.000852541 -0.00028123 -0.0010527 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3081 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 724.963 0 0 newEnergyL 0 lastEnergy: 741.489 0 0 lastEnergyL: 0mActiveResiduals: 3081 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 2.15961e-12 6.70005e-13 1.31227e-12 -5.46069e-13 -0.00133361 -0.00365904 -0.00266189 -0.000552725 5.24413e-05 -0.000165285 0.003618 0.0030145 0.00295514 0.000231981 -4.28918e-05 0.000404424 0.00139688 4.51878e-05 -0.00160593 -3.17399e-05 0.000489342 0.000453809 0.00325821 9.74749e-05 -0.00152899 -6.96287e-06 0.000218496 0.00059168 -0.00168883 0.00172205 4.03844e-05 0.000347476 0.00164618 0.000245783 0.000445792 0.00050897 -4.44218e-05 0.000136111 0.00132184 0.000841073 -0.00418178 -0.000979862 -0.000704562 -4.99292e-05 0.00190063 0.000781001 -0.00164347 -0.000264287 0.00101529 3.52128e-05 0.00161682 0.000719314 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3081 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 711.741 0 0 newEnergyL 0 lastEnergy: 724.963 0 0 lastEnergyL: 0mActiveResiduals: 3081 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.74809e-12 -1.55922e-12 -5.82723e-12 1.9077e-12 -0.00107985 0.00424982 0.0004039 0.000664018 0.00129595 -0.0011063 0.00105129 -0.00242151 -0.000284523 -0.000112698 0.000650917 -0.00128942 0.000319789 7.04946e-05 0.000506591 0.000340082 0.000957041 -0.00070632 -0.000576374 -0.00010972 0.00105699 0.000392355 0.00111269 -0.000602124 0.000890509 -0.000972803 -0.000550023 0.000331369 0.000301384 -0.000514185 -0.00219992 -2.98918e-05 -0.000768734 0.000383082 0.000781098 -0.000949896 0.00314097 0.000356395 -3.25722e-05 0.00040673 5.71025e-05 -0.000555164 -0.000786913 -0.000576221 -0.00107271 0.000340173 0.000687458 -0.00041512 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3081 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 707.138 0 0 newEnergyL 0 lastEnergy: 711.741 0 0 lastEnergyL: 0mActiveResiduals: 3081 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 6.1418e-12 -2.04504e-12 1.20173e-11 1.78319e-12 -0.00266503 -0.00328239 0.000949151 -0.00092503 -0.000513525 0.000426248 0.00137431 0.0027766 -0.000885889 -0.000425586 -0.000888268 0.000397414 0.00116243 -0.000267763 -0.000658863 -0.000598253 -0.000377468 -2.40106e-05 0.00376234 0.000470825 -0.00111151 -0.000549442 -0.000728006 -7.62333e-05 -0.00153945 0.00156365 8.15365e-05 -0.000346729 0.000845852 -3.63664e-05 0.00127845 -0.00115086 0.00017727 -0.000692423 0.000436878 0.000414291 -0.00417036 -0.000487546 0.000768212 -0.000559725 0.00127911 6.96461e-05 -8.98207e-05 -0.000144349 0.000682286 -0.000614274 0.000634248 7.63358e-05 Input.cpp[readImages,206]: Got image from sensor!796 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3081 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 707.448 0 0 newEnergyL 0 lastEnergy: 707.138 0 0 lastEnergyL: 0mActiveResiduals: 3081 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 707.448 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3081 INF|LocalMapper.cpp[optimize,345]: End Energy: 707.448 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.486665 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.486665 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 158 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 158 with idx: 4 and allID: 779 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->158 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 158->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->158 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->158 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 158->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->158 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 158->154 INF|LocalMapper.cpp[marginalizeFrame,801]: 158 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 158 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 16540 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x3ec60b00 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 161 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 797 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 116 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 64 with distance 0.186Found rest min at: 115 with distance 0.114 overall min: 0.114 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 64 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 739 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 161 into DB 0.186 64 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 64 and real id(92) current kf: 161(794) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.888983 -0.227882 0.397214 -1.91098 0.180765 0.971579 0.152834 -0.484203 -0.420753 -0.064064 0.90491 1.1975 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 92 currFrame: 161 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.000470703 eye: 0.000415142 edge: 161 to 92 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 161 to 92 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 436(1311875587.762870) and 794(1311875599.712752) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!797 INF|Input.cpp[getImages,132]: mNbReceivedImages!798 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 40,0.999815 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:11196/11 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 161 to 92 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 436(1311875587.762870) and 794(1311875599.712752) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.948391 0.0325601 -0.315429 0.756724 0.00498385 0.993061 0.117493 -0.595941 0.317066 -0.113002 0.941648 0.557156 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999077 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1084/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 161 to 92 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 436(1311875587.762870) and 794(1311875599.712752) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.949895 0.0339916 -0.310714 0.749837 0.00341468 0.992881 0.119059 -0.598619 0.312549 -0.114154 0.943017 0.559174 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999097 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:904/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.950264 0.0342766 -0.309554 0.748366 0.00327314 0.992771 0.119977 -0.599525 0.311428 -0.115023 0.943283 0.557856 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 91 end 94 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!797 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 11939 o[1]: 1904 o[2]: 390 o[3]: 39 histWeights: 1 1 1.25 1.5overlap: 2450 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 8251 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 92 and 161 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 161 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 161 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 17638 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 795 keyframes 162 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 524 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.744938 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 798 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999949 0.00252609 -0.00974413 0.00598699 -0.00260351 0.999965 -0.00794099 0.00431397 0.00972373 0.00796596 0.999921 -0.00592047 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 161 to 139658301242240 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.744938) and 794(1311875599.712752) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999949 0.00252609 -0.00974413 0.00598699 -0.00260351 0.999965 -0.00794099 0.00431397 0.00972373 0.00796596 0.999921 -0.00592047 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!798 INF|Input.cpp[getImages,132]: mNbReceivedImages!799 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 9): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:7021/7 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 161 to 139658301242240 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.744938) and 794(1311875599.712752) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999927 0.00466995 -0.0111736 0.00357497 -0.00469273 0.999987 -0.00201406 -0.00382023 0.0111641 0.00206635 0.999936 -0.00350764 Input.cpp[readImages,206]: Got image from sensor!798 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 7): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5841/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 161 to 139658301242240 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.744938) and 794(1311875599.712752) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999936 0.00459799 -0.0102937 0.00640519 -0.00461396 0.999988 -0.0015278 -2.18763e-05 0.0102865 0.0015752 0.999946 -0.00489451 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 799 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999998 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3602/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.436636 resInfo good: 8244, 7 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 18462/18 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999942 0.00412521 -0.00993281 0.00745024 -0.00413635 0.999991 -0.00110084 0.00130239 0.00992817 0.00114186 0.99995 -0.00521556 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!795 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.776948 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!799 INF|Input.cpp[getImages,132]: mNbReceivedImages!800 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999769 0.00823881 -0.0198691 0.0149572 -0.00828335 0.999963 -0.00216053 0.0025797 0.0198506 0.00232461 0.9998 -0.0103554 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 161 to 139658301242240 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.776948) and 794(1311875599.712752) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999769 0.00823881 -0.0198691 0.0149572 -0.00828335 0.999963 -0.00216053 0.0025797 0.0198506 0.00232461 0.9998 -0.0103554 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999721 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3112/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 161 to 139658301242240 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.776948) and 794(1311875599.712752) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999787 0.0141048 -0.0150399 0.00174413 -0.0142405 0.999858 -0.00895621 -0.00248658 0.0149114 0.00916848 0.999847 -0.00204313 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.99981 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3186/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 161 to 139658301242240 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.776948) and 794(1311875599.712752) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99978 0.012905 -0.0165468 0.0087985 -0.013016 0.999893 -0.00661419 -0.00289414 0.0164597 0.00682811 0.999841 -0.0052522 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999517 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1318/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.6079 resInfo good: 8218, 33 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9346/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999788 0.01169 -0.0169267 0.0124673 -0.0117802 0.999917 -0.00524126 -0.00298812 0.0168641 0.00543955 0.999843 -0.00628211 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!796 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 470 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.812105 Input.cpp[readImages,206]: Got image from sensor!799 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999162 0.0267256 -0.0310045 0.0224251 -0.0271503 0.999542 -0.0133603 -0.0116695 0.0306332 0.0141908 0.99943 -0.00836569 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 161 to 139658301242240 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.812105) and 794(1311875599.712752) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999162 0.0267256 -0.0310045 0.0224251 -0.0271503 0.999542 -0.0133603 -0.0116695 0.0306332 0.0141908 0.99943 -0.00836569 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 800 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:5751/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 161 to 139658301242240 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.812105) and 794(1311875599.712752) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999483 0.0213727 -0.0240122 0.0135975 -0.0218423 0.999572 -0.0194699 -0.00567065 0.0235858 0.0199843 0.999522 -0.0112724 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!800 INF|Input.cpp[getImages,132]: mNbReceivedImages!801 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999703 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2956/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 161 to 139658301242240 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.812105) and 794(1311875599.712752) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999452 0.0210897 -0.0255068 0.0218526 -0.0215511 0.999607 -0.0179498 -0.00313541 0.0251182 0.0184897 0.999513 -0.0116515 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2620/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.801774 resInfo good: 8251, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 13256/13 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999485 0.0209159 -0.0243418 0.0206081 -0.0213397 0.999623 -0.0172845 -0.00230891 0.0239711 0.017795 0.999554 -0.0115476 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!797 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.842640 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99904 0.0300473 -0.0318658 0.0287934 -0.030982 0.999092 -0.0292533 -0.0016417 0.0309579 0.0302125 0.999064 -0.0167451 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 161 to 139658301242240 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.842640) and 794(1311875599.712752) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99904 0.0300473 -0.0318658 0.0287934 -0.030982 0.999092 -0.0292533 -0.0016417 0.0309579 0.0302125 0.999064 -0.0167451 Input.cpp[readImages,206]: Got image from sensor!800 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 801 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:5662/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 161 to 139658301242240 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.842640) and 794(1311875599.712752) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999065 0.0314196 -0.029695 0.0226928 -0.0321739 0.999163 -0.0252748 -0.00115674 0.028876 0.0262066 0.999239 -0.0137651 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!801 INF|Input.cpp[getImages,132]: mNbReceivedImages!802 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 10,0.999595 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5766/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 161 to 139658301242240 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.842640) and 794(1311875599.712752) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999046 0.031187 -0.0305529 0.0291154 -0.0319074 0.999217 -0.0233817 -0.000877694 0.0297998 0.0243343 0.99926 -0.0164095 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999862 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2229/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.914967 resInfo good: 8230, 21 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 15402/15 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999065 0.030631 -0.0304977 0.0309117 -0.0313546 0.999231 -0.0235377 0.00166978 0.0297533 0.024472 0.999258 -0.0161614 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!798 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.876864 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.997827 0.049926 -0.0429863 0.0517158 -0.0514807 0.99803 -0.0358539 0.00941011 0.0411116 0.0379889 0.998432 -0.0251272 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 161 to 139658301242240 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.876864) and 794(1311875599.712752) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.997827 0.049926 -0.0429863 0.0517158 -0.0514807 0.99803 -0.0358539 0.00941011 0.0411116 0.0379889 0.998432 -0.0251272 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999189 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2989/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 161 to 139658301242240 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.876864) and 794(1311875599.712752) on lvl: 1 Input.cpp[readImages,206]: Got image from sensor!801 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99847 0.041855 -0.036125 0.0299752 -0.0429716 0.998604 -0.0307054 -0.00403641 0.0347894 0.0322108 0.998875 -0.0146049 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999387 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3667/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 161 to 139658301242240 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.876864) and 794(1311875599.712752) on lvl: 0 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 802 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998529 0.0413474 -0.0350641 0.0318936 -0.0423563 0.998695 -0.0285361 -0.00491405 0.0338384 0.0299794 0.998978 -0.0174378 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999054 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1062/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.00882 resInfo good: 8203, 48 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9408/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998542 0.0409987 -0.0351165 0.0337253 -0.0420029 0.998715 -0.0283517 -0.00297119 0.0339089 0.0297854 0.998981 -0.0179553 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875599.876864 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875599.876864 to keyframe with id: 139658301242240 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875599.876864 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 982 size: 7418 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId139658301242240 timestamp: 1311875599.876864 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -6.21428 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -5.5938 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -8.15569 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -8.03065 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 783 keyframeId: 159 score: -9.91533 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 789 keyframeId: 160 score: -9.06905 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 162 = 162 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bb6f7ba0 fh1 0x1ec6dbe0fh->id: 116 162 799goodE: 10 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bb6f7ba0 fh1 0x2a5d2ba0fh->id: 119 162 799goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bb6f7ba0 fh1 0x3ddc0840fh->id: 151 162 799goodE: 377 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bb6f7ba0 fh1 0x10913f80fh->id: 154 162 799goodE: 62 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bb6f7ba0 fh1 0x3105a2a0fh->id: 159 162 799goodE: 30 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bb6f7ba0 fh1 0x7f04bbef2c60fh->id: 160 162 799goodE: 21 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bb6f7ba0 fh1 0x3ec60b00fh->id: 161 162 799goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew162 Input.cpp[readImages,192]: readImages loop! INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 155 out of 164 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 164 newEdgePixels: 164 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2932 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 483 lastEnergy: 784.946 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 115 INF|LocalMapper.cpp[optimize,276]: Start Energy: 784.946 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -6.97894e-13 2.19687e-11 -2.00424e-11 -1.37562e-11 0.00197622 0.00161951 0.00281279 0.00158049 -0.00093007 0.000858105 -0.000231125 0.00145453 -0.00382053 0.00162875 -0.000662984 0.000918648 -0.0021543 0.000481029 1.49255e-05 0.000975709 -0.0011716 0.000286354 -0.00712185 0.00166666 -0.000130487 0.00140007 -0.000306951 0.000476017 -0.00311782 -0.000993463 -0.00328616 0.000524469 -0.00159071 -0.000297348 0.000267396 0.00226345 -0.00405903 0.00131142 -0.00198106 0.000183061 0.00175668 -0.000979196 -0.00387955 0.000548989 -0.00237907 0.00031518 -0.00278205 -0.00572376 -0.00721771 -0.000710445 -0.00151967 0.000692312 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2932 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 689.548 0 0 newEnergyL 0 lastEnergy: 784.946 0 0 lastEnergyL: 0mActiveResiduals: 2932 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -4.12934e-12 1.16949e-12 8.94244e-12 7.93606e-12 0.00112262 -6.24016e-06 -0.00231899 0.000238148 -0.000350938 0.000246171 -0.00325767 -0.000740012 -0.00187974 -1.74065e-05 0.000151791 0.000115106 -0.00232387 0.00144532 -0.00388042 2.85253e-05 5.41692e-05 0.000547363 -3.19593e-05 0.00258044 -0.00363677 0.000211851 -0.000340772 0.000452824 -0.00305429 0.00110246 -0.0039608 -3.88577e-05 0.000400827 0.0005175 -0.00594333 0.000983551 -0.00480897 2.06608e-06 0.000800144 0.000323526 -0.00451808 0.00262314 -0.00378491 -3.23592e-05 0.000596033 0.000410941 -0.00557396 0.000690805 -0.00149461 -0.000440812 0.000983825 0.00018652 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2932 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 673.978 0 0 newEnergyL 0 lastEnergy: 689.548 0 0 lastEnergyL: 0mActiveResiduals: 2932 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.99357e-12 1.16344e-12 -7.13996e-12 -1.04917e-11 0.00118123 0.00182269 0.00346899 -0.000427212 0.000229137 0.000112781 -0.0014079 0.00153826 -0.00259216 -0.000559512 -8.93394e-05 -0.00113411 -0.000651231 -0.00161893 -0.00192789 -0.000906498 -6.26471e-06 -0.000686558 -0.00231163 -0.00158899 -0.00248444 -0.00103202 0.000132661 -0.000563396 0.00058455 -0.000251897 -0.000940641 -0.000877035 -0.000515748 -0.000848249 0.00306594 0.00212908 0.00283531 -0.000526555 -0.000779436 -0.00108628 0.00110648 -0.00104085 0.000781705 -0.000915972 -0.000506099 -0.000754119 -0.0015246 -0.000968964 0.00059291 -0.0010239 7.5363e-05 -0.000887253 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2932 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 656.644 0 0 newEnergyL 0 lastEnergy: 673.978 0 0 lastEnergyL: 0mActiveResiduals: 2932 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.8209e-12 1.42693e-12 2.7399e-12 -4.24613e-12 0.000904059 -0.00223038 -0.0034614 -0.000414635 3.79493e-05 -0.000173156 0.00140121 0.00265076 0.00365688 -1.85971e-05 0.00039137 4.30354e-05 0.00288389 0.000637799 -0.000779928 -2.9773e-05 0.000450043 0.00011412 0.00200144 0.000833605 0.000764093 -5.04574e-05 0.000815121 -2.64169e-05 -0.000812687 0.000386777 0.000252311 -5.06002e-06 0.0015518 0.000234117 -0.00242532 -0.00227946 -0.00298197 -0.000381421 0.00171969 0.0003944 -0.00247827 0.00156204 -0.000901895 0.00017281 0.00186125 0.000135451 -0.000569646 -0.000201279 6.26734e-05 -0.000174292 0.0015446 9.84654e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2932 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 654.848 0 0 newEnergyL 0 lastEnergy: 656.644 0 0 lastEnergyL: 0mActiveResiduals: 2932 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 6.4548e-14 -4.0478e-12 5.35207e-12 1.73638e-12 0.00204807 0.00400279 -0.00254802 0.000708091 -0.00148766 -0.000412685 -0.00297624 -0.00198519 0.000697979 0.000121017 -0.000525763 -0.000202216 -0.00276401 -0.00158973 0.000607606 0.000201704 -0.000826827 -0.000642292 -0.00227791 -0.00149594 -0.000834262 0.000213916 -0.00110275 -0.00044669 0.000101973 1.23658e-05 -0.000166611 0.000355874 -0.00174079 -0.000981578 0.00187735 0.000778194 0.00225894 0.000456043 -0.00202399 -0.000903931 0.0025506 -0.00190694 0.00069951 0.000123846 -0.00228768 -0.0003658 0.000157748 0.00103451 -0.000551213 0.000604404 -0.00192249 -0.000676608 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2932 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 642.62 0 0 newEnergyL 0 lastEnergy: 654.848 0 0 lastEnergyL: 0mActiveResiduals: 2932 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -2.50895e-13 -3.70319e-13 4.08599e-12 4.88818e-12 -0.00162172 -0.00265297 -2.03164e-05 -0.000964103 0.000605732 -4.54835e-05 0.000908029 0.00221404 0.000900666 -0.000490037 0.000250132 -0.000250556 0.00464784 0.00140831 0.000416015 -0.000311258 0.000153158 1.75944e-05 0.00354776 0.00172245 0.00127532 -0.000328091 0.000468283 -0.00022819 0.000182595 -0.000577487 -0.000538802 -0.000548351 0.00122571 0.000256687 -0.00230204 -0.00118676 -0.00252533 -0.000514666 0.00162315 0.000187008 -0.00320027 0.00189172 -0.00109604 -0.000168862 0.00201686 -0.000322657 -0.00143245 -0.00175336 0.000110749 -0.000940021 0.00175732 -5.86233e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2932 Input.cpp[readImages,206]: Got image from sensor!802 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 642.55 0 0 newEnergyL 0 lastEnergy: 642.62 0 0 lastEnergyL: 0mActiveResiduals: 2932 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 642.55 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2932 INF|LocalMapper.cpp[optimize,345]: End Energy: 642.55 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.475156 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.475156 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 159 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 159 with idx: 4 and allID: 783 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->159 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 159->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->159 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->159 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 159->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->159 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 159->154 INF|LocalMapper.cpp[marginalizeFrame,801]: 159 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 159 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 15775 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04bb6f7ba0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 162 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 117 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 64 with distance 0.206Found rest min at: 116 with distance 0.15 overall min: 0.15 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 64 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 775 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 162 into DB 0.206 64 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 64 and real id(92) current kf: 162(799) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.864187 -0.276761 0.420218 -1.93931 0.214176 0.958036 0.190516 -0.490612 -0.455312 -0.0746411 0.887198 1.2277 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 92 currFrame: 162 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 803 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.000538361 eye: 0.000385818 edge: 162 to 92 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 162 to 92 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 436(1311875587.762870) and 799(1311875599.876864) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!803 INF|Input.cpp[getImages,132]: mNbReceivedImages!804 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 38,0.999491 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:9167/9 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 162 to 92 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 436(1311875587.762870) and 799(1311875599.876864) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.977948 0.00714729 -0.208728 0.556804 0.0141144 0.994868 0.100196 -0.470155 0.208373 -0.100933 0.972828 0.43854 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999824 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:735/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 162 to 92 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 436(1311875587.762870) and 799(1311875599.876864) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.978243 0.00636914 -0.207365 0.555471 0.014912 0.994785 0.100901 -0.471676 0.206926 -0.101798 0.973046 0.431765 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 8,0.999022 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2472/2 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.978571 0.00880899 -0.205722 0.555745 0.0127006 0.9946 0.103002 -0.476072 0.205519 -0.103408 0.973175 0.407105 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 91 end 94 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!803 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 9862 o[1]: 1897 o[2]: 437 o[3]: 63 histWeights: 1 1 1.25 1.5overlap: 2537.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7418 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 92 and 162 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 162 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 162 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 16812 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 800 keyframes 163 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 522 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.912696 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 804 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999711 0.0208351 -0.0120081 0.0127833 -0.0210146 0.999666 -0.0150288 0.000723499 0.011691 0.0152768 0.999815 -0.00364978 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 162 to 1091422144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.912696) and 799(1311875599.876864) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999711 0.0208351 -0.0120081 0.0127833 -0.0210146 0.999666 -0.0150288 0.000723499 0.011691 0.0152768 0.999815 -0.00364978 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999318 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3848/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 162 to 1091422144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.912696) and 799(1311875599.876864) on lvl: 1 Input.cpp[readImages,192]: readImages loop! INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999927 0.00925009 -0.00774228 -0.000740947 -0.00934749 0.999876 -0.0126388 -0.00792582 0.00762441 0.0127103 0.99989 -0.00599087 INF|Input.cpp[getImages,128]: getimages!804 INF|Input.cpp[getImages,132]: mNbReceivedImages!805 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999169 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4165/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 162 to 1091422144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.912696) and 799(1311875599.876864) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999939 0.00879934 -0.00668593 0.00178807 -0.00887556 0.999895 -0.0114562 -0.00555539 0.00658442 0.0115148 0.999912 -0.00590076 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999865 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2683/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.555445 resInfo good: 7418, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 12390/12 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999937 0.00800958 -0.00790237 0.00654171 -0.00810127 0.999899 -0.0116388 -0.00258631 0.00780836 0.0117021 0.999901 -0.00437416 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!800 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.942704 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999747 0.0159254 -0.0158967 0.0130969 -0.0162921 0.999598 -0.0232113 -0.00517445 0.0155206 0.0234644 0.999604 -0.00872708 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 162 to 139658309623712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.942704) and 799(1311875599.876864) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999747 0.0159254 -0.0158967 0.0130969 -0.0162921 0.999598 -0.0232113 -0.00517445 0.0155206 0.0234644 0.999604 -0.00872708 Input.cpp[readImages,206]: Got image from sensor!804 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.99947 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2789/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 162 to 139658309623712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.942704) and 799(1311875599.876864) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999765 0.0136912 -0.0167796 0.00888803 -0.0140749 0.999637 -0.0229671 -0.00136093 0.016459 0.0231979 0.999595 -0.0118101 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 805 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5093/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 162 to 139658309623712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.942704) and 799(1311875599.876864) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999768 0.0132759 -0.0169478 0.0139698 -0.0136643 0.999642 -0.0230085 0.00364704 0.0166362 0.0232347 0.999592 -0.011435 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!805 INF|Input.cpp[getImages,132]: mNbReceivedImages!806 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2842/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.734117 resInfo good: 7418, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 12579/12 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999792 0.0131056 -0.0156173 0.0132583 -0.0134539 0.999658 -0.0224072 0.00410909 0.0153183 0.0226127 0.999627 -0.010151 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!801 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875599.977107 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999562 0.0181166 -0.0233856 0.0200536 -0.0188865 0.999273 -0.0331313 0.0108311 0.0227684 0.0335584 0.999177 -0.0158036 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 162 to 1091422144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.977107) and 799(1311875599.876864) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999562 0.0181166 -0.0233856 0.0200536 -0.0188865 0.999273 -0.0331313 0.0108311 0.0227684 0.0335584 0.999177 -0.0158036 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999865 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2928/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 162 to 1091422144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.977107) and 799(1311875599.876864) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999547 0.0180085 -0.0241281 0.0166012 -0.0187211 0.999385 -0.02964 0.00230039 0.0235795 0.0300783 0.999269 -0.0122533 Input.cpp[readImages,206]: Got image from sensor!805 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999442 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3733/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 162 to 1091422144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875599.977107) and 799(1311875599.876864) on lvl: 0 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 806 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999583 0.0177281 -0.0228012 0.0179545 -0.0183098 0.999506 -0.0255592 -0.00253228 0.0223368 0.025966 0.999413 -0.0141749 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999448 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2012/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.848454 resInfo good: 7401, 17 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10119/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999587 0.0173567 -0.0228985 0.0203272 -0.0179403 0.999513 -0.0255336 -0.000279854 0.0224441 0.0259338 0.999412 -0.0128328 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!802 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.009638 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!806 INF|Input.cpp[getImages,132]: mNbReceivedImages!807 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998964 0.0257845 -0.0374962 0.0344636 -0.0269782 0.999134 -0.0316868 -0.00912608 0.0366467 0.0326656 0.998794 -0.0180866 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 162 to 139658309623712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.009638) and 799(1311875599.876864) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998964 0.0257845 -0.0374962 0.0344636 -0.0269782 0.999134 -0.0316868 -0.00912608 0.0366467 0.0326656 0.998794 -0.0180866 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999942 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2979/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 162 to 139658309623712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.009638) and 799(1311875599.876864) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999295 0.0212867 -0.0309167 0.0259291 -0.0223937 0.999104 -0.0359118 -0.00907181 0.0301245 0.0365788 0.998877 -0.0203363 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999818 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1469/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 162 to 139658309623712 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.009638) and 799(1311875599.876864) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999331 0.0227358 -0.0286538 0.022916 -0.0237796 0.999046 -0.0366281 -0.00533166 0.0277937 0.037285 0.998918 -0.017244 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2575/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.991049 resInfo good: 7388, 30 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8573/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999363 0.0212723 -0.0286515 0.0274821 -0.0222878 0.999118 -0.0356008 -0.00254691 0.0278689 0.0362167 0.998955 -0.0176264 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!803 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!806 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.042761 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999091 0.0251282 -0.0344427 0.0346547 -0.0266892 0.998601 -0.045639 -0.00479457 0.0332477 0.0465168 0.998364 -0.0224026 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 162 to 1091422144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.042761) and 799(1311875599.876864) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999091 0.0251282 -0.0344427 0.0346547 -0.0266892 0.998601 -0.045639 -0.00479457 0.0332477 0.0465168 0.998364 -0.0224026 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 807 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999945 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1631/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 162 to 1091422144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.042761) and 799(1311875599.876864) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999041 0.0252498 -0.0357802 0.028844 -0.0268864 0.998579 -0.0460225 -0.00438564 0.0345673 0.0469404 0.998299 -0.0209951 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999475 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2584/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 162 to 1091422144 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.042761) and 799(1311875599.876864) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999123 0.0234997 -0.0346664 0.0330045 -0.0250745 0.99864 -0.045716 -0.000859458 0.0335449 0.0465451 0.998353 -0.0228414 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!807 INF|Input.cpp[getImages,132]: mNbReceivedImages!808 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2583/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.10395 resInfo good: 7347, 71 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8562/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999127 0.0228136 -0.0350095 0.0364638 -0.0243978 0.998666 -0.0455115 0.000595742 0.0339245 0.0463259 0.99835 -0.0229302 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875600.042761 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875600.042761 to keyframe with id: 1091422144 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875600.042761 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1020 size: 8421 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId1091422144 timestamp: 1311875600.042761 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 561 keyframeId: 116 score: -6.211 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 570 keyframeId: 119 score: -5.5963 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -8.12513 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -7.87095 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 789 keyframeId: 160 score: -11.2511 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -10.3058 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 163 = 163 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba716b40 fh1 0x1ec6dbe0fh->id: 116 163 804goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba716b40 fh1 0x2a5d2ba0fh->id: 119 163 804goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba716b40 fh1 0x3ddc0840fh->id: 151 163 804goodE: 378 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba716b40 fh1 0x10913f80fh->id: 154 163 804goodE: 61 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba716b40 fh1 0x7f04bbef2c60fh->id: 160 163 804goodE: 25 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba716b40 fh1 0x3ec60b00fh->id: 161 163 804goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba716b40 fh1 0x7f04bb6f7ba0fh->id: 162 163 804goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew163 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 207 out of 223 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 223 newEdgePixels: 223 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2920 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 477 lastEnergy: 818.192 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 117 INF|LocalMapper.cpp[optimize,276]: Start Energy: 818.192 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -7.59318e-12 2.46341e-11 -1.43784e-11 -3.29198e-11 -0.00193968 0.000210684 0.00302815 0.00113981 0.000583643 0.000523294 -0.00448741 0.0028507 -0.00290362 0.00145874 0.000537194 0.000769991 -0.00691192 -0.00109089 -0.00275196 0.000610352 0.000508514 0.00126832 -0.00734442 -0.00290922 -0.00145672 0.000302978 0.000674796 0.00134998 0.00176687 0.00386446 0.00401622 0.00134497 -0.000817942 0.000280723 0.00205644 -0.00376128 0.00246256 -1.52018e-05 -0.00111065 0.00109448 0.00330183 0.000737869 0.00111659 0.00094048 -0.00140812 0.000330202 -0.00301519 -0.00155901 -0.00261025 0.000341723 -0.000168324 0.000734326 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2920 Input.cpp[readImages,206]: Got image from sensor!807 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 729.151 0 0 newEnergyL 0 lastEnergy: 818.192 0 0 lastEnergyL: 0mActiveResiduals: 2920 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 5.92325e-13 -7.97407e-13 -1.92978e-12 1.26004e-11 -0.000802029 -0.0012076 0.000837818 -1.45785e-05 0.000133734 0.000179586 0.00444432 0.00378162 0.0020578 0.000362811 -0.000379587 -0.000419921 0.00176397 0.00148837 0.00187785 0.000270404 -0.000209258 -0.000128101 0.00145824 0.00414721 0.00352325 0.000783315 -0.000106713 -0.000555169 -0.00258336 -0.000866127 0.00137626 0.000103746 0.00045403 0.000301255 -0.0014018 0.000401473 0.00286399 0.000250454 0.000363619 -0.000161996 -0.00444728 0.00073059 0.00228876 0.000413786 0.000947208 -7.65913e-05 0.000879883 -0.00062459 0.00278281 0.000124093 -6.49381e-05 0.00038421 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2920 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 702.434 0 0 newEnergyL 0 lastEnergy: 729.151 0 0 lastEnergyL: 0mActiveResiduals: 2920 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -3.40707e-12 8.22129e-13 -2.71933e-12 -2.4096e-12 0.00304896 0.000952382 0.0016783 0.000153306 9.56999e-05 -0.000141518 -0.00100427 0.000395179 4.11935e-05 9.39442e-05 0.000382922 -5.23919e-05 -0.00166028 -0.000381503 -0.00137732 2.26365e-05 0.000309741 0.000466452 -0.000405898 -0.00244076 -0.00250276 -0.000374288 9.86718e-05 0.000934578 0.000986311 0.00115514 0.000500878 0.000153149 -1.36733e-05 0.000384031 -0.00101851 0.00010883 2.1123e-05 -9.38692e-05 0.000255005 0.000437989 0.0019114 0.000132221 0.000509037 -3.52209e-05 -0.000291119 0.000203839 -0.000532758 0.000948089 0.000812416 0.000108022 0.000229094 0.000201093 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2920 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 677.267 0 0 newEnergyL 0 lastEnergy: 702.434 0 0 lastEnergyL: 0mActiveResiduals: 2920 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 808 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.02415e-12 -8.6655e-13 1.93408e-12 1.70869e-12 -0.00107734 0.00067215 -0.000298432 0.000143014 -0.000163659 -0.000257147 -0.000106075 -0.000887291 0.000852676 0.000217858 -4.57972e-05 0.000554442 0.00186642 -0.000361488 -0.000232266 0.000165079 -0.000370516 9.29746e-05 0.00140508 0.00189708 0.000607695 0.000565163 -0.000247264 -0.000404191 -0.00123294 -0.000455386 -0.00063459 0.000221827 0.000300216 9.08092e-05 0.000423954 -0.000763526 -0.000670947 0.000175785 0.000110188 -0.000271461 -0.00170353 0.00127726 0.000397112 0.000597697 0.000514696 0.000129187 0.000455079 -0.00121435 1.89979e-05 0.000110172 4.54481e-05 7.27869e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2920 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 670.924 0 0 newEnergyL 0 lastEnergy: 677.267 0 0 lastEnergyL: 0mActiveResiduals: 2920 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.62322e-12 -1.20195e-12 -1.36905e-12 9.45199e-12 8.64998e-06 0.00236772 -0.00106198 0.00071746 -0.000573215 -0.000385123 -0.000497563 -0.00134857 0.00043483 0.000191057 -0.000329076 -0.000169252 -0.000401126 -0.00110013 -6.21167e-05 0.000380821 -0.000554296 2.22706e-05 -0.00218564 -0.00241559 -0.00105245 0.000191482 -0.000278253 0.000383743 0.00162777 0.000990181 0.00119299 0.000682719 -0.000823841 -0.000151464 -0.000200031 0.00027236 0.000592672 0.000563343 -0.000631044 0.000119357 0.00264586 -0.0011042 7.46924e-05 0.000325445 -0.00117758 7.00725e-05 -0.00168373 0.00162529 0.00051273 0.000826468 -0.000348739 -4.83185e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2920 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 663.046 0 0 newEnergyL 0 lastEnergy: 670.924 0 0 lastEnergyL: 0mActiveResiduals: 2920 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 4.99288e-13 -3.28893e-13 3.80644e-12 -4.21276e-12 -0.00225697 -0.0031143 0.000597211 -0.000214316 0.000378807 0.000818246 0.00181937 0.000338282 -0.000410792 -4.66334e-05 -0.000108598 0.000428483 0.000555147 0.00218034 0.000614631 0.000159605 0.000137473 0.000312847 0.00203188 0.00224335 0.000913441 0.000153087 -5.69356e-05 -3.04963e-05 -0.000537387 -0.00112964 -0.000758829 -0.000337001 0.000514149 0.000486153 -0.000609468 -0.000507797 -0.000874044 -0.000295377 0.000623426 -2.63597e-05 -0.00294583 0.000594252 0.000691507 -8.34844e-06 0.00113364 0.000195897 0.0016524 -0.000747251 -0.000135919 -0.000292991 0.000229289 0.000367816 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2920 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 662.178 0 0 newEnergyL 0 lastEnergy: 663.046 0 0 lastEnergyL: 0mActiveResiduals: 2920 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 662.178 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2920 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!808 INF|Input.cpp[getImages,132]: mNbReceivedImages!809 INF|LocalMapper.cpp[optimize,345]: End Energy: 662.178 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.481598 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.481598 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 160 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 160 with idx: 4 and allID: 789 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->160 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 160->116 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->160 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->160 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 160->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->160 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 160->154 INF|LocalMapper.cpp[marginalizeFrame,801]: 160 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 160 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 17158 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04ba716b40 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 163 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 118 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 64 with distance 0.192Found rest min at: 117 with distance 0.13 overall min: 0.13 time: 1 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 64 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 723 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 163 into DB 0.192 64 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 64 and real id(92) current kf: 163(804) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.841898 -0.317511 0.436341 -1.96023 0.230808 0.942761 0.240684 -0.494817 -0.487786 -0.10192 0.866993 1.26665 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 92 currFrame: 163 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.000501811 eye: 0.000318234 edge: 163 to 92 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 163 to 92 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 436(1311875587.762870) and 804(1311875600.042761) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,206]: Got image from sensor!808 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 29,0.999988 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:8838/8 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 163 to 92 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 436(1311875587.762870) and 804(1311875600.042761) on lvl: 1 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 809 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.981183 -0.000222853 -0.193078 0.55727 0.0219944 0.993619 0.110624 -0.415357 0.191822 -0.112789 0.974927 0.467285 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999845 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:558/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 163 to 92 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 436(1311875587.762870) and 804(1311875600.042761) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.981239 -0.000966619 -0.192793 0.557705 0.0227604 0.993575 0.11086 -0.416775 0.191447 -0.113168 0.974957 0.467793 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999043 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:911/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.981367 -0.00113676 -0.192137 0.556876 0.0230513 0.993457 0.11186 -0.419274 0.190753 -0.114205 0.974972 0.464356 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 91 end 94 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 10184 o[1]: 2155 o[2]: 462 o[3]: 52 histWeights: 1 1 1.25 1.5overlap: 2810.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 8421 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 92 and 163 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 163 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 163 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 14614 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 805 keyframes 164 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 523 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!809 INF|Input.cpp[getImages,132]: mNbReceivedImages!810 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.073673 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999975 0.00256615 -0.00660786 0.00931538 -0.0026384 0.999937 -0.0109481 0.00479933 0.00657934 0.0109653 0.999918 -0.00358429 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 163 to 139658284562336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.073673) and 804(1311875600.042761) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999975 0.00256615 -0.00660786 0.00931538 -0.0026384 0.999937 -0.0109481 0.00479933 0.00657934 0.0109653 0.999918 -0.00358429 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999832 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2581/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 163 to 139658284562336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.073673) and 804(1311875600.042761) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999977 -0.000119272 -0.00683587 0.00705775 5.47045e-05 0.999955 -0.00944475 0.00250019 0.00683669 0.00944415 0.999932 -0.00223327 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999004 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2335/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 163 to 139658284562336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.073673) and 804(1311875600.042761) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999985 0.000367822 -0.00550118 0.00829919 -0.000391135 0.999991 -0.00423734 -0.00369086 0.00549957 0.00423942 0.999976 -0.00628584 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999349 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2528/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.406823 resInfo good: 8366, 55 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9167/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999989 7.84058e-06 -0.00476761 0.0084461 -2.64592e-05 0.999992 -0.00390519 -0.00281417 0.00476754 0.00390527 0.999981 -0.00525877 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!805 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!809 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.113208 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 810 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999898 -3.23347e-05 -0.0143023 0.025413 -0.000135229 0.999931 -0.0117147 -0.00838162 0.0143017 0.0117155 0.999829 -0.015688 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 163 to 139658284562336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.113208) and 804(1311875600.042761) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999898 -3.23347e-05 -0.0143023 0.025413 -0.000135229 0.999931 -0.0117147 -0.00838162 0.0143017 0.0117155 0.999829 -0.015688 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999804 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2339/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 163 to 139658284562336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.113208) and 804(1311875600.042761) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999973 0.00380395 -0.00622299 0.00866193 -0.00389004 0.999896 -0.0138812 -0.0112919 0.00616954 0.013905 0.999884 -0.0120556 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.99998 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2285/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 163 to 139658284562336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.113208) and 804(1311875600.042761) on lvl: 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!810 INF|Input.cpp[getImages,132]: mNbReceivedImages!811 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999982 0.000942785 -0.0059169 0.0113303 -0.00103113 0.999888 -0.0149465 -0.0070619 0.00590214 0.0149524 0.999871 -0.00690573 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999892 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1799/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.660099 resInfo good: 8342, 79 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8238/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999977 -0.000187634 -0.00674241 0.015834 9.54254e-05 0.999907 -0.0136736 -0.00714472 0.00674435 0.0136727 0.999884 -0.00743429 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!806 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 724 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.141776 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999962 -0.000402388 -0.00871519 0.023227 0.000197993 0.999725 -0.023441 -0.0114526 0.00872223 0.0234383 0.999687 -0.00963738 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 163 to 139658284562336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.141776) and 804(1311875600.042761) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999962 -0.000402388 -0.00871519 0.023227 0.000197993 0.999725 -0.023441 -0.0114526 0.00872223 0.0234383 0.999687 -0.00963738 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999879 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1825/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 163 to 139658284562336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.141776) and 804(1311875600.042761) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999947 -0.00387626 -0.00953803 0.0212449 0.00365074 0.999716 -0.0235494 -0.0132798 0.0096266 0.0235133 0.999677 -0.012154 Input.cpp[readImages,206]: Got image from sensor!810 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999684 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3860/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 163 to 139658284562336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.141776) and 804(1311875600.042761) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999948 -0.00602434 -0.00819795 0.0239449 0.00581971 0.999676 -0.0247602 -0.0104056 0.00834446 0.0247112 0.99966 -0.011958 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 811 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999599 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1383/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.851107 resInfo good: 8365, 56 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8686/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999944 -0.00638416 -0.00846174 0.0265021 0.00617674 0.999685 -0.0243152 -0.00899865 0.00861431 0.0242616 0.999669 -0.012271 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!807 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.177475 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999869 -0.0125983 -0.010115 0.0371902 0.0122376 0.999314 -0.0349643 -0.0107355 0.0105485 0.0348359 0.999337 -0.0171071 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 163 to 139658284562336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.177475) and 804(1311875600.042761) on lvl: 2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!811 INF|Input.cpp[getImages,132]: mNbReceivedImages!812 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999869 -0.0125983 -0.010115 0.0371902 0.0122376 0.999314 -0.0349643 -0.0107355 0.0105485 0.0348359 0.999337 -0.0171071 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.9996 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1879/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 163 to 139658284562336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.177475) and 804(1311875600.042761) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999893 -0.00972161 -0.0108894 0.0298772 0.00932498 0.999312 -0.0359011 -0.0141366 0.011231 0.0357957 0.999296 -0.0130917 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999208 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2649/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 163 to 139658284562336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.177475) and 804(1311875600.042761) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999892 -0.0118181 -0.00869324 0.0328492 0.0115139 0.999347 -0.0342474 -0.0115898 0.0090923 0.0341437 0.999376 -0.0154754 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999594 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1401/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.987311 resInfo good: 8332, 89 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7423/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999886 -0.0118543 -0.00935052 0.0355075 0.0115282 0.999349 -0.034192 -0.009154 0.00974975 0.0340803 0.999372 -0.015209 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!808 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.209756 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999798 -0.0173325 -0.0101852 0.0445167 0.0168677 0.998886 -0.04407 -0.00923148 0.0109377 0.0438893 0.998977 -0.0181388 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 163 to 139658284562336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.209756) and 804(1311875600.042761) on lvl: 2 Input.cpp[readImages,206]: Got image from sensor!811 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999798 -0.0173325 -0.0101852 0.0445167 0.0168677 0.998886 -0.04407 -0.00923148 0.0109377 0.0438893 0.998977 -0.0181388 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999384 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2750/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 163 to 139658284562336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.209756) and 804(1311875600.042761) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999763 -0.0191714 -0.0103193 0.042659 0.0186977 0.998848 -0.044187 -0.0117563 0.0111545 0.0439836 0.99897 -0.0175951 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 812 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999986 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2121/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 163 to 139658284562336 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.209756) and 804(1311875600.042761) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999776 -0.0190813 -0.00914675 0.0448594 0.0186848 0.998958 -0.0416273 -0.0117925 0.00993153 0.0414471 0.999091 -0.020379 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999451 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1253/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.10816 resInfo good: 8237, 184 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7674/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999752 -0.0197866 -0.0102621 0.048511 0.0193318 0.998902 -0.0426638 -0.00730252 0.011095 0.0424548 0.999037 -0.020396 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875600.209756 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875600.209756 to keyframe with id: 139658284562336 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875600.209756 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1102 size: 7857 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId139658284562336 timestamp: 1311875600.209756 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 164 = 164 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba70f7c0 fh1 0x1ec6dbe0fh->id: 116 164 809goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba70f7c0 fh1 0x2a5d2ba0fh->id: 119 164 809goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba70f7c0 fh1 0x3ddc0840fh->id: 151 164 809goodE: 383 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba70f7c0 fh1 0x10913f80fh->id: 154 164 809goodE: 65 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba70f7c0 fh1 0x3ec60b00fh->id: 161 164 809goodE: 57 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba70f7c0 fh1 0x7f04bb6f7ba0fh->id: 162 164 809goodE: 31 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba70f7c0 fh1 0x7f04ba716b40fh->id: 163 164 809goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew164 Input.cpp[readImages,192]: readImages loop! INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 174 out of 187 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 187 newEdgePixels: 187 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2999 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 488 lastEnergy: 814.492 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 115 INF|LocalMapper.cpp[optimize,276]: Start Energy: 814.492 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.33385e-11 -3.69972e-12 -1.62862e-11 4.86848e-12 0.000193123 0.00408784 -0.00239579 -0.000473388 0.000106334 -0.000566912 -0.00323393 0.00295699 -0.000473092 -0.000325163 0.000429355 -0.000564667 -0.000671716 -0.0043954 -0.000194039 -0.0013345 9.39211e-05 -0.000207581 -0.000891844 -0.00199635 0.000668872 -0.0010738 0.000228044 -3.09385e-05 0.00074953 -0.00232942 0.000831817 -0.00120581 7.26347e-05 -0.000710976 0.00287913 -0.00136361 0.00221793 -0.000937952 -0.000561042 -0.00107952 -0.00099225 -2.65494e-05 0.000915119 -0.00070292 0.000277864 -0.00122905 -0.00697124 0.000422692 0.00179489 -0.000464684 0.00144537 -0.0011764 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2999 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 740.847 0 0 newEnergyL 0 lastEnergy: 814.492 0 0 lastEnergyL: 0mActiveResiduals: 2999 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 6.01889e-14 -7.95742e-12 1.29253e-11 6.33529e-12 0.000243609 -0.00336267 0.00175816 -0.000182306 0.000139449 0.000431509 0.000505362 -0.00312281 0.000173043 -0.000315264 -4.98982e-05 2.32666e-05 0.000757764 0.000660236 0.00049696 8.0744e-05 0.000166357 -0.000549965 0.00338891 0.00158202 0.00125939 0.000287259 -0.000282897 -0.00076013 -0.00159888 -0.000244752 0.0005299 4.83912e-05 0.000637524 -0.00030414 -0.00160334 -5.56862e-05 -0.00200277 0.000160634 0.000646867 -8.21786e-05 0.000620396 -0.00129282 0.000423188 -0.000147384 0.000170893 -6.57642e-05 -0.00148527 0.00166072 0.000279429 0.000399121 0.000592838 -0.000296115 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2999 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 712.225 0 0 newEnergyL 0 lastEnergy: 740.847 0 0 lastEnergyL: 0mActiveResiduals: 2999 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 3.7433e-12 5.51249e-12 -4.6641e-12 -1.20474e-11 0.00051358 9.43318e-05 0.000804744 0.000396788 0.000233882 0.000305236 0.000559083 0.000507751 -0.000137937 0.000369731 0.000174324 0.000219649 6.83764e-05 -0.00147493 -0.00155205 3.20097e-05 -0.000106702 0.000714453 -0.00296838 -0.00205208 -0.00203737 -5.24516e-05 0.000425976 0.000795211 0.000379147 0.000389116 -6.50099e-05 0.000308636 -0.000330181 0.00052922 0.00149762 0.00105474 0.00264414 0.000433194 -0.000569455 0.000199263 0.000407962 2.79259e-05 -0.000574948 0.000218177 -0.000381561 0.000357127 -0.000551548 0.000952089 0.00174676 0.00053485 -0.000223061 0.00042289 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2999 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 702.089 0 0 newEnergyL 0 lastEnergy: 712.225 0 0 lastEnergyL: 0mActiveResiduals: 2999 Input.cpp[readImages,206]: Got image from sensor!812 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -6.79635e-12 -1.80699e-12 3.01109e-12 1.04943e-11 -0.00115983 2.31515e-05 -0.00155602 -0.000302392 -0.000276535 -0.000444304 -3.28684e-06 -0.00101414 0.000531342 -0.000257345 -0.000225071 -7.57396e-05 5.36316e-05 0.00228303 0.00180469 0.000187752 0.000132594 -0.000921523 0.00295671 0.0020718 0.00232973 0.000191829 -0.000365682 -0.000998283 -0.00160732 -0.000422388 -0.000446647 -0.000210807 0.00049684 -0.000468159 -0.00205484 -0.00140902 -0.00331993 -0.000314844 0.000652475 -0.000305836 -0.000350723 -0.000545526 0.000373314 -0.00024869 0.000345355 -0.00041802 0.0018869 -0.000791213 -0.000596614 -0.000317601 -0.000133603 -0.000470098 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2999 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 694.758 0 0 newEnergyL 0 lastEnergy: 702.089 0 0 lastEnergyL: 0mActiveResiduals: 2999 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 7.80185e-12 3.09813e-12 -8.40229e-12 -1.48213e-11 0.000148107 0.000682699 0.000412961 0.000573298 0.000275756 0.000247342 0.000763107 0.000374913 -0.000107028 0.000279344 0.000144556 -2.28476e-06 0.000427469 -0.0022576 -0.00119048 3.84322e-05 -9.35368e-05 0.000839728 -0.00333219 -0.00261799 -0.00177174 2.05726e-05 0.000600151 0.000826435 0.00062053 0.000708826 -0.000220709 0.000561674 -0.00021762 0.000498492 0.00290242 0.00183302 0.00303972 0.000734433 -0.000741109 0.000464006 0.000181203 0.000399824 -0.0012002 0.00049807 -0.000242572 0.000434945 -0.00178774 0.000369837 0.0017448 0.000565364 0.000335386 0.00022269 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2999 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 686.887 0 0 newEnergyL 0 lastEnergy: 694.758 0 0 lastEnergyL: 0mActiveResiduals: 2999 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -8.43051e-12 -2.87108e-12 9.74151e-12 1.27043e-11 -9.29694e-05 -0.000855923 0.000200346 -0.00104824 -0.000350433 -0.000255197 -0.00127588 0.00104352 -4.83609e-05 -0.000776273 -0.000329798 -0.000745686 0.00140085 0.002067 0.000391782 -0.000481186 -0.00028651 -0.00108344 0.00273304 0.0022786 0.000699657 -0.000490491 -0.000577517 -0.000958576 -0.0012597 -0.000532124 -0.000257946 -0.000945381 0.00029705 -0.000749918 -0.00357147 -0.00238067 -0.00298682 -0.00124432 0.000840011 -0.000639739 0.00064917 -0.00016051 0.00134012 -0.000881189 0.00013602 -0.000802804 0.00130734 -0.00103105 -0.000614193 -0.00114042 -0.000105921 -0.000797643 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2999 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 813 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 681.573 0 0 newEnergyL 0 lastEnergy: 686.887 0 0 lastEnergyL: 0mActiveResiduals: 2999 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 681.573 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2999 INF|LocalMapper.cpp[optimize,345]: End Energy: 681.573 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.484043 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.484043 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 116 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 116 with idx: 0 and allID: 561 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 116<->116 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->116 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->116 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 116->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->116 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 116->154 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->116 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 116->161 INF|LocalMapper.cpp[marginalizeFrame,801]: 116 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 116 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 16032 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04ba70f7c0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 164 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 119 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 62 with distance 0.202Found rest min at: 118 with distance 0.086 overall min: 0.086 time: 1 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 62 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 733 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 164 into DB 0.202 62 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 62 and real id(90) current kf: 164(809) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.868834 -0.324914 0.373575 -2.19661 0.237097 0.935442 0.262169 -0.576006 -0.43464 -0.139208 0.88978 1.1991 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 90 currFrame: 164 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.000571354 eye: 0.000320776 edge: 164 to 90 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 164 to 90 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 426(1311875587.432193) and 809(1311875600.209756) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!813 INF|Input.cpp[getImages,132]: mNbReceivedImages!814 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 14,0.999643 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4296/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 164 to 90 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 426(1311875587.432193) and 809(1311875600.209756) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997189 0.0252558 0.0705492 -0.149883 -0.0270806 0.99932 0.02503 -0.18155 -0.0698691 -0.0268701 0.997194 0.111352 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999205 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:838/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 164 to 90 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 426(1311875587.432193) and 809(1311875600.209756) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.996955 0.0236638 0.0743034 -0.155875 -0.0258195 0.999269 0.0281866 -0.191418 -0.0735821 -0.0300193 0.996837 0.11482 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 12,0.999559 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:4421/4 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.9958 0.0116649 0.0908052 -0.18569 -0.0152177 0.999141 0.038532 -0.234688 -0.0902778 -0.039752 0.995123 0.145965 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 89 end 92 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!813 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 8442 o[1]: 2679 o[2]: 608 o[3]: 39 histWeights: 1 1 1.25 1.5overlap: 3497.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7857 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 90 and 164 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 164 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 164 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 14038 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 810 keyframes 165 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 539 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 814 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.244362 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999962 -0.00828054 -0.00273686 0.0170122 0.00825959 0.999937 -0.00757905 -5.42023e-05 0.00279945 0.00755616 0.999968 -0.00669479 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 164 to 139658399269312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.244362) and 809(1311875600.209756) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999962 -0.00828054 -0.00273686 0.0170122 0.00825959 0.999937 -0.00757905 -5.42023e-05 0.00279945 0.00755616 0.999968 -0.00669479 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!814 INF|Input.cpp[getImages,132]: mNbReceivedImages!815 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 3): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3584/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 164 to 139658399269312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.244362) and 809(1311875600.209756) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999969 -0.0072393 -0.00307748 0.0153045 0.00721471 0.999943 -0.00792847 -0.000890266 0.0031347 0.00790602 0.999964 -0.0033063 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999371 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3678/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 164 to 139658399269312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.244362) and 809(1311875600.209756) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999975 -0.00641972 0.00304736 0.00499469 0.00644012 0.999957 -0.00673069 0.00120146 -0.00300402 0.00675015 0.999973 -0.00115236 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999408 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1552/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.462804 resInfo good: 7841, 16 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10711/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999978 -0.00602345 0.00278672 0.00752648 0.0060379 0.999968 -0.00520485 -0.000382341 -0.00275529 0.00522156 0.999983 -0.00134592 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!810 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!814 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.282892 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99995 -0.00902963 0.00419182 0.0112891 0.00906213 0.999929 -0.00780089 -0.000553845 -0.00412108 0.00783849 0.999961 -0.00202742 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 164 to 139658399269312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.282892) and 809(1311875600.209756) on lvl: 2 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 815 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99995 -0.00902963 0.00419182 0.0112891 0.00906213 0.999929 -0.00780089 -0.000553845 -0.00412108 0.00783849 0.999961 -0.00202742 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999758 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4516/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 164 to 139658399269312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.282892) and 809(1311875600.209756) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999949 -0.010116 -0.000448399 0.019985 0.0101094 0.999866 -0.012889 -0.00169653 0.000578725 0.0128838 0.999917 -0.00571176 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!815 INF|Input.cpp[getImages,132]: mNbReceivedImages!816 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999993 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:5528/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 164 to 139658399269312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.282892) and 809(1311875600.209756) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999947 -0.00949214 0.00404104 0.0133699 0.00953584 0.999895 -0.0109359 -0.00165038 -0.00393681 0.0109739 0.999932 -0.00426208 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:3448/3 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.637855 resInfo good: 7841, 16 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 15556/15 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999942 -0.00994893 0.0041621 0.0151453 0.00999101 0.999898 -0.0102153 -0.000857569 -0.00406005 0.0102563 0.999939 -0.00396582 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!811 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!815 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.309984 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999888 -0.0138673 0.00555711 0.0227623 0.0139505 0.999787 -0.0152201 -0.00128962 -0.00534487 0.0152959 0.999869 -0.00659825 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 164 to 139658399269312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.309984) and 809(1311875600.209756) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999888 -0.0138673 0.00555711 0.0227623 0.0139505 0.999787 -0.0152201 -0.00128962 -0.00534487 0.0152959 0.999869 -0.00659825 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 816 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:5616/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 164 to 139658399269312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.309984) and 809(1311875600.209756) on lvl: 1 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!816 INF|Input.cpp[getImages,132]: mNbReceivedImages!817 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99994 -0.0108093 0.00193477 0.0229575 0.0108424 0.99978 -0.0179796 -0.00241267 -0.00174 0.0179995 0.999836 -0.00673426 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999068 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3958/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 164 to 139658399269312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.309984) and 809(1311875600.209756) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999925 -0.0111976 0.00503069 0.0206539 0.0112782 0.999804 -0.0162937 -0.00076394 -0.00484725 0.0163492 0.999855 -0.00572174 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999773 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2426/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.758797 resInfo good: 7851, 6 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 13909/13 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999924 -0.0111778 0.00512512 0.0216752 0.0112567 0.999814 -0.0156365 -0.00083758 -0.00494939 0.015693 0.999865 -0.00565759 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!812 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.341760 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,206]: Got image from sensor!816 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999905 -0.0124014 0.00609479 0.0282035 0.0125272 0.9997 -0.0210559 -0.000800287 -0.00583184 0.0211303 0.99976 -0.00735538 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 164 to 139658399269312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.341760) and 809(1311875600.209756) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999905 -0.0124014 0.00609479 0.0282035 0.0125272 0.9997 -0.0210559 -0.000800287 -0.00583184 0.0211303 0.99976 -0.00735538 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 817 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999064 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:5238/5 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 164 to 139658399269312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.341760) and 809(1311875600.209756) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999942 -0.0107406 0.000299413 0.0304776 0.0107447 0.999685 -0.0227026 -0.00604434 -5.54786e-05 0.0227045 0.999742 -0.00978045 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!817 INF|Input.cpp[getImages,132]: mNbReceivedImages!818 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999967 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3734/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 164 to 139658399269312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.341760) and 809(1311875600.209756) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999926 -0.0115019 0.00397982 0.0277896 0.011584 0.999706 -0.0212849 -0.00366541 -0.00373383 0.0213294 0.999766 -0.00920485 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999251 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2111/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.863548 resInfo good: 7845, 12 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 13288/13 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99992 -0.0119407 0.00411562 0.0292468 0.0120239 0.999711 -0.0208307 -0.00256133 -0.0038657 0.0208786 0.999775 -0.00870126 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!813 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.380082 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999914 -0.0127087 0.00311009 0.0368228 0.0127854 0.99958 -0.0260252 -0.00426361 -0.00277804 0.0260628 0.999656 -0.0117461 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 164 to 139658399269312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.380082) and 809(1311875600.209756) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999914 -0.0127087 0.00311009 0.0368228 0.0127854 0.99958 -0.0260252 -0.00426361 -0.00277804 0.0260628 0.999656 -0.0117461 Input.cpp[readImages,206]: Got image from sensor!817 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.99907 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1255/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 164 to 139658399269312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.380082) and 809(1311875600.209756) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999887 -0.0147123 0.00309741 0.036699 0.014789 0.999542 -0.0263968 -0.00520283 -0.00270763 0.0264396 0.999647 -0.0121803 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 818 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999522 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3962/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 164 to 139658399269312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.380082) and 809(1311875600.209756) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999893 -0.0140206 0.00414116 0.0365144 0.014122 0.999574 -0.0255465 -0.0035229 -0.00378122 0.0256022 0.999665 -0.0140698 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999772 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1546/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.965493 resInfo good: 7845, 12 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8433/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999881 -0.0147944 0.00433447 0.0393328 0.0148992 0.999571 -0.0252233 -0.00062637 -0.00395944 0.0252848 0.999672 -0.0113244 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!814 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.412259 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!818 INF|Input.cpp[getImages,132]: mNbReceivedImages!819 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999834 -0.017647 0.00456585 0.0494128 0.0177747 0.999403 -0.0296147 0.00134895 -0.00404051 0.0296909 0.999551 -0.0139404 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 164 to 139658399269312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.412259) and 809(1311875600.209756) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999834 -0.017647 0.00456585 0.0494128 0.0177747 0.999403 -0.0296147 0.00134895 -0.00404051 0.0296909 0.999551 -0.0139404 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999868 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4458/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 164 to 139658399269312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.412259) and 809(1311875600.209756) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999883 -0.0148752 0.00345359 0.0471212 0.0149719 0.999441 -0.0299067 -0.0100061 -0.00300679 0.0299549 0.999547 -0.0143957 Input.cpp[readImages,206]: Got image from sensor!818 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999901 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4335/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 164 to 139658399269312 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.412259) and 809(1311875600.209756) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999883 -0.0143411 0.00526924 0.0449768 0.014495 0.999432 -0.0304373 -0.00516784 -0.00482974 0.0305102 0.999523 -0.0119578 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999726 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1378/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.05898 resInfo good: 7837, 20 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11641/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999876 -0.0147328 0.00556123 0.0460512 0.014893 0.99944 -0.029962 -0.0046042 -0.0051167 0.0300411 0.999536 -0.0116655 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875600.412259 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875600.412259 to keyframe with id: 139658399269312 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875600.412259 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 887 size: 7346 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId139658399269312 timestamp: 1311875600.412259 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 165 = 165 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c3b55960 fh1 0x2a5d2ba0fh->id: 119 165 815goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c3b55960 fh1 0x3ddc0840fh->id: 151 165 815goodE: 370 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 819 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c3b55960 fh1 0x10913f80fh->id: 154 165 815goodE: 56 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c3b55960 fh1 0x3ec60b00fh->id: 161 165 815goodE: 119 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c3b55960 fh1 0x7f04bb6f7ba0fh->id: 162 165 815goodE: 34 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c3b55960 fh1 0x7f04ba716b40fh->id: 163 165 815goodE: 24 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c3b55960 fh1 0x7f04ba70f7c0fh->id: 164 165 815goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew165 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 100 out of 108 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 108 newEdgePixels: 108 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3550 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 573 lastEnergy: 935.154 0 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!819 INF|Input.cpp[getImages,132]: mNbReceivedImages!820 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 130 INF|LocalMapper.cpp[optimize,276]: Start Energy: 935.154 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.64057e-11 -1.41579e-11 -1.32522e-11 5.58817e-12 0.00311106 -0.00154601 0.00367365 0.000153522 6.8945e-05 0.000452463 0.00163823 -0.00272852 0.00553594 0.000124926 1.12545e-05 -5.79855e-05 0.00220387 -0.00484231 0.00442782 -0.000408919 -0.000138753 -0.00020132 0.00195775 0.000800642 0.0053705 0.001072 -0.000328058 -0.000386704 0.00362981 0.000359418 0.00915156 0.000970387 -0.000777152 -0.000416076 -0.0025063 -0.000426868 0.00473299 0.000948145 0.000201726 -0.000488507 8.20637e-05 -0.0025865 0.005028 0.000454968 0.000106305 -0.00119207 -0.00337445 -0.0047743 0.00456187 0.000137863 0.000724475 -0.000497553 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3550 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 886.1 0 0 newEnergyL 0 lastEnergy: 935.154 0 0 lastEnergyL: 0mActiveResiduals: 3550 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 5.52674e-13 1.11918e-12 6.66886e-12 5.65206e-12 0.000595626 4.60097e-05 -0.000112182 -2.94257e-05 -7.83466e-05 -5.41919e-05 0.000889697 0.000443727 0.00045464 6.88548e-05 -8.78211e-05 -0.000222391 0.00217385 0.000211399 0.00163718 0.000119966 -0.000369002 0.000185794 -0.00155235 -0.00119669 0.000102466 -0.00016122 0.000266466 0.000442952 -0.00325073 -0.00321661 -0.00322668 -0.000528146 0.000500717 0.000547616 0.000627623 -0.00190064 -6.67714e-05 -0.00036978 -0.000110486 2.23309e-05 -0.00268602 -0.0046084 -0.00235163 -0.000985289 0.000262286 0.000592202 -0.0011867 -0.00245106 -0.00194281 -0.000447418 3.74497e-05 0.000616707 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3550 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 856.347 0 0 newEnergyL 0 lastEnergy: 886.1 0 0 lastEnergyL: 0mActiveResiduals: 3550 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -4.64998e-12 -2.0799e-12 -1.22102e-11 -5.62105e-12 0.000359061 0.000438254 -0.000107362 0.000277065 0.000203214 0.000366744 0.000189977 -0.000259416 7.17087e-05 5.46638e-05 2.05001e-06 0.000557969 -0.00187655 -0.00185767 -0.00154388 -0.000223427 0.00031063 0.000396509 0.00155893 0.000599548 0.00019276 0.000167292 -0.000342521 1.40589e-05 0.00199427 0.000983069 0.00221554 0.00024517 -0.000426119 -6.97014e-05 -0.0018964 0.0010312 -0.00137126 0.000305498 0.000176949 0.000101433 0.000378835 -4.48882e-05 0.000432979 0.00012625 2.42317e-05 -0.000427529 -0.000964053 -0.00117124 0.00016828 -0.000174807 0.000168248 -0.000374981 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3550 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 848.254 0 0 newEnergyL 0 lastEnergy: 856.347 0 0 lastEnergyL: 0mActiveResiduals: 3550 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 6.87431e-12 -5.27343e-12 1.4848e-11 1.81813e-12 -0.000373348 -0.000268943 0.000204661 -0.000236687 -0.000206734 -0.000270586 0.000148346 0.000652123 -0.000436327 -2.02102e-05 -0.000113152 -0.000426146 0.00112066 0.00082677 0.000936119 3.49824e-05 -0.000274479 -0.000393977 -0.00124045 0.000281753 0.000309767 -2.50683e-05 0.000250215 1.6395e-05 -0.00151251 0.000105163 -0.00150833 -4.98995e-05 0.000303098 5.98072e-05 0.00142633 -0.000962838 0.00258588 -0.000283561 -0.00018307 -0.000330049 0.000450739 -0.00122012 -0.00150282 -0.000402251 -0.000310154 0.000143341 5.0552e-05 0.000804624 -0.000729109 5.63034e-05 -1.62546e-06 0.000137414 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3550 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 840.571 0 0 newEnergyL 0 lastEnergy: 848.254 0 0 lastEnergyL: 0mActiveResiduals: 3550 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -5.4351e-12 4.78399e-12 -8.40761e-12 -1.60945e-12 0.000387812 0.000452087 0.000118599 0.000135197 0.000307688 0.000133215 0.000429885 -0.00053029 0.000608896 -2.59727e-05 0.000268764 0.000306353 -0.00043792 -0.00114421 -0.00125542 -0.000167265 0.000380511 0.000313785 0.00130913 -4.72131e-05 0.000205045 6.04159e-05 5.60775e-05 -1.5336e-05 0.00198018 0.000704488 0.00217506 0.00024264 -7.86492e-05 -3.16805e-05 -0.00106588 0.00160005 -0.00234889 0.00036696 0.000368072 0.000455003 -0.00123872 0.00043878 0.000877743 0.000238002 0.000781717 -3.09328e-06 -0.00100954 -0.00112289 -0.000693064 -0.000141342 0.000418783 0.000101335 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3550 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 839.375 0 0 newEnergyL 0 lastEnergy: 840.571 0 0 lastEnergyL: 0mActiveResiduals: 3550 Input.cpp[readImages,206]: Got image from sensor!819 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 6.3509e-12 -4.47254e-12 4.21653e-12 3.49348e-12 -0.000334005 -0.000561346 -0.000302377 -0.000179098 -0.00014911 -0.000223225 -0.00035444 0.000421711 -0.000181291 -1.11622e-05 -3.51613e-05 -0.000370084 0.000618587 0.000979362 0.00178747 0.000130415 -0.000184771 -0.000309046 -0.00128551 0.000736453 0.000144264 6.1697e-05 8.81246e-05 0.000118086 -0.00257826 -0.000276995 -0.00170394 -0.000112534 0.000372438 0.000177028 0.000977731 -0.0010085 0.00204372 -0.000222135 -0.000228983 -0.00040361 0.00141071 -0.00164213 -0.00220745 -0.000566999 -0.000742996 7.21365e-05 0.00146835 0.00129101 0.000654388 0.000225193 -0.000378193 1.75678e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3550 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 831.276 0 0 newEnergyL 0 lastEnergy: 839.375 0 0 lastEnergyL: 0mActiveResiduals: 3550 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 831.276 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3550 INF|LocalMapper.cpp[optimize,345]: End Energy: 831.276 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.489168 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.489168 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 119 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 119 with idx: 0 and allID: 570 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 119<->119 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->119 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->119 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->119 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 162<->119 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 163<->119 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 164<->119 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 165<->119 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 119 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 570: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 118/567: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 117/565: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 116/561: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 116 allId: 561 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.995833 -0.027511 0.0869519 -0.609967 0.0258323 0.999459 0.0203724 -0.615878 -0.0874653 -0.0180413 0.996004 -0.592102 worldPose: 0.717121 -0.0616094 -0.694221 -2.12441 -0.305754 0.867303 -0.39281 1.91151 0.626301 0.493953 0.603124 1.33168 after: 0.717121 -0.0616094 -0.694221 -2.12441 -0.305754 0.867303 -0.39281 1.91151 0.626301 0.493953 0.603124 1.33168 worldPose of new: 0.655463 -0.0571941 -0.753058 -2.20571 -0.362496 0.850933 -0.380144 1.98939 0.662544 0.522151 0.537023 2.37536 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.995833 -0.027511 0.0869519 -0.609967 0.0258323 0.999459 0.0203724 -0.615878 -0.0874653 -0.0180413 0.996004 -0.592102 INF|Mapper.cpp[changeRefFrame,578]: Updating: 571 from old kf id: 119/570 with new ref frame: 561/116 INF|Mapper.cpp[changeRefFrame,578]: Updating: 572 from old kf id: 119/570 with new ref frame: 561/116 INF|Mapper.cpp[changeRefFrame,578]: Updating: 573 from old kf id: 119/570 with new ref frame: 561/116 INF|Mapper.cpp[changeRefFrame,578]: Updating: 574 from old kf id: 119/570 with new ref frame: 561/116 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 570 after changeRefFrame: 0.995833 -0.027511 0.0869519 -0.609967 0.0258323 0.999459 0.0203724 -0.615878 -0.0874653 -0.0180413 0.996004 -0.592102 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 119 to normal frame with refFrame: 116 frame id kf: 570 newref id: 561 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 119 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 17294 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04c3b55960 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 165 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 120 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 63 with distance 0.204Found rest min at: 119 with distance 0.074 overall min: 0.074 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 63 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 742 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 165 into DB 0.204 63 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 63 and real id(91) current kf: 165(815) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.8686 -0.312496 0.384552 -2.1423 0.207534 0.934146 0.290345 -0.527672 -0.44996 -0.172386 0.876253 1.26434 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 91 currFrame: 165 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 820 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.000635559 eye: 0.000330185 edge: 165 to 91 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 165 to 91 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 432(1311875587.632637) and 815(1311875600.412259) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!820 INF|Input.cpp[getImages,132]: mNbReceivedImages!821 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 21,0.999121 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4683/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 165 to 91 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 432(1311875587.632637) and 815(1311875600.412259) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.978953 0.101624 -0.176986 0.398647 -0.0834751 0.990733 0.107148 -0.251324 0.186234 -0.0901189 0.978364 -0.0667729 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999997 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1341/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 165 to 91 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 432(1311875587.632637) and 815(1311875600.412259) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.978468 0.10384 -0.178374 0.403107 -0.0848302 0.990182 0.111098 -0.259816 0.188159 -0.0935745 0.977671 -0.068021 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1661/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.978424 0.10424 -0.178383 0.403352 -0.0851735 0.990117 0.111414 -0.260318 0.188234 -0.0938171 0.977633 -0.067875 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 90 end 93 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 8330 o[1]: 2017 o[2]: 651 o[3]: 125 histWeights: 1 1 1.25 1.5overlap: 3018.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7346 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 91 and 165 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 165 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 165 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 11677 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 816 keyframes 166 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.441568 Input.cpp[readImages,206]: Got image from sensor!820 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0.000833097 0.000384289 0.00851184 -0.000831575 0.999992 -0.00394425 -0.00511841 -0.000387572 0.00394393 0.999992 -0.00129059 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.441568) and 815(1311875600.412259) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0.000833097 0.000384289 0.00851184 -0.000831575 0.999992 -0.00394425 -0.00511841 -0.000387572 0.00394393 0.999992 -0.00129059 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 821 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999125 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2354/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.441568) and 815(1311875600.412259) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999999 -0.000977409 -0.000713117 0.00693357 0.000974051 0.999989 -0.00469407 -0.00271565 0.000717696 0.00469338 0.999989 -0.00675668 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999752 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2735/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.441568) and 815(1311875600.412259) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999999 -0.00116078 0.000360871 0.00883567 0.00116251 0.999988 -0.00481605 0.00150622 -0.000355276 0.00481647 0.999988 -0.00588442 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999085 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1632/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.462068 resInfo good: 7339, 7 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7973/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999999 -0.00122443 -6.86234e-05 0.0120044 0.00122409 0.999988 -0.00481996 0.00332443 7.45243e-05 0.00481987 0.999988 -0.00541622 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!816 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!821 INF|Input.cpp[getImages,132]: mNbReceivedImages!822 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 536 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.480654 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999997 -0.00244917 -0.000131344 0.0240052 0.00244779 0.999951 -0.00963988 0.00668963 0.000154948 0.00963953 0.999954 -0.0108155 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.480654) and 815(1311875600.412259) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999997 -0.00244917 -0.000131344 0.0240052 0.00244779 0.999951 -0.00963988 0.00668963 0.000154948 0.00963953 0.999954 -0.0108155 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999891 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3830/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.480654) and 815(1311875600.412259) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999994 -0.00268853 0.00230113 0.0148744 0.00270625 0.999966 -0.00773394 -0.00405814 -0.00228026 0.00774012 0.999967 -0.0055259 Input.cpp[readImages,206]: Got image from sensor!821 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.99982 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3158/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.480654) and 815(1311875600.412259) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99999 -0.00259942 0.0037087 0.0155598 0.0026245 0.999974 -0.0067736 -0.00224731 -0.00369099 0.00678326 0.99997 -0.00513503 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 822 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999899 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2349/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.626914 resInfo good: 7342, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10530/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999991 -0.00223522 0.00351536 0.0183199 0.00225747 0.999977 -0.00633746 -0.00147367 -0.00350111 0.00634534 0.999974 -0.00449494 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!817 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.511919 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!822 INF|Input.cpp[getImages,132]: mNbReceivedImages!823 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999982 -0.00273856 0.00530791 0.0214808 0.00277619 0.999971 -0.00709482 -0.0038708 -0.00528833 0.00710942 0.999961 -0.00404552 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.511919) and 815(1311875600.412259) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999982 -0.00273856 0.00530791 0.0214808 0.00277619 0.999971 -0.00709482 -0.0038708 -0.00528833 0.00710942 0.999961 -0.00404552 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4127/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.511919) and 815(1311875600.412259) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999975 -0.00699136 -0.000812967 0.0277779 0.00697761 0.99985 -0.0158398 0.00850374 0.000923586 0.0158337 0.999874 -0.010193 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999021 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3373/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.511919) and 815(1311875600.412259) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999978 -0.00644121 0.00152096 0.0267564 0.00645953 0.999903 -0.0123643 0.00454403 -0.00144117 0.0123739 0.999922 -0.00976651 Input.cpp[readImages,206]: Got image from sensor!822 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999731 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1657/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.742407 resInfo good: 7333, 13 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10974/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999978 -0.00629138 0.00191272 0.0282533 0.00631414 0.999906 -0.0121327 0.00585317 -0.00183621 0.0121445 0.999925 -0.00875717 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!818 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.543516 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 823 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999978 -0.00629138 0.00191272 0.0282533 0.00631414 0.999906 -0.0121327 0.00585317 -0.00183621 0.0121445 0.999925 -0.00875717 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.543516) and 815(1311875600.412259) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999978 -0.00629138 0.00191272 0.0282533 0.00631414 0.999906 -0.0121327 0.00585317 -0.00183621 0.0121445 0.999925 -0.00875717 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999092 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1578/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.543516) and 815(1311875600.412259) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999935 -0.0114021 0.000299824 0.0319655 0.0114049 0.999866 -0.0117388 0.00521028 -0.000165936 0.0117415 0.999931 -0.0134944 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!823 INF|Input.cpp[getImages,132]: mNbReceivedImages!824 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.99942 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4230/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.543516) and 815(1311875600.412259) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999934 -0.0113943 -0.00116454 0.0378085 0.0113812 0.999878 -0.0107351 0.0061208 0.00128671 0.0107212 0.999942 -0.0126333 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999314 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:981/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.806533 resInfo good: 7343, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8165/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999931 -0.0117501 -0.000495677 0.0384596 0.0117444 0.999878 -0.0102629 0.00685532 0.000616207 0.0102563 0.999947 -0.0117684 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!819 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.579862 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999931 -0.0117501 -0.000495677 0.0384596 0.0117444 0.999878 -0.0102629 0.00685532 0.000616207 0.0102563 0.999947 -0.0117684 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.579862) and 815(1311875600.412259) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999931 -0.0117501 -0.000495677 0.0384596 0.0117444 0.999878 -0.0102629 0.00685532 0.000616207 0.0102563 0.999947 -0.0117684 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999448 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1202/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.579862) and 815(1311875600.412259) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999921 -0.0125708 -5.03987e-05 0.0399754 0.0125696 0.999869 -0.0102373 0.00643448 0.000179083 0.0102359 0.999948 -0.0110507 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999353 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3376/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.579862) and 815(1311875600.412259) on lvl: 0 Input.cpp[readImages,206]: Got image from sensor!823 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999916 -0.0128821 -0.00110826 0.0466897 0.0128747 0.999896 -0.00645384 0.00186759 0.00119128 0.00643903 0.999979 -0.0125796 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999677 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1683/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.877126 resInfo good: 7339, 7 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7423/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999916 -0.0129218 -0.0012038 0.0485857 0.0129146 0.999899 -0.00587592 0.00217987 0.00127961 0.00585988 0.999982 -0.0122737 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!820 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.610941 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 824 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999916 -0.0129218 -0.0012038 0.0485857 0.0129146 0.999899 -0.00587592 0.00217987 0.00127961 0.00585988 0.999982 -0.0122737 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.610941) and 815(1311875600.412259) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999916 -0.0129218 -0.0012038 0.0485857 0.0129146 0.999899 -0.00587592 0.00217987 0.00127961 0.00585988 0.999982 -0.0122737 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999234 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3089/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.610941) and 815(1311875600.412259) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999943 -0.00985102 -0.00408411 0.0620089 0.00981265 0.999908 -0.00931208 0.00351179 0.00417547 0.00927147 0.999948 -0.0153116 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!824 INF|Input.cpp[getImages,132]: mNbReceivedImages!825 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999354 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2558/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.610941) and 815(1311875600.412259) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999942 -0.0107629 -0.00095906 0.0612361 0.0107569 0.999924 -0.00601172 0.000925464 0.00102369 0.00600105 0.999981 -0.0150139 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1999/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.981966 resInfo good: 7339, 7 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8850/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999943 -0.0105424 -0.00143015 0.062289 0.0105335 0.999926 -0.0061074 0.00210051 0.00149443 0.00609199 0.99998 -0.0159293 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!821 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 465 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.646976 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999955 -0.00935272 -0.00154353 0.0691408 0.00934294 0.999937 -0.00622295 0.00204892 0.00160164 0.00620825 0.999979 -0.0177561 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.646976) and 815(1311875600.412259) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999955 -0.00935272 -0.00154353 0.0691408 0.00934294 0.999937 -0.00622295 0.00204892 0.00160164 0.00620825 0.999979 -0.0177561 Input.cpp[readImages,206]: Got image from sensor!824 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2575/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.646976) and 815(1311875600.412259) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999953 -0.00962844 -0.000896978 0.0706014 0.00962253 0.999933 -0.00638299 0.00168811 0.000958376 0.00637406 0.999979 -0.0184383 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 825 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999145 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3005/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 165 to 577390368 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.646976) and 815(1311875600.412259) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999966 -0.00819716 0.00100173 0.0701637 0.00820187 0.999955 -0.00478602 0.00170006 -0.000962454 0.00479407 0.999988 -0.0173404 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999952 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1629/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.07296 resInfo good: 7327, 19 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8319/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999964 -0.00831989 0.00141109 0.0720617 0.00832563 0.999957 -0.00411158 0.00236732 -0.00137682 0.00412318 0.999991 -0.0165867 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875600.646976 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875600.646976 to keyframe with id: 577390368 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875600.646976 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 904 size: 7687 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId577390368 timestamp: 1311875600.646976 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -8.66555 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -9.62173 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -22.6409 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 799 keyframeId: 162 score: -25.9465 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 804 keyframeId: 163 score: -21.1308 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 809 keyframeId: 164 score: -12.9074 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 166 = 166 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226a4740 fh1 0x3ddc0840fh->id: 151 166 822goodE: 355 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226a4740 fh1 0x10913f80fh->id: 154 166 822goodE: 60 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226a4740 fh1 0x3ec60b00fh->id: 161 166 822goodE: 123 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226a4740 fh1 0x7f04bb6f7ba0fh->id: 162 166 822goodE: 29 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226a4740 fh1 0x7f04ba716b40fh->id: 163 166 822goodE: 29 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226a4740 fh1 0x7f04ba70f7c0fh->id: 164 166 822goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x226a4740 fh1 0x7f04c3b55960fh->id: 165 166 822goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew166 Input.cpp[readImages,192]: readImages loop! INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 120 out of 129 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 129 newEdgePixels: 129 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4275 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 712 lastEnergy: 1185.74 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 156 INF|LocalMapper.cpp[optimize,276]: Start Energy: 1185.74 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 8.52781e-12 -2.68359e-12 2.58206e-12 -1.09369e-12 -0.000428038 -0.000551456 0.000115345 8.09989e-06 -0.000135925 4.89213e-05 -0.00131482 -0.000572806 -0.00103775 -1.98108e-05 9.27663e-05 6.40343e-05 0.000944335 -0.001657 0.000361654 -0.000281565 -0.000363034 -0.000283641 0.0012279 0.00155802 0.00341948 0.000330037 -0.000444953 -0.000445409 -0.00208286 0.00019797 -0.00207126 0.000138471 0.00012667 2.31865e-06 -0.000138149 0.000144194 0.00162378 0.000206032 0.000154347 -0.000606122 -0.000972562 -0.000359235 -0.00144444 -0.000159167 9.72631e-05 -0.000830278 -0.00561742 -0.00396288 0.000202336 -0.00103555 0.00124488 -0.00115245 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4275 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 1102.27 0 0 newEnergyL 0 lastEnergy: 1185.74 0 0 lastEnergyL: 0mActiveResiduals: 4275 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 6.3075e-12 -2.73849e-12 3.45715e-13 -2.84284e-12 0.000206581 -0.000113984 -0.000597397 -2.87026e-05 -6.95805e-05 -8.29938e-05 0.00169164 -0.000248393 0.00139553 -2.13284e-06 -0.000326263 0.000213014 -0.00121996 0.000298145 0.00110664 0.000143954 0.000214983 0.000208726 -0.00285452 -0.00150421 -0.000984768 -0.000262725 0.000566983 7.34358e-05 0.00140501 -0.000226076 0.00351689 5.46819e-05 -0.000280289 -0.00010578 -0.00105832 -0.00174346 -0.000250511 -0.000431787 -8.53556e-05 0.000180643 2.52188e-05 -0.00186621 6.70225e-05 -0.000447153 -8.06599e-05 0.000245469 -0.000560633 -0.00359505 0.00119943 -0.000803695 0.00014063 -0.000113848 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4275 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 1073.75 0 0 newEnergyL 0 lastEnergy: 1102.27 0 0 lastEnergyL: 0mActiveResiduals: 4275 Input.cpp[readImages,206]: Got image from sensor!825 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 2.8073e-13 -4.32196e-12 2.81619e-12 3.4367e-12 -3.73325e-05 -0.000797519 0.000695582 -0.000101123 2.26981e-05 0.000261026 -0.000459494 0.000683794 -0.000443158 0.000116025 8.45163e-05 8.50363e-05 0.00166187 8.27703e-06 0.000338636 5.15174e-06 -0.000206436 0.000145404 0.00219182 0.00073411 0.00134242 0.000143424 -0.000387182 3.05225e-05 -0.000960456 0.000287719 -0.00133904 4.91168e-05 0.000302144 0.000173923 0.000600505 0.000138751 0.000417294 0.000168793 0.000242846 1.13504e-05 -0.000524267 0.00108212 0.000340527 0.000279707 0.000300944 -0.000269846 -0.00229793 -0.00194635 -0.00137561 -0.000419269 0.000646846 -0.000218217 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4275 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 1055.33 0 0 newEnergyL 0 lastEnergy: 1073.75 0 0 lastEnergyL: 0mActiveResiduals: 4275 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 2.70143e-12 1.89443e-12 -8.11668e-12 1.0043e-12 5.19174e-05 0.000924551 -0.000767495 5.17824e-05 -0.000190297 -0.00037388 -0.000240385 -0.000313238 -0.000481129 -6.52897e-05 -0.000179817 -0.000166881 -0.00169547 0.000310129 3.88743e-05 2.91068e-05 2.99146e-05 -0.000105152 -0.00249305 -0.000381765 -0.00118779 -0.000167153 0.000281195 -0.000129105 0.000543263 0.000339058 0.00202225 8.83424e-05 -0.000394575 -0.000298047 0.00079688 -0.000260947 -0.000105521 -0.000250713 -0.000653087 -0.000398478 0.000583101 -0.000723689 -0.000287592 -0.000324307 -0.000326749 -0.000283414 0.00192277 -0.000330477 0.000612123 -0.000208196 -0.000577166 -0.000215347 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4275 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 826 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 1047.55 0 0 newEnergyL 0 lastEnergy: 1055.33 0 0 lastEnergyL: 0mActiveResiduals: 4275 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.46918e-12 2.40277e-12 1.26599e-11 -4.65126e-12 0.000145894 -0.000572369 0.000920652 -2.21245e-06 6.11404e-05 0.000347862 0.000199196 0.000407962 0.000583677 0.000121375 0.000162896 0.000255656 0.00158033 0.000107984 -0.000150569 1.88986e-05 9.251e-05 0.000117122 0.00268086 0.000425198 0.00104781 0.000124029 -0.000171325 6.73081e-05 -0.00088341 0.000264134 -0.0019595 2.47185e-05 0.000636315 0.000266669 -0.000469148 0.000314474 0.000923197 0.000187052 0.000815317 9.22325e-05 0.000134552 0.000910726 0.000641919 0.000241763 0.000469626 1.57601e-06 -0.00276709 -0.00127211 -0.00215465 -0.000268904 0.00109907 -0.000241499 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4275 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 1044.47 0 0 newEnergyL 0 lastEnergy: 1047.55 0 0 lastEnergyL: 0mActiveResiduals: 4275 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.15627e-12 1.57313e-12 -1.57799e-11 2.28933e-12 0.00014891 0.000434527 -0.000481576 -3.35457e-05 -7.06559e-05 -0.000239373 -0.000246057 0.000420477 -0.000382199 2.27195e-05 -6.57559e-05 -0.00030337 -0.000878765 0.000684387 -0.000271461 0.000109247 -7.35489e-05 -0.000167212 -0.00294852 -0.000573922 -0.0015928 -0.000162731 0.000406616 -0.000139824 0.00118219 0.000615781 0.00225134 0.000124263 -0.000520962 -0.00023022 0.000441036 -0.000478646 -0.000458008 -0.000287419 -0.000555442 -0.000322905 -0.0001126 -0.00213779 -0.00105375 -0.000610587 -0.00021533 -0.000289075 0.00196647 0.000677297 0.00169604 2.60328e-05 -0.000528387 -0.000147677 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4275 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 1032.95 0 0 newEnergyL 0 lastEnergy: 1044.47 0 0 lastEnergyL: 0mActiveResiduals: 4275 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 1032.95 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4275 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!826 INF|Input.cpp[getImages,132]: mNbReceivedImages!827 INF|LocalMapper.cpp[optimize,345]: End Energy: 1032.95 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.496872 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.496872 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 162 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 162 with idx: 3 and allID: 799 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->162 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 162->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->162 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 162->154 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->162 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 162->161 INF|LocalMapper.cpp[marginalizeFrame,801]: 162 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 162 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 21174 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x226a4740 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 166 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 121 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 63 with distance 0.194Found rest min at: 120 with distance 0.074 overall min: 0.074 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 63 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 729 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 166 into DB 0.194 63 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 63 and real id(91) current kf: 166(822) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.871577 -0.306048 0.383 -2.19963 0.197614 0.934255 0.296843 -0.545012 -0.448668 -0.183035 0.874754 1.31421 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 91 currFrame: 166 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.000569232 eye: 0.000331979 edge: 166 to 91 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 166 to 91 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 432(1311875587.632637) and 822(1311875600.646976) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999954 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1781/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 166 to 91 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 432(1311875587.632637) and 822(1311875600.646976) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998874 -0.000943074 0.0474364 -0.104428 0.00141894 0.999949 -0.0099989 -0.00863714 -0.0474246 0.0100549 0.998824 0.0801322 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999928 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1903/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 166 to 91 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 432(1311875587.632637) and 822(1311875600.646976) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.995636 0.012791 0.092436 -0.205741 -0.0132477 0.999903 0.00432935 -0.035306 -0.0923716 -0.00553502 0.995709 0.0654941 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999221 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1155/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.995268 0.0151403 0.0959809 -0.216107 -0.0159426 0.999844 0.00759787 -0.0385045 -0.0958509 -0.0090921 0.995354 0.049055 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 90 end 93 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!826 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 8383 o[1]: 2037 o[2]: 742 o[3]: 177 histWeights: 1 1 1.25 1.5overlap: 3230 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7687 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 91 and 166 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 166 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 166 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 8986 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 823 keyframes 167 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 524 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.682676 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 827 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 166 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.682676) and 822(1311875600.646976) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!827 INF|Input.cpp[getImages,132]: mNbReceivedImages!828 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999865 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2730/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 166 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.682676) and 822(1311875600.646976) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999995 0.00286408 -0.000943285 0.00462556 -0.00286499 0.999995 -0.000957686 -0.000464816 0.000940538 0.000960384 0.999999 -0.00138672 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999726 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2772/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 166 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.682676) and 822(1311875600.646976) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999997 0.00226463 -0.000681305 0.00798262 -0.00226446 0.999997 0.000250738 0.000619628 0.000681871 -0.000249194 1 -0.000642445 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999611 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2385/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.3422 resInfo good: 7668, 19 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9303/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999997 0.00260098 0.000467267 0.00767822 -0.00260155 0.999996 0.00123801 0.000405861 -0.000464045 -0.00123922 0.999999 -0.000465375 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!823 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.710354 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999992 0.00390124 0.000702108 0.0115176 -0.00390254 0.999991 0.00185655 0.000601085 -0.000694858 -0.00185928 0.999998 -0.000699589 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 166 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.710354) and 822(1311875600.646976) on lvl: 2 Input.cpp[readImages,206]: Got image from sensor!827 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999992 0.00390124 0.000702108 0.0115176 -0.00390254 0.999991 0.00185655 0.000601085 -0.000694858 -0.00185928 0.999998 -0.000699589 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999588 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3049/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 166 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.710354) and 822(1311875600.646976) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999968 0.00686932 -0.00410585 0.0198769 -0.0068569 0.999972 0.00303137 0.00279956 0.00412656 -0.00300312 0.999987 -0.00326398 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 828 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4402/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 166 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.710354) and 822(1311875600.646976) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999974 0.00609131 -0.00379135 0.023711 -0.00607323 0.99997 0.0047607 0.00201205 0.00382024 -0.00473755 0.999981 -0.00390793 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.99966 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1061/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.554783 resInfo good: 7668, 19 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9848/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999978 0.00612128 -0.00269083 0.023115 -0.00610667 0.999967 0.00540808 0.00191898 0.00272385 -0.00539153 0.999982 -0.00269505 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!824 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!828 INF|Input.cpp[getImages,132]: mNbReceivedImages!829 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.744180 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99996 0.00788632 -0.00426436 0.030838 -0.0078542 0.999941 0.00749723 0.00265176 0.00432323 -0.00746344 0.999963 -0.00379387 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 166 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.744180) and 822(1311875600.646976) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99996 0.00788632 -0.00426436 0.030838 -0.0078542 0.999941 0.00749723 0.00265176 0.00432323 -0.00746344 0.999963 -0.00379387 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999843 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3958/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 166 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.744180) and 822(1311875600.646976) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99991 0.0123516 -0.00515658 0.0427348 -0.012311 0.999894 0.00783176 0.000957883 0.00525276 -0.00776758 0.999956 -0.00398629 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999899 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1807/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 166 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.744180) and 822(1311875600.646976) on lvl: 0 Input.cpp[readImages,206]: Got image from sensor!828 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999914 0.0129878 -0.00191475 0.0364042 -0.0129683 0.999867 0.0098853 -0.00154621 0.00204288 -0.00985962 0.999949 -0.00515526 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999715 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1621/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.737294 resInfo good: 7668, 19 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8570/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999921 0.0125309 -0.000381968 0.0359212 -0.0125254 0.999848 0.012088 -0.00247234 0.000533384 -0.0120823 0.999927 -0.00157718 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!825 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 481 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.786208 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 829 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999921 0.0125309 -0.000381968 0.0359212 -0.0125254 0.999848 0.012088 -0.00247234 0.000533384 -0.0120823 0.999927 -0.00157718 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 166 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.786208) and 822(1311875600.646976) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999921 0.0125309 -0.000381968 0.0359212 -0.0125254 0.999848 0.012088 -0.00247234 0.000533384 -0.0120823 0.999927 -0.00157718 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!829 INF|Input.cpp[getImages,132]: mNbReceivedImages!830 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.99965 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3377/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 166 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.786208) and 822(1311875600.646976) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999786 0.0205454 -0.0026048 0.0506609 -0.0205197 0.999744 0.00952345 -0.00249796 0.0027998 -0.00946796 0.999951 -0.000563543 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999788 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4174/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 166 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.786208) and 822(1311875600.646976) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999783 0.0207603 0.00148843 0.0450775 -0.020778 0.999699 0.0130277 -0.00643051 -0.00121752 -0.0130558 0.999914 -0.000235302 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999746 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1924/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.829133 resInfo good: 7681, 6 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10829/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999791 0.0203403 0.00217926 0.0453939 -0.0203689 0.999694 0.0140231 -0.00632295 -0.00189336 -0.0140646 0.999899 0.000799816 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!826 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 570 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.810258 Input.cpp[readImages,206]: Got image from sensor!829 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.9997 0.0242427 0.00346552 0.0501211 -0.024292 0.999593 0.0149831 -0.00827436 -0.00310088 -0.0150628 0.999882 0.00198241 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 166 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.810258) and 822(1311875600.646976) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.9997 0.0242427 0.00346552 0.0501211 -0.024292 0.999593 0.0149831 -0.00827436 -0.00310088 -0.0150628 0.999882 0.00198241 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999475 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:454/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 166 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.810258) and 822(1311875600.646976) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999549 0.0292102 -0.00697125 0.0740686 -0.0291541 0.999543 0.00802247 0.00192481 0.0072024 -0.00781561 0.999944 -0.0107342 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 830 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999977 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3189/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 166 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.810258) and 822(1311875600.646976) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999633 0.0270475 0.0017997 0.0578182 -0.0270711 0.999526 0.0146698 -0.00643086 -0.00140206 -0.0147131 0.999891 -0.00366226 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999389 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1540/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.930149 resInfo good: 7656, 31 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6596/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999649 0.0264373 0.001629 0.0598151 -0.0264577 0.999549 0.0141936 -0.00343883 -0.00125302 -0.0142317 0.999898 -0.00249624 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!827 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.843036 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!830 INF|Input.cpp[getImages,132]: mNbReceivedImages!831 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999564 0.0294854 0.00135426 0.0670329 -0.0295018 0.999463 0.0142801 -0.00202994 -0.000932474 -0.0143139 0.999897 -0.00414103 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 166 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.843036) and 822(1311875600.646976) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999564 0.0294854 0.00135426 0.0670329 -0.0295018 0.999463 0.0142801 -0.00202994 -0.000932474 -0.0143139 0.999897 -0.00414103 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999345 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2512/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 166 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.843036) and 822(1311875600.646976) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99951 0.0312448 0.00194568 0.0712005 -0.0312699 0.999404 0.0145982 -0.00571633 -0.00148841 -0.0146519 0.999892 0.00052215 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.99998 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2335/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 166 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.843036) and 822(1311875600.646976) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99949 0.0318152 0.00264699 0.0712782 -0.0318556 0.999349 0.0169634 -0.00807726 -0.00210557 -0.0170391 0.999853 -0.00109198 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999059 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1076/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.03292 resInfo good: 7661, 26 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7111/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999504 0.0313182 0.00339274 0.0721093 -0.0313766 0.999331 0.0188015 -0.00831006 -0.00280164 -0.0188986 0.999817 0.00104848 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875600.843036 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875600.843036 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875600.843036 Input.cpp[readImages,206]: Got image from sensor!830 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1058 size: 7610 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875600.843036 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -8.74204 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -9.67907 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -16.066 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 804 keyframeId: 163 score: -20.349 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 809 keyframeId: 164 score: -19.8728 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -13.9878 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 167 = 167 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04d91f8640 fh1 0x3ddc0840fh->id: 151 167 828goodE: 362 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04d91f8640 fh1 0x10913f80fh->id: 154 167 828goodE: 64 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04d91f8640 fh1 0x3ec60b00fh->id: 161 167 828goodE: 124 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04d91f8640 fh1 0x7f04ba716b40fh->id: 163 167 828goodE: 28 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04d91f8640 fh1 0x7f04ba70f7c0fh->id: 164 167 828goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04d91f8640 fh1 0x7f04c3b55960fh->id: 165 167 828goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04d91f8640 fh1 0x226a4740fh->id: 166 167 828goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew167 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 831 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 86 out of 98 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 98 newEdgePixels: 98 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4169 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 679 lastEnergy: 1143.95 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 129 INF|LocalMapper.cpp[optimize,276]: Start Energy: 1143.95 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 3.84096e-12 2.20611e-13 2.43142e-11 1.00304e-11 0.000271271 -0.000410582 -4.56764e-05 4.7435e-05 7.91249e-05 0.000188898 -0.00025741 -0.00158169 -0.00123991 -0.000292773 0.000157814 -9.2822e-05 0.000318457 -0.000535702 0.000439179 -1.4299e-05 -1.00584e-05 0.000389855 -0.00329808 -0.000492992 -0.00133053 -4.74911e-05 0.000893416 -0.000234242 -0.000574002 0.000959049 0.00153334 0.000433232 0.000370428 -0.000210029 -0.00127304 0.00155228 0.00149337 0.000474515 0.000360008 -2.59333e-05 -0.00102212 0.000253433 -0.000661905 0.000140721 8.83808e-05 -0.000121504 0.000603258 -0.00344277 -0.00285856 -0.000978646 -0.000145957 -0.0010141 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4169 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 1078.17 0 0 newEnergyL 0 lastEnergy: 1143.95 0 0 lastEnergyL: 0mActiveResiduals: 4169 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!831 INF|Input.cpp[getImages,132]: mNbReceivedImages!832 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.36057e-12 -2.20943e-13 6.26178e-13 1.49265e-12 -0.000196531 -0.000625756 8.18812e-05 -8.27275e-05 1.97311e-05 -8.30907e-05 0.000165438 -0.000571844 0.000857109 -5.24688e-05 -1.41401e-07 0.000159454 -0.00130652 0.000604045 0.000412962 0.00024712 0.000220479 -3.18548e-05 -0.00125355 -0.000888782 0.00170843 -5.79064e-05 0.000114568 0.000157468 -0.000250743 -0.00121958 -0.000410699 -0.000222539 -0.000281856 0.000125885 -0.00173682 -0.00212808 0.000382629 -0.000366164 0.000233141 -9.35572e-05 0.00232082 0.000199961 0.00107876 0.000118268 -0.000583031 2.53406e-05 0.0022644 0.00226406 0.00170066 0.000520783 -0.000627993 -0.000351312 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4169 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 1048.2 0 0 newEnergyL 0 lastEnergy: 1078.17 0 0 lastEnergyL: 0mActiveResiduals: 4169 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -2.94401e-12 -3.66205e-12 -6.61097e-13 2.81129e-12 -0.000265645 0.000653663 0.00120641 0.000211552 9.90199e-05 0.000251103 0.000813986 -0.00113475 -0.000726986 -0.000180169 -8.78715e-05 0.000391778 0.000853467 -0.00107397 0.000585768 -0.000181348 6.37692e-05 0.000181572 -0.000144987 -8.16153e-05 -0.00203859 -6.34311e-05 0.000298764 0.0001629 -0.000110689 0.000963828 0.00178973 0.000303571 0.00050396 -0.000113679 0.000682426 0.00166483 0.000911384 0.000468447 0.000173125 0.000235368 -0.0010204 -1.79984e-05 -3.72185e-05 4.8351e-05 0.000425672 3.19622e-05 -0.000505472 -0.000705006 -0.00155673 -0.000189316 0.000587299 -0.00020848 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4169 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 1035.19 0 0 newEnergyL 0 lastEnergy: 1048.2 0 0 lastEnergyL: 0mActiveResiduals: 4169 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 9.70752e-12 2.96197e-12 8.66925e-12 2.65067e-13 -9.87186e-05 -0.000134346 -0.0016542 -6.80079e-05 -0.000264197 -0.000133384 -0.000421437 0.00113632 -0.000122906 0.000193747 -0.000282097 -0.000294444 -0.0018709 0.000844431 -0.00063637 0.000113523 -0.000153348 -0.000305863 -0.000850424 2.99213e-05 0.0019349 -3.42969e-06 -0.00044992 4.95387e-05 -0.000925664 -0.00219385 -0.00189664 -0.00050819 -0.000544316 -3.66034e-05 -0.00120138 -0.00291143 -0.000774169 -0.000759709 -0.000270231 -0.000416953 0.00259309 0.000223611 -8.08239e-05 -9.49792e-05 -0.000984113 -0.000282094 0.00199448 0.00236278 0.00286107 0.000465245 -0.00111386 -0.000192632 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4169 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 1021.64 0 0 newEnergyL 0 lastEnergy: 1035.19 0 0 lastEnergyL: 0mActiveResiduals: 4169 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.01716e-11 -3.47296e-12 -6.16188e-12 -2.01979e-12 0.000246065 0.000389825 0.00118649 0.000154882 0.000159872 0.000251787 0.000238518 -0.00184981 -2.58164e-05 -0.00025768 0.000198634 0.000393529 0.001365 -0.000569962 0.000803787 -5.75722e-05 0.000137378 0.000302098 -0.00052846 -0.00026336 -0.00190661 -3.49012e-05 0.000531891 0.000123282 0.000622421 0.00179102 0.00159811 0.000465776 0.000456735 0.000266353 0.00149271 0.00266919 0.000916536 0.00076321 5.65723e-06 0.000425502 -0.00139842 0.000676061 0.000165147 0.000250691 0.000513635 -4.02756e-06 -0.00147623 -0.00236925 -0.0022533 -0.00041951 0.000831448 0.000218375 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4169 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 1024.57 0 0 newEnergyL 0 lastEnergy: 1021.64 0 0 lastEnergyL: 0mActiveResiduals: 4169 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 6.12458e-12 1.24944e-12 4.2642e-12 7.02473e-12 -6.44356e-05 0.000286533 -0.00142558 -7.61088e-05 -1.76093e-05 -0.000405266 -0.000184983 0.00185088 -2.01194e-05 0.000190011 -9.72049e-05 -0.00055746 -0.00133852 0.000537341 -0.000719706 2.27612e-06 -4.36394e-05 -0.000485465 -0.000673447 0.000289449 0.00218952 8.73451e-06 -0.000259804 -0.000227575 -0.00133309 -0.00165686 -0.000696936 -0.000547386 -0.000266523 -0.000438711 -0.00136642 -0.00277624 -0.000895302 -0.000862536 4.32256e-05 -0.000629348 0.00206899 -0.000690799 -0.000915221 -0.00038537 -0.000588393 -0.000216699 0.00220699 0.00178942 0.00163643 0.00016311 -0.000982091 -0.000576126 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4169 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 1012.42 0 0 newEnergyL 0 lastEnergy: 1024.57 0 0 lastEnergyL: 0mActiveResiduals: 4169 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 1012.42 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4169 INF|LocalMapper.cpp[optimize,345]: End Energy: 1012.42 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.498079 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.498079 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! Input.cpp[readImages,206]: Got image from sensor!831 INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 163 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 163 with idx: 3 and allID: 804 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->163 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 163->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->163 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 163->154 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->163 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 163->161 INF|LocalMapper.cpp[marginalizeFrame,801]: 163 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 163 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 19433 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04d91f8640 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 167 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 122 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 63 with distance 0.198Found rest min at: 121 with distance 0.056 overall min: 0.056 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 63 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 721 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 167 into DB 0.198 63 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 63 and real id(91) current kf: 167(828) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.864109 -0.324324 0.384876 -2.26284 0.226204 0.933371 0.278659 -0.553511 -0.449608 -0.153731 0.879897 1.34321 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 91 currFrame: 167 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.000560058 eye: 0.000316426 edge: 167 to 91 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 167 to 91 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 432(1311875587.632637) and 828(1311875600.843036) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 832 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999994 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2922/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 167 to 91 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 432(1311875587.632637) and 828(1311875600.843036) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999421 -0.0047757 0.0336803 -0.0877522 0.00584504 0.99948 -0.0317232 0.0147063 -0.0335113 0.0319017 0.998929 0.148376 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999574 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:718/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 167 to 91 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 432(1311875587.632637) and 828(1311875600.843036) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999409 -0.0055079 0.0339367 -0.0884933 0.00659098 0.99947 -0.0318859 0.0139292 -0.0337431 0.0320907 0.998915 0.151034 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 0,0.999083 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:543/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.999371 -0.0063426 0.0348994 -0.0905721 0.00743653 0.999482 -0.0313053 0.0124816 -0.0346828 0.0315451 0.9989 0.152125 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 90 end 93 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 8290 o[1]: 1848 o[2]: 719 o[3]: 163 histWeights: 1 1 1.25 1.5overlap: 2991.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 7610 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 91 and 167 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 167 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 167 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 8355 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 829 keyframes 168 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!832 INF|Input.cpp[getImages,132]: mNbReceivedImages!833 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.882792 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 167 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.882792) and 828(1311875600.843036) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999389 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3856/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 167 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.882792) and 828(1311875600.843036) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999988 0.00284291 -0.00390041 0.0161634 -0.00286252 0.999983 -0.00503166 -0.00197242 0.00388604 0.00504277 0.99998 0.00587724 Input.cpp[readImages,206]: Got image from sensor!832 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999051 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2438/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 167 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.882792) and 828(1311875600.843036) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999996 0.00280387 -0.000150907 0.0112039 -0.00280417 0.999994 -0.00202512 -0.00437006 0.000145228 0.00202553 0.999998 0.00533935 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 833 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999873 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1975/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.43157 resInfo good: 7598, 12 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10014/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999996 0.00276579 0.000355778 0.0120834 -0.00276566 0.999996 -0.000354389 -0.0056884 -0.000356756 0.000353403 1 0.00389472 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!829 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.910270 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!833 INF|Input.cpp[getImages,132]: mNbReceivedImages!834 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999984 0.00553168 0.000710574 0.0241524 -0.00553118 0.999984 -0.00070976 -0.0114116 -0.000714489 0.000705819 0.999999 0.00778312 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 167 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.910270) and 828(1311875600.843036) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999984 0.00553168 0.000710574 0.0241524 -0.00553118 0.999984 -0.00070976 -0.0114116 -0.000714489 0.000705819 0.999999 0.00778312 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999599 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3421/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 167 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.910270) and 828(1311875600.843036) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999978 0.00247766 -0.00623121 0.0297345 -0.00252922 0.999963 -0.0082811 -0.00778222 0.00621046 0.00829668 0.999946 -0.00309006 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999734 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4527/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 167 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.910270) and 828(1311875600.843036) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999991 0.00260395 -0.00331593 0.0268159 -0.0026293 0.999967 -0.00766305 -0.00526555 0.00329587 0.0076717 0.999965 -0.000650319 Input.cpp[readImages,206]: Got image from sensor!833 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999827 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2439/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.64594 resInfo good: 7598, 12 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11970/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999994 0.0024302 -0.00235316 0.026856 -0.00244643 0.999973 -0.00691699 -0.00486812 0.00233629 0.00692271 0.999973 3.97713e-05 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!830 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.942226 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 834 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999991 0.00225574 -0.00370678 0.0342461 -0.00229344 0.999945 -0.0101985 -0.00444672 0.00368357 0.0102069 0.999941 -0.00187064 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 167 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.942226) and 828(1311875600.843036) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999991 0.00225574 -0.00370678 0.0342461 -0.00229344 0.999945 -0.0101985 -0.00444672 0.00368357 0.0102069 0.999941 -0.00187064 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!834 INF|Input.cpp[getImages,132]: mNbReceivedImages!835 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999811 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3699/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 167 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.942226) and 828(1311875600.843036) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999982 0.00131292 -0.00582135 0.0524242 -0.00136601 0.999957 -0.00912443 -0.0044335 0.00580912 0.00913222 0.999941 -0.00163683 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999849 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3105/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 167 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.942226) and 828(1311875600.843036) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999994 0.000872204 -0.00328757 0.0502036 -0.000893143 0.999979 -0.00637286 -0.00713721 0.00328194 0.00637576 0.999974 -0.00369905 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2806/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.840285 resInfo good: 7594, 16 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11958/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999998 0.000312577 -0.00194777 0.0485141 -0.000322225 0.999988 -0.00495503 -0.00774629 0.0019462 0.00495565 0.999986 -0.00349473 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!831 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!834 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875600.980201 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999997 -0.00180584 -0.00154655 0.0701768 0.00180121 0.999994 -0.00299219 -0.0105855 0.00155194 0.0029894 0.999994 -0.00703213 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 167 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.980201) and 828(1311875600.843036) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999997 -0.00180584 -0.00154655 0.0701768 0.00180121 0.999994 -0.00299219 -0.0105855 0.00155194 0.0029894 0.999994 -0.00703213 Input.cpp[readImages,215]: mInputFrameQueue: 2 Input.cpp[readImages,218]: mNbOfImages: 835 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999521 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4277/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 167 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.980201) and 828(1311875600.843036) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999993 -0.0020112 0.00318752 0.0580716 0.00203268 0.999975 -0.00675174 -0.0124244 -0.00317386 0.00675817 0.999972 0.00126531 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!835 INF|Input.cpp[getImages,132]: mNbReceivedImages!836 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999562 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3099/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 167 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875600.980201) and 828(1311875600.843036) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999994 -0.00169677 0.00305482 0.0618401 0.00171223 0.999986 -0.00506608 -0.0123659 -0.00304618 0.00507128 0.999983 -0.000728574 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999326 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1632/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.00235 resInfo good: 7575, 35 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10496/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999988 -0.00209182 0.00437598 0.060534 0.00210755 0.999991 -0.00359259 -0.0132628 -0.00436842 0.00360177 0.999984 -0.000630407 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875600.980201 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875600.980201 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875600.980201 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 879 size: 6655 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875600.980201 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -8.74497 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -9.62374 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -12.8743 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 809 keyframeId: 164 score: -18.8703 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -18.2525 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 822 keyframeId: 166 score: -11.1355 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 168 = 168 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b3702a40 fh1 0x3ddc0840fh->id: 151 168 832goodE: 358 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b3702a40 fh1 0x10913f80fh->id: 154 168 832goodE: 70 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b3702a40 fh1 0x3ec60b00fh->id: 161 168 832goodE: 115 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b3702a40 fh1 0x7f04ba70f7c0fh->id: 164 168 832goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b3702a40 fh1 0x7f04c3b55960fh->id: 165 168 832goodE: 22 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b3702a40 fh1 0x226a4740fh->id: 166 168 832goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b3702a40 fh1 0x7f04d91f8640fh->id: 167 168 832goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew168 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 93 out of 103 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 103 newEdgePixels: 103 Input.cpp[readImages,206]: Got image from sensor!835 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4050 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 692 lastEnergy: 1125.12 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 149 INF|LocalMapper.cpp[optimize,276]: Start Energy: 1125.12 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.53799e-11 8.58834e-12 -1.45608e-12 -9.17105e-12 8.04329e-05 3.05466e-05 0.000542287 7.70922e-06 4.73545e-05 8.22573e-05 0.000543785 -0.000133912 -0.000500772 -3.16424e-05 4.36466e-05 0.000119298 0.000537399 -0.0013885 -4.22472e-05 -0.000344464 3.12872e-05 0.00034116 -0.000858962 0.0013327 -0.000131051 0.000240288 0.000524433 0.000129973 -0.000905092 0.00212532 0.00119804 0.000487891 0.000327279 -0.000149621 -0.00487253 0.000771543 0.00172935 0.000262373 0.00094771 -0.00018814 -0.00248096 0.000306959 -0.00198159 0.000110609 0.000755456 9.71495e-05 -5.93616e-05 -0.00633906 -0.00660912 -0.00173528 -5.02455e-05 0.000987831 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4050 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 1049.57 0 0 newEnergyL 0 lastEnergy: 1125.12 0 0 lastEnergyL: 0mActiveResiduals: 4050 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 836 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -4.22438e-12 -5.89611e-12 1.31489e-11 9.51129e-12 -0.000159049 0.000833134 0.000485573 8.14333e-05 4.4109e-05 -0.000170898 -0.000624951 0.000429647 0.000931045 8.72546e-05 0.000122355 1.92393e-05 -0.00054158 -0.000708192 -0.000876354 -0.000117027 3.40142e-05 1.18465e-05 0.000144233 -0.0010935 -0.000676144 -0.000220691 -0.0001898 0.000433231 -0.000353035 -0.00542791 -0.0026865 -0.00127742 -3.31869e-05 0.000252499 0.00144855 -0.00230882 -2.50679e-05 -0.000608651 -0.000239768 0.00020839 0.000534253 -0.00105423 0.00130259 -0.000251346 -0.000292923 0.000119991 -0.00379136 0.000518959 -0.00333811 0.000139431 0.000612602 -0.000111943 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4050 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 1027.84 0 0 newEnergyL 0 lastEnergy: 1049.57 0 0 lastEnergyL: 0mActiveResiduals: 4050 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -8.31393e-12 6.77525e-12 -1.76595e-11 -4.48852e-12 -6.22142e-05 -0.00120773 0.0013063 -0.000101633 0.000141357 0.000664868 0.000282876 -6.76401e-05 3.93685e-06 0.000143381 0.000125382 0.000403946 0.00250206 -0.000829557 -0.000318417 -4.80388e-06 -0.000153835 0.000436233 -0.000213367 0.000277494 -0.000299112 0.000134816 0.000467208 0.000217851 0.00137805 0.00344807 0.00209133 0.00100201 0.00010974 6.81207e-05 -0.00107742 0.00195251 -0.00025329 0.000640776 0.000474175 -0.00013168 -0.00179657 -0.000484658 -0.00241697 0.000136547 0.000718115 0.00035077 -0.000524592 -0.00266117 0.00047055 -0.00045805 0.000510467 0.00040639 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4050 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 1007.42 0 0 newEnergyL 0 lastEnergy: 1027.84 0 0 lastEnergyL: 0mActiveResiduals: 4050 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!836 INF|Input.cpp[getImages,132]: mNbReceivedImages!837 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 5.66663e-12 -7.95321e-12 1.61283e-11 1.34306e-11 -0.000396988 0.00181146 -0.00151128 0.000110452 -7.83075e-05 -0.00105648 -0.000524066 0.000827809 -7.70412e-05 -8.4612e-05 -0.000147495 -0.000645082 -0.0010157 0.00109481 0.000142557 -8.71075e-05 -0.000192964 -0.000715968 -0.000341593 -0.00119097 0.000291444 -0.000407417 -0.000351121 -0.000470137 -0.00143596 -0.00404124 -0.00249297 -0.00127475 -5.17679e-05 -0.000592317 0.00143143 -0.000505249 0.00129495 -0.000476509 -0.000478258 -0.000469919 0.00103204 0.000669348 0.00309537 -0.000220895 -0.000680302 -0.000878775 0.000463526 0.000834534 -0.00172341 -8.20004e-05 -0.000604256 -0.000631099 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4050 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 996.32 0 0 newEnergyL 0 lastEnergy: 1007.42 0 0 lastEnergyL: 0mActiveResiduals: 4050 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.52292e-12 9.22314e-12 -6.23324e-12 -1.29843e-11 -0.000161532 -0.00178686 0.00190072 -0.000106503 -7.06224e-05 0.00108096 0.000319519 -0.000974917 -0.000147129 7.57485e-05 -3.04211e-05 0.000722198 0.00255435 -0.000169189 -0.00015178 0.000244858 -0.000163937 0.000620524 0.00112179 0.00193164 -0.000219305 0.000575051 0.000240537 0.000469703 0.00163459 0.00322675 0.00252856 0.00106249 5.36937e-05 0.000419455 -0.00064701 0.00118766 -0.000388139 0.000606589 0.000432324 0.000296378 -0.00154545 -0.0010731 -0.00379406 0.00010811 0.000842053 0.000716245 -0.00251986 -0.0018245 0.00133529 -0.000108917 0.00128755 0.000343067 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4050 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 989.01 0 0 newEnergyL 0 lastEnergy: 996.32 0 0 lastEnergyL: 0mActiveResiduals: 4050 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 3.54668e-12 -1.06646e-11 5.79206e-12 2.072e-11 3.39374e-05 0.0014219 -0.00225237 8.87779e-05 -0.000120416 -0.0011177 -0.0011538 0.00128757 0.00015609 -3.26972e-06 -1.02849e-05 -0.000777629 -0.00169322 0.000218612 3.11793e-05 -0.000202095 -0.000223979 -0.000567856 -0.000312078 -0.00299924 0.000160204 -0.00081201 -0.000578917 -0.000450494 -0.000798448 -0.00146211 -0.00201722 -0.000694547 -0.000393749 -0.000602378 -0.000903027 -0.000276691 0.000729023 -0.000380749 -0.000179915 -0.000615402 0.00109165 0.000375534 0.00448933 -0.000204176 -0.000876873 -0.000792737 0.002715 0.000614844 -0.00207557 -0.000188001 -0.0014774 -0.00031474 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4050 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 982.219 0 0 newEnergyL 0 lastEnergy: 989.01 0 0 lastEnergyL: 0mActiveResiduals: 4050 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 982.219 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4050 INF|LocalMapper.cpp[optimize,345]: End Energy: 982.219 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.497717 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.497717 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 164 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 164 with idx: 3 and allID: 809 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->164 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 164->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->164 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 164->154 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->164 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 164->161 INF|LocalMapper.cpp[marginalizeFrame,801]: 164 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 164 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 21870 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04b3702a40 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 168 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 123 Input.cpp[readImages,206]: Got image from sensor!836 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 62 with distance 0.2Found rest min at: 122 with distance 0.048 overall min: 0.048 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 62 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 728 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 168 into DB 0.2 62 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 62 and real id(90) current kf: 168(832) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.872393 -0.336258 0.354768 -2.41604 0.24288 0.928049 0.282374 -0.619156 -0.424192 -0.160175 0.891294 1.32715 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 90 currFrame: 168 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.000732761 eye: 0.000313067 edge: 168 to 90 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 168 to 90 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 426(1311875587.432193) and 832(1311875600.980201) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999334 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2587/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 168 to 90 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 426(1311875587.432193) and 832(1311875600.980201) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999056 0.0173736 -0.0398118 0.135206 -0.0180757 0.999686 -0.0173436 0.0036981 0.039498 0.0180468 0.999057 0.16732 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 837 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999989 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:713/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 168 to 90 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 426(1311875587.432193) and 832(1311875600.980201) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998717 0.0183508 -0.0472056 0.156981 -0.0192118 0.999656 -0.0178498 0.0018448 0.0468618 0.0187338 0.998726 0.181552 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 0,0.999994 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1089/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.998716 0.0183562 -0.0472069 0.157013 -0.019217 0.999656 -0.0178451 0.00185379 0.0468631 0.0187294 0.998726 0.181673 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 89 end 92 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 6826 o[1]: 2536 o[2]: 627 o[3]: 40 histWeights: 1 1 1.25 1.5overlap: 3379.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 6655 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 90 and 168 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 168 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 168 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 8471 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 833 keyframes 169 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 763 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!837 INF|Input.cpp[getImages,132]: mNbReceivedImages!838 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.009681 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999978 -0.00137251 0.00650015 0.012303 0.0013774 0.999999 -0.00074881 -0.00183934 -0.00649911 0.000757747 0.999979 0.00949626 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 168 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.009681) and 832(1311875600.980201) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999978 -0.00137251 0.00650015 0.012303 0.0013774 0.999999 -0.00074881 -0.00183934 -0.00649911 0.000757747 0.999979 0.00949626 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4343/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 168 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.009681) and 832(1311875600.980201) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999995 -0.00295611 0.000752818 0.018247 0.00296059 0.999978 -0.006019 0.0016902 -0.000735009 0.0060212 0.999982 -0.00800875 Input.cpp[readImages,206]: Got image from sensor!837 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999377 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4199/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 168 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.009681) and 832(1311875600.980201) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999991 -0.00321509 0.00264539 0.017072 0.00322507 0.999988 -0.00377679 -0.000312567 -0.00263321 0.00378529 0.999989 -0.00719438 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 838 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2920/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.589396 resInfo good: 6595, 60 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 12973/12 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999985 -0.00394861 0.00370196 0.0166316 0.00395869 0.999988 -0.00272103 -0.00078477 -0.00369118 0.00273565 0.999989 -0.00438195 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!833 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.042829 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!838 INF|Input.cpp[getImages,132]: mNbReceivedImages!839 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999941 -0.00788699 0.00741458 0.0332498 0.00792733 0.999954 -0.00542735 -0.00149177 -0.00737143 0.00548581 0.999958 -0.0088274 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 168 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.042829) and 832(1311875600.980201) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999941 -0.00788699 0.00741458 0.0332498 0.00792733 0.999954 -0.00542735 -0.00149177 -0.00737143 0.00548581 0.999958 -0.0088274 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999855 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2447/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 168 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.042829) and 832(1311875600.980201) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999845 -0.0130465 0.0118607 0.0284114 0.013052 0.999915 -0.000391509 -0.000243933 -0.0118546 0.000546255 0.99993 -0.0171304 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999447 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1047/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 168 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.042829) and 832(1311875600.980201) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999869 -0.0123513 0.0104497 0.0367554 0.0123715 0.999922 -0.00186763 0.0075162 -0.0104258 0.00199666 0.999944 -0.00987348 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999717 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1141/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.909049 resInfo good: 6573, 82 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5867/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999851 -0.0124385 0.0119844 0.0356696 0.0124442 0.999922 -0.000398814 0.0055252 -0.0119785 0.000547891 0.999928 -0.00910819 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!834 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.079239 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999576 -0.0209454 0.020246 0.0546136 0.0209092 0.999779 0.00199353 0.0119858 -0.0202833 -0.00156935 0.999793 -0.0140059 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 168 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.079239) and 832(1311875600.980201) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999576 -0.0209454 0.020246 0.0546136 0.0209092 0.999779 0.00199353 0.0119858 -0.0202833 -0.00156935 0.999793 -0.0140059 Input.cpp[readImages,206]: Got image from sensor!838 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999903 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3473/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 168 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.079239) and 832(1311875600.980201) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999733 -0.0141376 0.0182982 0.0548775 0.0140654 0.999893 0.00406827 0.00341411 -0.0183538 -0.00380981 0.999824 -0.00298712 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999777 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2503/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 168 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.079239) and 832(1311875600.980201) on lvl: 0 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 839 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999692 -0.01468 0.0200315 0.0544994 0.0145332 0.999867 0.00745568 -0.000248598 -0.0201383 -0.00716225 0.999772 -0.00432242 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2033/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.12355 resInfo good: 6434, 221 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9194/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999651 -0.0156787 0.0212687 0.0531085 0.0154942 0.999841 0.00881123 -0.00141373 -0.0214035 -0.00847861 0.999735 -0.0036187 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875601.079239 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875601.079239 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875601.079239 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 881 size: 5977 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875601.079239 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -8.72567 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -9.55218 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -11.0713 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -14.7431 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 822 keyframeId: 166 score: -14.8136 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 828 keyframeId: 167 score: -10.4816 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 169 = 169 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbddfea0 fh1 0x3ddc0840fh->id: 151 169 835goodE: 353 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbddfea0 fh1 0x10913f80fh->id: 154 169 835goodE: 76 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbddfea0 fh1 0x3ec60b00fh->id: 161 169 835goodE: 108 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbddfea0 fh1 0x7f04c3b55960fh->id: 165 169 835goodE: 22 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbddfea0 fh1 0x226a4740fh->id: 166 169 835goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbddfea0 fh1 0x7f04d91f8640fh->id: 167 169 835goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbddfea0 fh1 0x7f04b3702a40fh->id: 168 169 835goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew169 Input.cpp[readImages,192]: readImages loop! INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 85 out of 93 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 93 newEdgePixels: 93 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4012 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 699 lastEnergy: 1095.82 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 173 INF|LocalMapper.cpp[optimize,276]: Start Energy: 1095.82 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.48106e-11 5.48667e-12 -1.37979e-11 -1.77384e-11 0.000840609 -0.00227978 -0.000735687 -0.000339667 8.18196e-05 0.000640688 0.000902638 -0.00107234 -0.00150572 -0.0001114 8.49067e-05 0.000259929 0.00116372 0.00177266 -0.0002577 0.000483403 2.15162e-05 0.00034542 -0.00107173 0.00239312 0.0027301 0.000783233 0.000583271 0.000115865 -0.00278792 0.00229084 0.0002319 0.000722113 0.00054021 0.000482662 -0.00542981 0.00120227 -0.00399593 0.000428636 0.0012002 0.000799203 -0.00626803 2.70464e-05 0.00275281 5.49825e-05 0.00169709 -0.000138134 -0.00224955 -0.00192853 0.0026969 -0.000483539 0.00106911 -7.31179e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4012 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 1029.45 0 0 newEnergyL 0 lastEnergy: 1095.82 0 0 lastEnergyL: 0mActiveResiduals: 4012 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 5.9891e-12 -1.53459e-11 1.72233e-11 1.36662e-11 0.000148854 0.00224776 0.000683421 0.000369194 -2.11945e-05 -0.000339434 -0.000471588 -0.00207909 0.00128633 -0.000333531 0.000111884 0.000219778 -0.000759409 -0.00196159 -0.000482427 -0.000401243 -4.44419e-05 0.000389199 -0.00150793 -0.00371412 -0.00174676 -0.00100944 9.88161e-05 0.000390647 0.00118526 -0.00125949 0.00096258 -0.000288452 -0.000223251 0.000261716 -0.000320447 -0.00367126 0.00544254 -0.000616464 -0.000149356 0.000725683 -0.00245199 -0.00258602 -0.000454528 -0.000483127 0.000279771 0.000254852 0.00261057 0.000839831 0.00211656 9.59475e-05 -0.000528576 -0.000405144 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4012 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 1010.7 0 0 newEnergyL 0 lastEnergy: 1029.45 0 0 lastEnergyL: 0mActiveResiduals: 4012 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -9.81536e-12 1.21489e-11 -6.46406e-12 -1.58856e-11 0.000379972 -0.00209059 0.00144968 -0.000254037 8.03396e-05 0.000943309 0.00125698 0.000430483 0.000191261 0.000359652 -6.72999e-06 0.000571481 0.00112489 0.00108846 -0.000298872 0.000403534 0.000222256 0.000382372 1.42879e-05 0.00143541 0.00144603 0.000751595 0.000438985 0.000493115 -0.00166012 -9.50211e-05 -0.00107261 0.000140917 0.000720791 0.000369149 -0.00159771 0.0019601 -0.00291305 0.000592302 0.00105626 2.14623e-05 -0.000761493 0.00049859 0.00147221 0.000359732 0.000828403 0.000616995 0.00201878 -0.00251692 -0.000206146 -0.000404457 0.000318059 0.000441216 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4012 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 988.898 0 0 newEnergyL 0 lastEnergy: 1010.7 0 0 lastEnergyL: 0mActiveResiduals: 4012 Input.cpp[readImages,206]: Got image from sensor!839 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -7.69751e-13 -1.45684e-11 5.82741e-12 1.53544e-11 -0.000180693 0.00270742 -0.00156414 0.000342433 -0.000229721 -0.00106297 -0.00130564 -0.000712889 -0.000494755 -0.000329248 -0.000109242 -0.000555182 -0.000785604 -0.000411906 -0.000472454 -0.000318672 -0.000412542 -0.000598603 -0.00195537 -0.00059612 -0.000945422 -0.000639115 -9.02997e-05 -0.000657058 0.000359725 -0.00152877 0.000923411 -0.000579034 -0.000517858 -0.000470186 0.0014085 -0.00260177 0.00251959 -0.000766321 -0.0010086 -0.0002367 0.0027278 -0.000329066 -0.00103991 -0.000404983 -0.00132374 -0.000796706 -0.00124965 0.00255604 0.000581327 0.000156794 -0.000384259 -0.0007554 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4012 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 983.311 0 0 newEnergyL 0 lastEnergy: 988.898 0 0 lastEnergyL: 0mActiveResiduals: 4012 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.10164e-12 1.99235e-11 -1.54859e-11 -1.64614e-11 -0.000144395 -0.00281691 0.00179529 -0.000392853 0.00014675 0.000975006 0.0022619 0.0015934 0.00062451 0.000491276 -0.000121348 0.000520228 0.00199121 0.000738463 -0.000352 0.000364388 0.000268012 0.000358351 0.00110577 0.00151953 0.00142866 0.000755751 0.000502662 0.000436796 -0.00247132 0.000517666 -0.000211754 0.000346067 0.00120533 0.000279039 -0.00310106 0.00160653 -0.00444517 0.000413687 0.00158812 0.000125721 -0.0022027 0.00080352 0.00253307 0.000543826 0.00161894 0.000787793 0.00358242 -0.00288889 -0.00149635 -0.00038071 0.000240354 0.000622177 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4012 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 975.866 0 0 newEnergyL 0 lastEnergy: 983.311 0 0 lastEnergyL: 0mActiveResiduals: 4012 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 840 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 5.53199e-12 -1.88454e-11 1.40829e-11 1.82921e-11 0.000364821 0.00292533 -0.00193276 0.000434498 -0.000389016 -0.00108015 -0.00242965 -0.00131149 -0.00075517 -0.000487003 -1.07289e-05 -0.000636962 -0.00202351 -0.000319494 0.000277289 -0.000323474 -0.000340835 -0.000429191 -0.00170723 -0.00184966 -0.00199391 -0.000866032 -0.000442537 -0.000577008 0.00200698 -0.00113368 7.09101e-05 -0.000542814 -0.00105598 -0.000358839 0.00334448 -0.00188987 0.00534717 -0.000458266 -0.00164606 -0.000110693 0.000973909 0.000302031 -0.00242494 -0.000382052 -0.00129287 -0.000863186 -0.00166515 0.00216432 0.00123895 0.000118737 -0.000537732 -0.000769147 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4012 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 976.348 0 0 newEnergyL 0 lastEnergy: 975.866 0 0 lastEnergyL: 0mActiveResiduals: 4012 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 976.348 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 4012 INF|LocalMapper.cpp[optimize,345]: End Energy: 976.348 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.500538 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.500538 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 166 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 166 with idx: 4 and allID: 822 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->166 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 166->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->166 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 166->154 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->166 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 166->161 INF|LocalMapper.cpp[marginalizeFrame,801]: 166 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 166 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 19849 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04bbddfea0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 169 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 124 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 62 with distance 0.198Found rest min at: 122 with distance 0.086 overall min: 0.086 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 62 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 718 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 169 into DB 0.198 62 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 62 and real id(90) current kf: 169(835) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.885146 -0.319034 0.338723 -2.4598 0.233325 0.93413 0.270111 -0.629109 -0.402586 -0.160056 0.901281 1.35332 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 90 currFrame: 169 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!840 INF|Input.cpp[getImages,132]: mNbReceivedImages!841 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00077236 eye: 0.000350937 edge: 169 to 90 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 169 to 90 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 426(1311875587.432193) and 835(1311875601.079239) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999825 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2244/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 169 to 90 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 426(1311875587.432193) and 835(1311875601.079239) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.996058 -0.0300092 -0.0834704 0.150811 0.0231369 0.996354 -0.0821141 0.11844 0.0856303 0.0798592 0.993121 0.12773 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999972 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1552/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 169 to 90 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 426(1311875587.432193) and 835(1311875601.079239) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.995376 -0.0377352 -0.0883342 0.157967 0.0303366 0.996033 -0.08365 0.120418 0.0911404 0.0805834 0.992572 0.122591 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999648 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:671/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.994942 -0.0419316 -0.091284 0.162529 0.0342627 0.995875 -0.0840155 0.120857 0.0944304 0.0804628 0.992274 0.117906 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 89 end 92 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 6118 o[1]: 2054 o[2]: 535 o[3]: 70 histWeights: 1 1 1.25 1.5overlap: 2827.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 5977 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 90 and 169 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 169 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 169 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 8519 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 836 keyframes 170 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 528 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.110826 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,206]: Got image from sensor!840 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999983 -0.00201513 0.00545509 0.00603635 0.00199164 0.999989 0.00430828 -0.00338963 -0.00546371 -0.00429734 0.999976 0.00249979 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 169 to 139658308530272 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.110826) and 835(1311875601.079239) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999983 -0.00201513 0.00545509 0.00603635 0.00199164 0.999989 0.00430828 -0.00338963 -0.00546371 -0.00429734 0.999976 0.00249979 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999932 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1250/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 169 to 139658308530272 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.110826) and 835(1311875601.079239) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999956 -0.004229 0.00836841 0.0186581 0.00424851 0.999988 -0.00231513 -0.00453891 -0.00835852 0.00235059 0.999962 0.00698624 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 841 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999896 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1275/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 169 to 139658308530272 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.110826) and 835(1311875601.079239) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999928 -0.00502463 0.01093 0.0173896 0.00502301 0.999987 0.000175854 -0.00468436 -0.0109308 -0.00012094 0.99994 0.00233109 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999998 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1558/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.690086 resInfo good: 5955, 22 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5628/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999919 -0.00439121 0.0119331 0.0165993 0.00437896 0.99999 0.00105266 -0.00569452 -0.0119376 -0.00100032 0.999928 0.00249257 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!836 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.143270 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!841 INF|Input.cpp[getImages,132]: mNbReceivedImages!842 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999818 -0.00659119 0.0178973 0.0249191 0.00656362 0.999977 0.00159856 -0.00851352 -0.0179074 -0.0014808 0.999839 0.00366666 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 169 to 139658308530272 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.143270) and 835(1311875601.079239) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999818 -0.00659119 0.0178973 0.0249191 0.00656362 0.999977 0.00159856 -0.00851352 -0.0179074 -0.0014808 0.999839 0.00366666 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.99964 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2840/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 169 to 139658308530272 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.143270) and 835(1311875601.079239) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999835 -0.00494761 0.0174543 0.0314006 0.00504161 0.999973 -0.00534547 -0.00891072 -0.0174274 0.00543259 0.999833 0.00622736 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999691 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3210/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 169 to 139658308530272 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.143270) and 835(1311875601.079239) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999764 -0.0049411 0.0211398 0.0269409 0.00502457 0.99998 -0.00389692 -0.00725254 -0.0211201 0.00400222 0.999769 0.00308812 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999755 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1543/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.908212 resInfo good: 5971, 6 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8861/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999755 -0.00496593 0.0215875 0.0279677 0.00503838 0.999982 -0.00330277 -0.00650723 -0.0215707 0.00341072 0.999762 0.00362566 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!837 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!841 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.181190 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999637 -0.00523731 0.0264149 0.033656 0.00538381 0.999971 -0.00547803 -0.00691287 -0.0263854 0.00561825 0.999636 0.0041497 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 169 to 139658308530272 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.181190) and 835(1311875601.079239) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999637 -0.00523731 0.0264149 0.033656 0.00538381 0.999971 -0.00547803 -0.00691287 -0.0263854 0.00561825 0.999636 0.0041497 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 842 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999454 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1043/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 169 to 139658308530272 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.181190) and 835(1311875601.079239) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99965 -0.00565262 0.0258293 0.0445819 0.00574336 0.999978 -0.00344018 0.0032043 -0.0258093 0.00358732 0.99966 0.00552981 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999041 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1415/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 169 to 139658308530272 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.181190) and 835(1311875601.079239) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999598 -0.00720843 0.0274224 0.0417428 0.00729598 0.999969 -0.00309383 0.00215648 -0.0273993 0.00329266 0.999619 -0.00191986 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.99995 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1124/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.08479 resInfo good: 5862, 115 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4842/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999591 -0.00724844 0.0276634 0.043179 0.00728387 0.999973 -0.00117994 4.93179e-05 -0.027654 0.00138096 0.999617 -0.00280885 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875601.181190 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875601.181190 to keyframe with id: 139658308530272 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875601.181190 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 786 size: 5185 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId139658308530272 timestamp: 1311875601.181190 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -8.75194 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -9.57208 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -10.6878 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -11.692 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 828 keyframeId: 167 score: -12.2136 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 832 keyframeId: 168 score: -10.0634 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 170 = 170 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbdeb080 fh1 0x3ddc0840fh->id: 151 170 838goodE: 355 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbdeb080 fh1 0x10913f80fh->id: 154 170 838goodE: 78 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbdeb080 fh1 0x3ec60b00fh->id: 161 170 838goodE: 103 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbdeb080 fh1 0x7f04c3b55960fh->id: 165 170 838goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbdeb080 fh1 0x7f04d91f8640fh->id: 167 170 838goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbdeb080 fh1 0x7f04b3702a40fh->id: 168 170 838goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbdeb080 fh1 0x7f04bbddfea0fh->id: 169 170 838goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew170 Input.cpp[readImages,192]: readImages loop! INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 65 out of 76 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 76 newEdgePixels: 76 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3849 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 694 lastEnergy: 1049.61 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 195 INF|LocalMapper.cpp[optimize,276]: Start Energy: 1049.61 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.91458e-11 1.87183e-11 -3.99389e-11 -8.75198e-13 -0.000117863 -0.00323406 -0.00107907 -0.000615348 0.000354422 0.000488738 0.00202892 0.00231636 0.000169783 0.000489605 -5.94758e-06 7.55233e-06 0.000295782 0.00224626 -0.00158608 0.000428423 0.000319686 -0.000252081 -0.00241754 0.00218531 0.00117047 0.000637876 0.000982828 -0.000421336 -0.00762663 0.00320778 -0.00448573 0.000595392 0.00202889 -0.000456235 -0.00433368 0.00208282 0.00072391 0.000516984 0.00130976 0.000446163 -0.00342409 9.15546e-05 -0.00186023 -2.44034e-05 0.00103865 -0.000144751 -0.00161503 -0.00239676 -0.00435469 -0.000221546 0.000443152 0.00116646 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3849 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 990.392 0 0 newEnergyL 0 lastEnergy: 1049.61 0 0 lastEnergyL: 0mActiveResiduals: 3849 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.48784e-11 -1.14673e-11 2.62321e-11 6.25728e-13 3.43181e-05 0.00266169 0.000849683 0.000461063 -1.3369e-05 -0.000420641 -0.0006774 -0.0015932 0.00110327 -0.000302735 0.000105628 0.000382462 -0.00205302 -0.00240026 0.00135833 -0.000584592 0.000265308 0.000327421 -0.000802896 -0.00366798 -0.0010024 -0.00101536 -0.000105706 0.00061014 0.00330487 -0.00457403 0.00244851 -0.00105989 -0.00105778 0.000530047 -0.00128996 -0.00248886 0.00181281 -0.000500663 5.83053e-06 -0.000412871 0.000200491 -0.00152945 0.0023939 -0.000418287 -0.000262421 -0.000212364 -0.00128666 -0.00392099 0.00227656 -0.000739552 4.95491e-05 0.000272875 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3849 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 976.14 0 0 newEnergyL 0 lastEnergy: 990.392 0 0 lastEnergyL: 0mActiveResiduals: 3849 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.60244e-11 1.77599e-11 -2.72388e-11 -1.25038e-11 0.000559083 -0.00216258 0.00184406 -0.000313131 0.00013887 0.00108005 0.000434686 0.000144144 0.000443356 0.000276661 0.000286261 0.00054423 0.00182905 0.000279986 -0.000151481 0.000250214 0.000290215 0.000252844 0.00140815 0.00193084 0.00225583 0.000786538 0.000529942 7.64377e-05 -0.00286357 0.00239478 -0.00107556 0.000727166 0.00155103 -2.24589e-05 0.00104111 -0.00126452 0.000339914 6.57914e-05 0.000627707 0.00127177 -0.00109887 -0.000272006 -0.000943681 0.000358272 0.0010749 0.000843737 -0.000447779 -0.000236766 -0.00207687 0.000289585 0.00097744 0.00104898 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3849 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 956.58 0 0 newEnergyL 0 lastEnergy: 976.14 0 0 lastEnergyL: 0mActiveResiduals: 3849 Input.cpp[readImages,206]: Got image from sensor!842 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.33523e-11 -1.4514e-11 1.9071e-11 1.31153e-11 -0.000290035 0.00172877 -0.00217816 0.000358834 -0.000251649 -0.000546458 -0.000694105 -0.00119486 -0.000540998 -0.00027859 -0.000323456 -5.21412e-05 -0.00260654 -0.000972799 5.78574e-06 -0.000266359 -0.000303289 0.000185905 -0.00108762 -0.00197364 -0.00141875 -0.000679046 -0.000732044 0.000286075 0.00244409 -0.000838469 0.00234802 -0.000200296 -0.00158811 0.000105131 -0.00180559 0.0015559 6.26843e-05 0.000217475 -0.000648062 -0.000984657 0.00161222 -0.000162186 0.000317239 -0.000260088 -0.00130628 -0.000509748 0.00146695 0.000774587 0.00130108 3.22551e-05 -0.00124157 -0.000575451 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3849 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 949.46 0 0 newEnergyL 0 lastEnergy: 956.58 0 0 lastEnergyL: 0mActiveResiduals: 3849 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 843 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.4355e-11 1.3338e-11 -2.42101e-11 -1.26271e-11 9.88239e-06 -0.00162592 0.0018491 -0.000253873 0.000131289 0.000625386 0.000861646 0.00138656 0.000662636 0.000398279 0.000136831 0.000269923 0.00224813 0.00047718 -0.00091983 0.000147596 0.000162878 -0.000216328 0.000849711 0.00161464 0.00180536 0.000617596 0.000645794 -0.000235224 -0.00168686 0.000721928 -0.00151424 0.000173441 0.00134538 -0.000191454 0.00163326 -0.00266927 -0.000436734 -0.00048355 0.000579777 0.000856776 -0.00218049 0.00038717 -8.72257e-05 0.000318851 0.00130507 0.000482687 -0.000955864 0.000558054 -0.00129206 0.000180725 0.0011532 0.000459983 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3849 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 940.809 0 0 newEnergyL 0 lastEnergy: 949.46 0 0 lastEnergyL: 0mActiveResiduals: 3849 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.57263e-11 -9.72534e-12 2.67748e-11 4.50548e-12 0.000203256 0.00187566 -0.00170662 0.000319702 -0.000426883 -0.000538071 -0.00142419 -0.0015013 -0.00100323 -0.000356954 -0.000256827 -0.000188579 -0.00262305 -0.00051373 0.000116295 -0.00018698 -0.000258409 0.000183345 -0.000948892 -0.00205489 -0.00156329 -0.000661911 -0.000666853 0.000180098 0.00296489 -0.00089885 0.00135673 -0.000258546 -0.0016043 5.80689e-05 -0.000543358 0.00267954 0.00194596 0.000451251 -0.00094796 -0.000890825 0.00171671 -0.00122781 0.000244344 -0.000511183 -0.0012277 -0.000474594 -0.000313981 0.00050936 0.000667035 -1.50378e-05 -0.000833267 -0.000476355 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3849 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 941.192 0 0 newEnergyL 0 lastEnergy: 940.809 0 0 lastEnergyL: 0mActiveResiduals: 3849 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 941.192 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3849 INF|LocalMapper.cpp[optimize,345]: End Energy: 941.192 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.501854 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.501854 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 167 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 167 with idx: 4 and allID: 828 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->167 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 167->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->167 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 167->154 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->167 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 167->161 INF|LocalMapper.cpp[marginalizeFrame,801]: 167 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 167 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 Input.cpp[readImages,192]: readImages loop! INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 19906 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04bbdeb080 INF|Input.cpp[getImages,128]: getimages!843 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 170 INF|Input.cpp[getImages,132]: mNbReceivedImages!844 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 125 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 62 with distance 0.198Found rest min at: 124 with distance 0.062 overall min: 0.062 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 62 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 727 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 170 into DB 0.198 62 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 62 and real id(90) current kf: 170(838) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.8957 -0.314826 0.314017 -2.49883 0.235559 0.934915 0.265417 -0.641547 -0.37714 -0.163764 0.911563 1.37153 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 90 currFrame: 170 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.000933412 eye: 0.000475777 edge: 170 to 90 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 170 to 90 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 426(1311875587.432193) and 838(1311875601.181190) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 37,0.999266 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:6166/6 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 170 to 90 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 426(1311875587.432193) and 838(1311875601.181190) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.987668 -0.0541895 -0.146888 0.177608 0.0395527 0.99412 -0.100797 0.144397 0.151486 0.0937445 0.984004 0.125993 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999372 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:656/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 170 to 90 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 426(1311875587.432193) and 838(1311875601.181190) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.987179 -0.0578411 -0.148771 0.183526 0.0433842 0.994176 -0.0986501 0.140557 0.153611 0.090931 0.983939 0.123303 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999066 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:541/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.986939 -0.0595983 -0.149664 0.185841 0.0451925 0.994172 -0.0978768 0.139116 0.154625 0.0898347 0.98388 0.121699 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 89 end 92 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!843 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 5339 o[1]: 1904 o[2]: 502 o[3]: 40 histWeights: 1 1 1.25 1.5overlap: 2591.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 5185 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 90 and 170 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 170 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 170 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 11262 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 839 keyframes 171 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 528 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 844 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.210885 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999981 -0.000407703 0.00614448 0.0151882 0.000394624 0.999998 0.00212966 0.0074466 -0.00614534 -0.00212719 0.999979 -0.00443873 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 170 to 139658158706976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.210885) and 838(1311875601.181190) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999981 -0.000407703 0.00614448 0.0151882 0.000394624 0.999998 0.00212966 0.0074466 -0.00614534 -0.00212719 0.999979 -0.00443873 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!844 INF|Input.cpp[getImages,132]: mNbReceivedImages!845 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999977 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2416/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 170 to 139658158706976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.210885) and 838(1311875601.181190) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999971 -0.0058178 0.00485262 0.0175496 0.00579822 0.999975 0.00403853 -0.000636122 -0.004876 -0.00401028 0.99998 0.00578636 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3173/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 170 to 139658158706976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.210885) and 838(1311875601.181190) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999945 -0.00607797 0.00856035 0.0130963 0.00601682 0.999956 0.00715115 -0.00284288 -0.00860344 -0.00709925 0.999938 0.00310983 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1984/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.654747 resInfo good: 5168, 17 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8675/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999944 -0.00641869 0.00838685 0.0151426 0.00634881 0.999945 0.00833277 -0.00311356 -0.00843987 -0.00827906 0.99993 0.00323381 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!839 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 461 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!844 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.241765 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999875 -0.00965388 0.0125599 0.0227314 0.00949665 0.999877 0.0125188 -0.00462409 -0.0126792 -0.012398 0.999843 0.00481246 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 170 to 139658158706976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.241765) and 838(1311875601.181190) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999875 -0.00965388 0.0125599 0.0227314 0.00949665 0.999877 0.0125188 -0.00462409 -0.0126792 -0.012398 0.999843 0.00481246 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 845 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999648 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2986/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 170 to 139658158706976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.241765) and 838(1311875601.181190) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999866 -0.00826236 0.0141289 0.0309354 0.00816097 0.999941 0.00721857 -0.00409552 -0.0141878 -0.0071023 0.999874 0.00665642 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999869 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3199/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 170 to 139658158706976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.241765) and 838(1311875601.181190) on lvl: 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!845 INF|Input.cpp[getImages,132]: mNbReceivedImages!846 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999819 -0.00828985 0.017121 0.0276598 0.00811653 0.999915 0.0101681 -0.00623838 -0.0172038 -0.0100273 0.999802 0.00369801 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1739/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.890764 resInfo good: 5168, 17 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8991/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999805 -0.0082355 0.017932 0.0279188 0.00804202 0.999909 0.0108354 -0.00589867 -0.0180197 -0.0106891 0.99978 0.00387303 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!840 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.279370 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999572 -0.0100752 0.027471 0.0407053 0.00971114 0.999864 0.0133541 -0.00866028 -0.0276018 -0.0130816 0.999533 0.0043969 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 170 to 139658158706976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.279370) and 838(1311875601.181190) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999572 -0.0100752 0.027471 0.0407053 0.00971114 0.999864 0.0133541 -0.00866028 -0.0276018 -0.0130816 0.999533 0.0043969 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 7): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3279/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 170 to 139658158706976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.279370) and 838(1311875601.181190) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999698 -0.010986 0.0219795 0.0490602 0.0106896 0.999851 0.0135546 -0.000613908 -0.0221251 -0.0133156 0.999667 -0.00481425 Input.cpp[readImages,206]: Got image from sensor!845 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999521 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2377/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 170 to 139658158706976 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.279370) and 838(1311875601.181190) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999588 -0.0105825 0.0266757 0.0423834 0.0101948 0.999841 0.0146301 0.00177846 -0.0268263 -0.0143521 0.999537 -0.00442579 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999991 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:787/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.11383 resInfo good: 5068, 117 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7353/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999547 -0.0107889 0.028101 0.0413493 0.0103585 0.999828 0.0154142 0.00172795 -0.0282624 -0.0151161 0.999486 -0.00283212 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875601.279370 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875601.279370 to keyframe with id: 139658158706976 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875601.279370 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 846 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 818 size: 5107 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId139658158706976 timestamp: 1311875601.279370 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -8.77655 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -9.59507 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -10.5282 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -10.697 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 832 keyframeId: 168 score: -12.5154 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 835 keyframeId: 169 score: -10.9232 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 171 = 171 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b2f09140 fh1 0x3ddc0840fh->id: 151 171 841goodE: 347 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b2f09140 fh1 0x10913f80fh->id: 154 171 841goodE: 69 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b2f09140 fh1 0x3ec60b00fh->id: 161 171 841goodE: 80 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b2f09140 fh1 0x7f04c3b55960fh->id: 165 171 841goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b2f09140 fh1 0x7f04b3702a40fh->id: 168 171 841goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b2f09140 fh1 0x7f04bbddfea0fh->id: 169 171 841goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b2f09140 fh1 0x7f04bbdeb080fh->id: 170 171 841goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew171 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 82 out of 90 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 90 newEdgePixels: 90 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3670 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!846 INF|Input.cpp[getImages,132]: mNbReceivedImages!847 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 707 lastEnergy: 1043.97 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 198 INF|LocalMapper.cpp[optimize,276]: Start Energy: 1043.97 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.93546e-11 7.07956e-12 -3.09209e-11 -2.56224e-12 -9.34592e-05 -0.00203694 0.000134938 -0.000405293 0.000298727 -0.000136983 0.000195032 0.000925311 -0.000387194 0.000105453 0.00021671 -0.00069063 0.000966109 0.000990921 0.000731499 0.000286163 0.00020585 -0.000821718 0.000351046 0.00364618 0.00281026 0.000997897 0.000553855 -0.00122254 -0.00471375 9.81085e-05 -0.000239022 1.9281e-05 0.00170894 -0.000226645 -0.00458143 0.00263828 0.000719658 0.000640134 0.00116776 -7.53251e-05 -0.00190969 0.000446752 0.00127556 -0.0001293 0.000849715 -0.00084811 0.00150538 0.00347155 0.00328123 0.000482811 0.000656681 -0.00135433 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3670 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 985.839 0 0 newEnergyL 0 lastEnergy: 1043.97 0 0 lastEnergyL: 0mActiveResiduals: 3670 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.31699e-11 -1.1108e-11 3.15498e-11 -5.67382e-13 -0.00075863 0.00207413 0.000920844 0.000332337 0.000127455 -0.000309697 -0.000137923 -0.000560756 0.000652635 -0.000198113 2.36806e-05 1.9248e-05 -0.000973274 -0.00122884 0.00223169 -0.000327071 0.000137181 0.000277065 -3.52062e-05 -0.00356515 0.00118024 -0.000899955 -0.00023817 0.000310415 0.00229844 -0.00332249 0.00205309 -0.00072146 -0.000638077 -0.000164425 0.00256743 -0.00338226 -0.000248204 -0.00100382 -0.000543838 -0.000733327 0.00127769 0.000221587 0.004103 8.83366e-05 -0.000327153 -0.000202295 0.000575073 -0.00260918 0.00560509 -0.000552861 -2.74197e-05 -0.000139153 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3670 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 950.939 0 0 newEnergyL 0 lastEnergy: 985.839 0 0 lastEnergyL: 0mActiveResiduals: 3670 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.86594e-11 8.05158e-12 -2.10598e-11 -2.21818e-12 9.75734e-05 -0.00198916 0.00152385 -0.000261482 0.00040099 0.00105001 0.000613906 0.000287178 0.000677427 0.000278845 0.000370464 0.000691574 0.00214149 0.000204679 3.5026e-05 0.000223438 0.00021302 0.000412732 0.000651245 0.000543597 0.000710006 0.000431252 0.000536308 0.000445555 0.000477522 0.000628154 -0.000762132 0.000438018 0.000593429 0.000774818 -0.0027204 0.00150275 0.00362855 0.000874852 0.00130646 0.000868084 -0.00244849 -0.00186352 -0.000950154 -0.000176636 0.00142658 0.000472985 0.00180289 0.00141278 -0.00431262 0.000430849 0.000393646 0.000477916 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3670 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 937.222 0 0 newEnergyL 0 lastEnergy: 950.939 0 0 lastEnergyL: 0mActiveResiduals: 3670 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.10098e-11 -7.38967e-12 2.09574e-11 5.11138e-12 6.09176e-05 0.00254168 -0.0018115 0.000333371 -0.000247628 -0.00107671 -0.00130707 -0.000524322 -0.00124831 -0.000408435 -0.000127452 -0.000904482 -0.00155603 0.00031547 0.00118011 -0.00014165 -0.000222202 -0.000591627 -0.00134958 -0.000729766 3.58378e-06 -0.000457693 -0.000380691 -0.000666624 -0.000541982 -0.00198542 -0.000724774 -0.000783013 -0.000643745 -0.000863433 0.0025129 -0.00177261 -0.000769045 -0.000783693 -0.00120775 -0.00103257 0.00180092 0.00168744 0.00169373 1.72229e-05 -0.00129174 -0.000667847 -0.000723872 -0.000413842 0.000881387 -0.000624706 -0.000734674 -0.000897994 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3670 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 931.888 0 0 newEnergyL 0 lastEnergy: 937.222 0 0 lastEnergyL: 0mActiveResiduals: 3670 Input.cpp[readImages,206]: Got image from sensor!846 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -6.31921e-12 1.05375e-11 -2.40812e-11 -3.43069e-12 -9.82105e-05 -0.00242992 0.00181059 -0.000341878 0.000496981 0.000911963 0.00192375 0.00121339 0.00156444 0.000437943 0.00032024 0.000659097 0.00173771 0.000564301 6.96418e-05 0.000281355 0.000553505 0.000456073 0.00104677 0.000830608 -3.99899e-05 0.000459521 0.000742247 0.000706228 -0.000507687 0.00192966 -0.000567985 0.000648317 0.00122375 0.000590405 -0.00220519 0.000815227 0.00178645 0.000587369 0.00150121 0.000918551 -0.00266287 -0.00186837 -0.00224707 -0.000220727 0.00184883 0.000192625 0.00193396 0.000271179 -0.00217509 0.000292997 0.000956742 0.000244476 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3670 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 923.414 0 0 newEnergyL 0 lastEnergy: 931.888 0 0 lastEnergyL: 0mActiveResiduals: 3670 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.33268e-12 -1.24397e-11 1.82924e-11 1.23638e-11 -6.28717e-05 0.00245599 -0.00205909 0.000352179 -0.000108747 -0.000905181 -0.00118323 -0.00191885 -0.000706241 -0.000518529 -8.84348e-05 -0.000506494 -0.00179163 0.00012158 0.00078511 -7.67934e-05 -0.000196004 -0.000458463 -0.000638538 -5.75793e-05 8.23375e-05 -0.000201393 -0.000605453 -0.000465281 -0.000194909 -0.00147015 -6.10457e-05 -0.000528358 -0.00084167 -0.000710391 0.00148264 -0.00045166 -7.95124e-05 -0.000377807 -0.00107694 -0.00107635 0.0019753 0.00160109 0.00201388 0.00012167 -0.00150579 -0.000198501 -0.000560549 -0.00126194 -0.000190946 -0.000602406 -0.00104699 -0.000127049 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3670 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 914.636 0 0 newEnergyL 0 lastEnergy: 923.414 0 0 lastEnergyL: 0mActiveResiduals: 3670 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 914.636 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3670 INF|LocalMapper.cpp[optimize,345]: End Energy: 914.636 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.50666 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.50666 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 168 data: 0 Input.cpp[readImages,215]: mInputFrameQueue: 5 Input.cpp[readImages,218]: mNbOfImages: 847 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 168 with idx: 4 and allID: 832 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->168 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 168->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->168 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 168->154 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->168 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 168->161 INF|LocalMapper.cpp[marginalizeFrame,801]: 168 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 168 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 19305 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04b2f09140 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 171 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 126 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 62 with distance 0.208Found rest min at: 125 with distance 0.064 overall min: 0.064 time: 1 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 62 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 730 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 171 into DB 0.208 62 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 62 and real id(90) current kf: 171(841) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.907995 -0.299191 0.293308 -2.53262 0.231085 0.941561 0.245077 -0.650794 -0.349492 -0.154749 0.924071 1.38944 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 90 currFrame: 171 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.000943804 eye: 0.000508832 edge: 171 to 90 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 171 to 90 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 426(1311875587.432193) and 841(1311875601.279370) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!847 INF|Input.cpp[getImages,132]: mNbReceivedImages!848 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 19,0.999194 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3472/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 171 to 90 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 426(1311875587.432193) and 841(1311875601.279370) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.954697 0.142761 -0.2611 0.949324 -0.181535 0.974637 -0.130872 0.238413 0.235795 0.172342 0.956399 0.694108 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999117 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:682/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 171 to 90 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 426(1311875587.432193) and 841(1311875601.279370) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.955218 0.140605 -0.260364 0.947297 -0.17894 0.975257 -0.129821 0.239539 0.235668 0.170597 0.956743 0.676761 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 0,0.999349 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:383/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.955283 0.140259 -0.260311 0.947003 -0.178534 0.975355 -0.129646 0.239822 0.235712 0.170323 0.956781 0.67418 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 89 end 92 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 5377 o[1]: 1734 o[2]: 268 o[3]: 25 histWeights: 1 1 1.25 1.5overlap: 2106.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 5107 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 90 and 171 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 171 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 171 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 8452 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 842 keyframes 172 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 523 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.311145 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999935 -0.00298767 0.0109761 0.0102028 0.00294046 0.999986 0.00431529 0.00731219 -0.0109889 -0.00428274 0.99993 -0.00498964 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 171 to 139658799321472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.311145) and 841(1311875601.279370) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999935 -0.00298767 0.0109761 0.0102028 0.00294046 0.999986 0.00431529 0.00731219 -0.0109889 -0.00428274 0.99993 -0.00498964 Input.cpp[readImages,206]: Got image from sensor!847 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999614 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2142/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 171 to 139658799321472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.311145) and 841(1311875601.279370) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999943 -0.00325526 0.0102102 0.011955 0.0031921 0.999976 0.00619619 0.00441807 -0.0102301 -0.00616324 0.999929 0.00454162 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999254 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2172/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 171 to 139658799321472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.311145) and 841(1311875601.279370) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999927 -0.00340293 0.0115833 0.0120357 0.00326203 0.999921 0.0121614 -0.00414855 -0.0116237 -0.0121227 0.999859 0.00267974 Input.cpp[readImages,215]: mInputFrameQueue: 5 Input.cpp[readImages,218]: mNbOfImages: 848 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1889/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.684749 resInfo good: 5107, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7361/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999918 -0.00324794 0.012411 0.0120746 0.00308388 0.999908 0.013216 -0.00428761 -0.0124528 -0.0131766 0.999836 0.0028499 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!842 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.341914 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999815 -0.0049331 0.0185995 0.0181302 0.00456396 0.999793 0.0198373 -0.00640311 -0.0186935 -0.0197488 0.99963 0.00423958 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 171 to 139658799321472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.341914) and 841(1311875601.279370) on lvl: 2 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!848 INF|Input.cpp[getImages,132]: mNbReceivedImages!849 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999815 -0.0049331 0.0185995 0.0181302 0.00456396 0.999793 0.0198373 -0.00640311 -0.0186935 -0.0197488 0.99963 0.00423958 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999756 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2973/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 171 to 139658799321472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.341914) and 841(1311875601.279370) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999787 -0.00766024 0.0191649 0.0264701 0.00740652 0.999884 0.0132745 -0.00500591 -0.0192644 -0.0131297 0.999728 0.0071376 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.99975 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:851/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 171 to 139658799321472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.341914) and 841(1311875601.279370) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999785 -0.00827722 0.0190179 0.0303406 0.00796566 0.999834 0.0164001 -0.00716378 -0.0191504 -0.0162451 0.999685 0.00809775 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999921 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:953/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.920283 resInfo good: 5107, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5809/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999729 -0.00654753 0.0223344 0.0249519 0.00615519 0.999826 0.0175906 -0.00716856 -0.0224457 -0.0174483 0.999596 0.00552504 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!843 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1325 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.378499 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,206]: Got image from sensor!848 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999431 -0.00988926 0.0322411 0.0378642 0.00918253 0.999716 0.0219951 -0.00999763 -0.0324494 -0.0216865 0.999238 0.0080839 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 171 to 139658799321472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.378499) and 841(1311875601.279370) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999431 -0.00988926 0.0322411 0.0378642 0.00918253 0.999716 0.0219951 -0.00999763 -0.0324494 -0.0216865 0.999238 0.0080839 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999502 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:547/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 171 to 139658799321472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.378499) and 841(1311875601.279370) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999448 -0.0146216 0.0298337 0.0373519 0.0140013 0.999684 0.0208967 -0.0112241 -0.0301298 -0.0204674 0.999336 0.00275254 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999339 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1510/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 171 to 139658799321472 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.378499) and 841(1311875601.279370) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999506 -0.0124929 0.0288452 0.0381236 0.0118853 0.999706 0.02114 -0.00384454 -0.0291008 -0.0207867 0.99936 -0.00141262 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999482 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:789/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.10442 resInfo good: 5079, 28 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3898/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999446 -0.0122151 0.03096 0.0349298 0.01156 0.999707 0.0212515 -0.000445506 -0.0312105 -0.0208818 0.999295 -0.000156728 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875601.378499 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875601.378499 to keyframe with id: 139658799321472 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875601.378499 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 849 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 830 size: 5134 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId139658799321472 timestamp: 1311875601.378499 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -8.81388 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -9.63759 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -10.4877 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -10.2956 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 835 keyframeId: 169 score: -12.4298 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 838 keyframeId: 170 score: -11.0796 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 172 = 172 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b96246a0 fh1 0x3ddc0840fh->id: 151 172 844goodE: 321 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b96246a0 fh1 0x10913f80fh->id: 154 172 844goodE: 71 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b96246a0 fh1 0x3ec60b00fh->id: 161 172 844goodE: 74 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b96246a0 fh1 0x7f04c3b55960fh->id: 165 172 844goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b96246a0 fh1 0x7f04bbddfea0fh->id: 169 172 844goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b96246a0 fh1 0x7f04bbdeb080fh->id: 170 172 844goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b96246a0 fh1 0x7f04b2f09140fh->id: 171 172 844goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew172 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 109 out of 118 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 118 newEdgePixels: 118 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3609 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!849 INF|Input.cpp[getImages,132]: mNbReceivedImages!850 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 615 lastEnergy: 1044.94 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 172 INF|LocalMapper.cpp[optimize,276]: Start Energy: 1044.94 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 4.27064e-12 6.46864e-12 -8.38501e-13 -2.95933e-11 -0.000533183 -0.00104715 0.000202878 -0.000166879 -0.000392098 0.000263505 -0.000574175 0.00109193 -0.000539823 0.000211573 -0.000412065 -0.000286337 -0.000567388 0.000933626 -0.000219526 0.000195004 -0.000194579 -0.000470025 -0.0007354 0.00118013 0.000789973 0.000266052 -5.60401e-05 -0.000182875 -0.00290188 0.00116585 0.000159798 0.000197926 0.000253093 0.000501837 -0.00304875 0.000756689 -0.0005093 1.61546e-05 0.000521416 -0.000620809 0.0007314 0.0030729 -0.000412051 0.000615811 -0.000284626 -0.000291261 -0.00400431 -0.00638052 0.000118762 -0.00131042 0.000725159 0.000706175 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3609 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 968.837 0 0 newEnergyL 0 lastEnergy: 1044.94 0 0 lastEnergyL: 0mActiveResiduals: 3609 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 7.98926e-12 -1.3766e-12 4.24632e-12 -1.0405e-12 -0.000451872 0.000421995 0.000661987 0.000118061 1.00111e-05 -4.66052e-05 0.000209131 -0.00129127 0.000747271 -0.000228163 -0.000104953 0.000123677 -0.00129449 5.43504e-05 0.00133813 9.82242e-05 0.000166978 0.000149845 0.000617559 -0.00176706 0.000685513 -0.000279608 -0.0002354 -0.000127087 0.00169105 -0.00153938 0.00343827 -0.000268305 -0.000399639 -0.000364894 0.00413615 0.00099232 0.00435377 0.000381772 -0.000884363 -1.72853e-05 0.000367695 -0.00115434 0.00325648 -0.000183377 -0.000142681 -0.00026955 0.000132153 -0.000137171 0.000972051 2.04891e-05 -6.47667e-05 -0.000326531 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3609 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 939.265 0 0 newEnergyL 0 lastEnergy: 968.837 0 0 lastEnergyL: 0mActiveResiduals: 3609 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -4.11743e-12 -9.072e-13 -2.77682e-13 -2.18982e-12 0.000108828 -0.00137893 0.000227655 -0.00011813 -0.000422698 0.000512634 -0.000975783 0.000287762 -0.000324062 0.000168454 -0.000192547 0.000217467 0.000729471 -0.000376504 -0.000591332 -3.87154e-06 -0.000475812 0.000193198 0.00112816 0.00101602 5.71589e-05 0.000285973 -0.00057751 8.72067e-05 0.000103177 0.00116099 0.00160195 0.000556806 -0.000158495 0.000341961 -0.00209853 -0.000863995 -0.000872721 -0.000181387 0.000319679 -5.03869e-06 0.000688996 -0.000960461 0.000550675 7.8814e-05 -0.000386103 0.000486257 0.000288979 0.000835892 5.81795e-05 0.000501476 -0.00025527 0.000511458 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3609 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 914.801 0 0 newEnergyL 0 lastEnergy: 939.265 0 0 lastEnergyL: 0mActiveResiduals: 3609 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 4.9619e-12 -2.70013e-13 -6.50531e-12 1.05304e-11 3.81336e-05 0.000410867 2.00787e-06 4.69292e-05 0.000188262 -8.92964e-05 0.000863527 0.000209684 -0.00026178 6.66148e-05 -4.55868e-06 0.000274691 -0.00163742 -0.000452353 -0.000409829 -5.82429e-05 0.000407596 0.000251858 -0.000722124 -0.000508985 -0.000165072 -0.000130427 0.000249092 0.000290189 0.000470576 -0.00214997 0.000209654 -0.000470691 -0.000156603 -0.000134871 0.00212112 0.000680999 0.000737361 0.000210148 -0.0005731 0.000155658 -0.00195968 0.00104306 0.000312552 0.000178333 0.000411848 -0.00026152 0.000672862 0.00073383 -0.000887694 -0.000190517 -0.000145581 -0.000715044 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3609 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 911.15 0 0 newEnergyL 0 lastEnergy: 914.801 0 0 lastEnergyL: 0mActiveResiduals: 3609 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -7.6428e-12 6.01057e-13 5.84606e-12 -2.36891e-12 -0.00019239 -0.000468451 0.000209591 -9.94546e-05 -0.000156928 9.00763e-05 -0.000834767 2.58902e-05 -0.000120973 -6.26904e-05 -2.16488e-05 -0.000214293 0.00110943 8.17068e-05 0.000324419 -2.91158e-05 -0.000328784 -0.000141698 0.00144966 0.000676408 0.000427487 0.000204467 -0.000403506 -0.000258103 0.000798196 0.00155934 -0.000183599 0.000368096 -0.000228639 0.000297254 -0.00178252 -8.08331e-06 -0.000516863 9.91991e-06 0.000446117 -0.000252833 2.8292e-05 -0.00214141 -0.00034834 -0.000497524 -0.000136883 0.000116781 -0.000512934 0.000185555 0.000804118 0.000387174 0.000125603 0.000499599 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3609 Input.cpp[readImages,206]: Got image from sensor!849 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 904.109 0 0 newEnergyL 0 lastEnergy: 911.15 0 0 lastEnergyL: 0mActiveResiduals: 3609 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 8.14866e-12 2.59759e-13 -6.31055e-12 -3.63921e-12 9.79543e-05 0.000799939 -0.000328707 8.10707e-05 0.000144539 -0.000454784 0.000525686 0.000975241 -6.44583e-05 0.000115782 6.76355e-05 -0.000281166 -0.000859894 -0.000305923 -0.000369326 -8.88869e-05 0.000310306 -0.000205452 -0.00155955 -0.000802336 -7.36091e-05 -0.000289858 0.00047047 -0.000125431 -0.000477999 -0.00184022 0.000949494 -0.00045998 0.000183888 -0.000720686 0.00258647 -0.000488094 0.00101576 -0.000248035 -0.000644651 9.62476e-05 -0.000893271 0.000565863 -0.00099991 -7.65495e-05 0.000219275 -4.24514e-05 0.000214819 0.00105576 -0.00104631 -0.000462153 2.94345e-05 -0.00105962 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3609 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 904.848 0 0 newEnergyL 0 lastEnergy: 904.109 0 0 lastEnergyL: 0mActiveResiduals: 3609 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 904.848 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3609 Input.cpp[readImages,215]: mInputFrameQueue: 5 Input.cpp[readImages,218]: mNbOfImages: 850 INF|LocalMapper.cpp[optimize,345]: End Energy: 904.848 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.504295 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.504295 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 169 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 169 with idx: 4 and allID: 835 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->169 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 169->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->169 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 169->154 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->169 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 169->161 INF|LocalMapper.cpp[marginalizeFrame,801]: 169 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 169 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 19266 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04b96246a0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 172 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 127 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 12 with distance 0.216Found rest min at: 126 with distance 0.066 overall min: 0.066 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 12 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 721 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 172 into DB 0.216 12 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 12 and real id(27) current kf: 172(844) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.324951 0.655099 -0.682094 -2.65053 -0.0316372 0.728361 0.684463 1.55672 0.945202 -0.200837 0.257407 -4.02741 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 27 currFrame: 172 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00097271 edge: 172 to 27 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 172 to 27 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 56(1311875574.282187) and 844(1311875601.378499) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999372 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1448/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 172 to 27 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 56(1311875574.282187) and 844(1311875601.378499) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999763 0.018939 -0.0106933 0.0342182 -0.0190128 0.999796 -0.00684535 0.0400353 0.0105615 0.00704704 0.999919 0.0557358 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!850 INF|Input.cpp[getImages,132]: mNbReceivedImages!851 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 11,0.999107 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2373/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 172 to 27 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 56(1311875574.282187) and 844(1311875601.378499) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.996731 0.080516 -0.00665484 0.0963471 -0.0807787 0.991788 -0.0991552 0.277285 -0.0013834 0.0993686 0.99505 0.193868 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999042 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:587/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.996659 0.0807988 -0.0119331 0.117217 -0.0816014 0.991281 -0.103452 0.280662 0.0034703 0.10408 0.994563 0.214793 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 26 end 29 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 6799 o[1]: 138 o[2]: 30 o[3]: 1 histWeights: 1 1 1.25 1.5overlap: 177 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 5134 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 27 and 172 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 172 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 172 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 7877 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 845 keyframes 173 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 524 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.410455 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999952 -0.00563979 0.00798922 0.0110138 0.00562097 0.999981 0.00237599 0.00866713 -0.00800247 -0.00233097 0.999965 -0.00430226 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 172 to 139658174341040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.410455) and 844(1311875601.378499) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999952 -0.00563979 0.00798922 0.0110138 0.00562097 0.999981 0.00237599 0.00866713 -0.00800247 -0.00233097 0.999965 -0.00430226 Input.cpp[readImages,206]: Got image from sensor!850 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4028/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 172 to 139658174341040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.410455) and 844(1311875601.378499) on lvl: 1 Input.cpp[readImages,215]: mInputFrameQueue: 5 Input.cpp[readImages,218]: mNbOfImages: 851 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999984 -0.00313266 0.00474862 0.0132203 0.0031002 0.999972 0.00682812 0.00246231 -0.00476988 -0.00681329 0.999965 0.00407372 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 6): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3337/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 172 to 139658174341040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.410455) and 844(1311875601.378499) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999969 -0.00409395 0.00674349 0.0120516 0.00402171 0.999935 0.0106919 -0.00224182 -0.00678682 -0.0106644 0.99992 0.00204338 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1486/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.63958 resInfo good: 5134, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10016/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999965 -0.00447064 0.00702758 0.0132296 0.00438743 0.999921 0.0118112 -0.00278378 -0.00707983 -0.01178 0.999906 0.00215087 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!845 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!851 INF|Input.cpp[getImages,132]: mNbReceivedImages!852 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.445055 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999922 -0.00673687 0.0105213 0.0198546 0.00654966 0.999821 0.0177277 -0.00414426 -0.0106389 -0.0176574 0.999787 0.00320348 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 172 to 139658174341040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.445055) and 844(1311875601.378499) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999922 -0.00673687 0.0105213 0.0198546 0.00654966 0.999821 0.0177277 -0.00414426 -0.0106389 -0.0176574 0.999787 0.00320348 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999778 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2730/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 172 to 139658174341040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.445055) and 844(1311875601.378499) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99987 -0.00896284 0.0133763 0.0230736 0.00881947 0.999903 0.010739 -0.0024154 -0.0134712 -0.0106196 0.999853 0.00308537 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999496 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3045/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 172 to 139658174341040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.445055) and 844(1311875601.378499) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999852 -0.00974168 0.0141495 0.0253178 0.00955378 0.999866 0.0132867 -0.00441286 -0.014277 -0.0131495 0.999812 0.00358482 Input.cpp[readImages,206]: Got image from sensor!851 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.99981 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1154/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.850972 resInfo good: 5134, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8107/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999833 -0.00995942 0.0153402 0.0241271 0.0097475 0.999857 0.0138275 -0.00392039 -0.0154757 -0.0136756 0.999787 0.00356967 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!846 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.478780 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 852 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999729 -0.0127096 0.019492 0.0295824 0.012421 0.999813 0.0148523 -0.00446567 -0.0196771 -0.0146061 0.9997 0.00424562 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 172 to 139658174341040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.478780) and 844(1311875601.378499) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999729 -0.0127096 0.019492 0.0295824 0.012421 0.999813 0.0148523 -0.00446567 -0.0196771 -0.0146061 0.9997 0.00424562 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999536 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3004/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 172 to 139658174341040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.478780) and 844(1311875601.378499) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999689 -0.0167917 0.0184427 0.0364641 0.0165482 0.999775 0.0132775 0.00205039 -0.0186615 -0.0129682 0.999742 -0.00159623 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!852 INF|Input.cpp[getImages,132]: mNbReceivedImages!853 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 7): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3639/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 172 to 139658174341040 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.478780) and 844(1311875601.378499) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999629 -0.0174104 0.0209264 0.0339853 0.0170785 0.999727 0.0159349 0.000183435 -0.0211981 -0.0155716 0.999654 -0.00205341 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1349/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.02973 resInfo good: 5106, 28 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 9066/9 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999613 -0.0175666 0.0215565 0.0344526 0.0172059 0.999711 0.0168071 0.00031533 -0.0218455 -0.0164297 0.999626 -0.00135049 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875601.478780 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875601.478780 to keyframe with id: 139658174341040 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875601.478780 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 846 size: 5386 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId139658174341040 timestamp: 1311875601.478780 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -8.85803 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -9.68701 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -10.504 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -10.1065 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 838 keyframeId: 170 score: -12.5281 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 841 keyframeId: 171 score: -11.2874 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 173 = 173 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04cb0b8120 fh1 0x3ddc0840fh->id: 151 173 847goodE: 317 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04cb0b8120 fh1 0x10913f80fh->id: 154 173 847goodE: 75 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04cb0b8120 fh1 0x3ec60b00fh->id: 161 173 847goodE: 76 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04cb0b8120 fh1 0x7f04c3b55960fh->id: 165 173 847goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04cb0b8120 fh1 0x7f04bbdeb080fh->id: 170 173 847goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04cb0b8120 fh1 0x7f04b2f09140fh->id: 171 173 847goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04cb0b8120 fh1 0x7f04b96246a0fh->id: 172 173 847goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew173 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 104 out of 112 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 112 newEdgePixels: 112 Input.cpp[readImages,206]: Got image from sensor!852 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3662 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 655 lastEnergy: 1015.07 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 193 INF|LocalMapper.cpp[optimize,276]: Start Energy: 1015.07 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.49729e-11 -2.13424e-12 1.9886e-12 7.52992e-12 0.000620512 -0.000415091 -0.00114507 -0.000102095 0.000123559 0.000115927 0.00136305 -0.000453012 -0.000950882 -0.000103272 -4.51405e-05 4.23088e-05 0.000127504 0.00155693 0.000266263 0.000320883 0.000359271 -0.000536063 0.000318102 0.00248555 -0.000976457 0.000564612 0.000377222 -0.000369344 -0.00527667 -0.000631715 -0.00128512 -0.000124985 0.00167213 -0.000377759 -0.000842839 0.000117539 0.000711899 6.01502e-06 0.000438828 -0.000561421 -0.00152 0.000370349 0.00320849 0.000427717 0.000927246 0.000251062 -0.000837677 -0.00250283 0.00195205 -0.000190645 0.000744599 0.000476944 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3662 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 932.67 0 0 newEnergyL 0 lastEnergy: 1015.07 0 0 lastEnergyL: 0mActiveResiduals: 3662 Input.cpp[readImages,215]: mInputFrameQueue: 5 Input.cpp[readImages,218]: mNbOfImages: 853 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.18037e-12 -6.87013e-13 1.37973e-13 -6.61137e-13 -0.000388974 0.000778094 0.000611796 0.000117467 7.89933e-05 -0.000131063 -0.00050923 6.98449e-05 0.000853071 1.64873e-05 0.000136608 -0.000116561 -0.000470459 -0.00162828 0.000842607 -0.000279334 8.84545e-05 4.96701e-05 -0.00059469 -0.00186578 -0.000175128 -0.000479157 6.79577e-05 0.000133792 0.00131215 -0.00015175 0.000179715 -7.23727e-05 -0.00058248 0.000265165 0.00251423 -0.00156447 -0.0011837 -0.00034093 -0.000841863 0.000800914 -0.000647281 0.000765764 7.464e-05 -0.000165151 -5.18246e-05 -0.000680164 0.000165629 -8.98247e-05 0.00341734 -3.47369e-05 2.92196e-05 -0.000228429 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3662 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 902.287 0 0 newEnergyL 0 lastEnergy: 932.67 0 0 lastEnergyL: 0mActiveResiduals: 3662 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -8.01046e-12 -3.85092e-13 1.20989e-12 -1.17427e-11 4.1801e-05 -0.000664437 -0.000268681 -0.000111517 -0.000163093 0.000137167 0.00022442 0.000198352 -0.000356906 6.79957e-05 -0.000261007 5.89533e-05 -0.000367785 0.00151493 0.000187311 0.000230965 -0.000147421 -0.00039262 -0.000948447 0.000855065 -0.000824818 0.000179954 2.20309e-05 -0.000441095 0.000504198 -0.000945654 -0.000613976 -0.0001871 -0.000330229 -0.000223472 -0.00164236 0.00198743 0.000601101 0.000272565 0.000176453 -0.00111404 0.000220937 -0.00216474 0.000855606 -0.000154591 -0.000354701 0.000543176 0.00196874 -0.000809895 0.000190855 -7.52208e-05 -0.000700343 0.000281275 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3662 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 892.785 0 0 newEnergyL 0 lastEnergy: 902.287 0 0 lastEnergyL: 0mActiveResiduals: 3662 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 6.24375e-12 -8.88868e-13 5.90367e-13 9.61642e-12 0.000538762 0.000775399 0.000105392 0.000146163 -0.000241748 4.35445e-05 -0.00108164 -0.000662589 -0.000176776 -0.000111659 5.12576e-05 7.85133e-05 1.09128e-06 -0.00172112 -0.000999704 -0.000351641 -0.000194343 0.00038607 0.000381125 -0.000337171 -0.000853378 -0.000104531 -0.000298065 0.00029623 -0.000492291 0.00239513 0.00070666 0.000457201 -0.000243547 5.13515e-05 0.00229552 -0.00330198 -0.000464918 -0.000412747 -0.00105766 0.00139772 -0.000976273 0.000589547 -0.0010312 -0.00013243 -0.000143346 -0.000411575 -0.000527376 0.00213128 0.00298292 0.000522225 -6.2138e-05 -0.000413585 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3662 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!853 INF|Input.cpp[getImages,132]: mNbReceivedImages!854 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 889.518 0 0 newEnergyL 0 lastEnergy: 892.785 0 0 lastEnergyL: 0mActiveResiduals: 3662 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.58295e-12 -2.13057e-12 5.61533e-12 -1.14743e-11 -0.000127835 -0.000701678 -0.000445528 -9.57769e-05 9.5013e-05 0.000113534 0.000310952 0.000654035 0.000130676 0.000168814 -1.68729e-05 0.00013754 1.50659e-05 0.000816615 0.000353871 0.000169239 -7.26599e-05 -0.000217771 -0.000869637 0.000263755 -0.000101927 6.04796e-06 4.91786e-05 -7.29892e-05 0.00124521 -0.00291002 -0.00163426 -0.000524832 -0.000285463 -3.32296e-05 -0.0024361 0.0045359 0.00189092 0.00075649 0.000617213 -0.00163917 -0.000170011 -0.000337896 0.00139738 0.000218491 -0.000113873 0.000402327 0.00196535 -0.0023242 -0.00179838 -0.00049768 -0.000566781 0.000438437 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3662 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 880.416 0 0 newEnergyL 0 lastEnergy: 889.518 0 0 lastEnergyL: 0mActiveResiduals: 3662 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 3.07478e-12 3.15165e-12 -6.44349e-12 7.22196e-12 -1.19337e-05 0.000722919 0.000668762 0.000110433 -4.58436e-05 -0.00030366 6.67064e-05 -0.00077578 -0.000154052 -0.000216774 -8.50544e-06 -0.000302759 0.000634723 -0.00102113 -0.000874974 -0.000205355 9.534e-06 0.00015347 -0.000199228 5.99785e-05 0.00024785 5.38709e-05 0.000271577 5.40213e-05 -0.00135968 0.00227595 0.00145612 0.000362666 0.000245811 0.000232894 0.00217606 -0.00462004 -0.00143665 -0.000805033 -0.000563785 0.00171737 0.000699265 0.00122016 -0.00133799 4.48044e-05 -1.00736e-05 -0.000152728 -0.0018869 0.0022004 0.00153354 0.000489547 0.000525627 -0.000125683 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3662 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 881.935 0 0 newEnergyL 0 lastEnergy: 880.416 0 0 lastEnergyL: 0mActiveResiduals: 3662 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 881.935 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3662 INF|LocalMapper.cpp[optimize,345]: End Energy: 881.935 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.496199 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.496199 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 170 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 170 with idx: 4 and allID: 838 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->170 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 170->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->170 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 170->154 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->170 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 170->161 INF|LocalMapper.cpp[marginalizeFrame,801]: 170 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 170 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 19207 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04cb0b8120 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 173 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 128 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 12 with distance 0.226Found rest min at: 127 with distance 0.088 overall min: 0.088 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 12 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 723 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 173 into DB 0.226 12 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 12 and real id(27) current kf: 173(847) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.298871 0.648759 -0.699849 -2.66519 -0.029328 0.739266 0.672774 1.56067 0.953843 -0.180547 0.239972 -4.05837 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 27 currFrame: 173 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000958092 edge: 173 to 27 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 173 to 27 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 56(1311875574.282187) and 847(1311875601.478780) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,206]: Got image from sensor!853 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 10,0.999984 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2870/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 173 to 27 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 56(1311875574.282187) and 847(1311875601.478780) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.990225 0.127702 -0.0561041 0.254834 -0.134554 0.980535 -0.142992 0.332121 0.0367517 0.149144 0.988132 0.369595 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.99991 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:576/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 173 to 27 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 56(1311875574.282187) and 847(1311875601.478780) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.990085 0.128904 -0.0558134 0.25736 -0.135717 0.980312 -0.143423 0.333862 0.0362267 0.149576 0.988086 0.370247 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999789 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1902/1 Input.cpp[readImages,215]: mInputFrameQueue: 6 Input.cpp[readImages,218]: mNbOfImages: 854 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.988473 0.139169 -0.0596143 0.290533 -0.146977 0.976552 -0.1573 0.367857 0.0363252 0.164249 0.98575 0.413566 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 26 end 29 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 7655 o[1]: 124 o[2]: 12 o[3]: 1 histWeights: 1 1 1.25 1.5overlap: 140.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 5386 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 27 and 173 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 173 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 173 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 9114 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 848 keyframes 174 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 518 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.510583 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!854 INF|Input.cpp[getImages,132]: mNbReceivedImages!855 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999988 -0.00351613 0.00330762 0.00435349 0.00351146 0.999993 0.00141549 0.00247819 -0.00331258 -0.00140386 0.999994 -0.00364399 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 173 to 34563072 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.510583) and 847(1311875601.478780) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999988 -0.00351613 0.00330762 0.00435349 0.00351146 0.999993 0.00141549 0.00247819 -0.00331258 -0.00140386 0.999994 -0.00364399 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999596 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3672/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 173 to 34563072 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.510583) and 847(1311875601.478780) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999974 -0.00619033 0.00383025 0.00914632 0.00617435 0.999972 0.00416947 -0.00231554 -0.00385596 -0.00414571 0.999984 0.00100859 Input.cpp[readImages,206]: Got image from sensor!854 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:4037/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 173 to 34563072 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.510583) and 847(1311875601.478780) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999961 -0.00629166 0.00613373 0.00847754 0.00625903 0.999966 0.00532587 -0.000426778 -0.00616703 -0.00528728 0.999967 0.000419689 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:2417/2 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.563068 resInfo good: 5381, 5 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 11480/11 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999959 -0.00663753 0.00614527 0.0103364 0.00659832 0.999958 0.00637781 -0.000590276 -0.00618735 -0.006337 0.999961 0.00082432 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!848 Input.cpp[readImages,215]: mInputFrameQueue: 6 Input.cpp[readImages,218]: mNbOfImages: 855 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1416 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.547560 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999908 -0.00997074 0.0092019 0.0155079 0.00988253 0.999905 0.00958178 -0.000857837 -0.00929656 -0.00948996 0.999912 0.00121392 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 173 to 34563072 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.547560) and 847(1311875601.478780) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999908 -0.00997074 0.0092019 0.0155079 0.00988253 0.999905 0.00958178 -0.000857837 -0.00929656 -0.00948996 0.999912 0.00121392 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!855 INF|Input.cpp[getImages,132]: mNbReceivedImages!856 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999202 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1852/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 173 to 34563072 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.547560) and 847(1311875601.478780) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999894 -0.0123573 0.00770516 0.0191781 0.0122942 0.999891 0.00819042 0.00401875 -0.00780553 -0.00809483 0.999937 -0.0046119 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999065 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2228/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 173 to 34563072 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.547560) and 847(1311875601.478780) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999867 -0.0137108 0.0088311 0.0221937 0.0136226 0.999857 0.00997377 0.00329573 -0.00896659 -0.00985214 0.999911 -0.00539956 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999085 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1085/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.797037 resInfo good: 5379, 7 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6624/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99986 -0.0133621 0.0101018 0.0213829 0.0132614 0.999862 0.00997492 0.00552919 -0.0102337 -0.00983955 0.999899 -0.00531319 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!849 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.580767 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999699 -0.0200999 0.0140338 0.0323634 0.0199092 0.999709 0.0135981 0.0117005 -0.0143031 -0.0133147 0.999809 -0.0115167 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 173 to 34563072 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.580767) and 847(1311875601.478780) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999699 -0.0200999 0.0140338 0.0323634 0.0199092 0.999709 0.0135981 0.0117005 -0.0143031 -0.0133147 0.999809 -0.0115167 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999053 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1098/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 173 to 34563072 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.580767) and 847(1311875601.478780) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999697 -0.019957 0.0143988 0.0330648 0.0197695 0.999719 0.013046 0.0098553 -0.0146552 -0.0127574 0.999811 -0.0118131 Input.cpp[readImages,206]: Got image from sensor!855 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.99989 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3156/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 173 to 34563072 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.580767) and 847(1311875601.478780) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99962 -0.0218757 0.0167959 0.0314738 0.0215857 0.999618 0.0172592 0.00291493 -0.017167 -0.0168901 0.99971 -0.00688087 Input.cpp[readImages,215]: mInputFrameQueue: 5 Input.cpp[readImages,218]: mNbOfImages: 856 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999585 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1117/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.999463 resInfo good: 5370, 16 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6468/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99961 -0.0220061 0.017204 0.0327212 0.0217011 0.999608 0.0177138 0.00397677 -0.0175871 -0.0173335 0.999695 -0.00557835 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!850 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.611146 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999438 -0.0263473 0.0207296 0.0383945 0.025899 0.999431 0.0216052 0.0032361 -0.0212871 -0.0210562 0.999552 -0.0057373 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 173 to 34563072 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.611146) and 847(1311875601.478780) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999438 -0.0263473 0.0207296 0.0383945 0.025899 0.999431 0.0216052 0.0032361 -0.0212871 -0.0210562 0.999552 -0.0057373 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!856 INF|Input.cpp[getImages,132]: mNbReceivedImages!857 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 8): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:3875/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 173 to 34563072 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.611146) and 847(1311875601.478780) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999445 -0.0269463 0.0195753 0.0413375 0.0266085 0.999496 0.0173183 0.00168459 -0.0200321 -0.0167879 0.999658 -0.00961521 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999676 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3238/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 173 to 34563072 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.611146) and 847(1311875601.478780) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999415 -0.0271326 0.0208345 0.0425526 0.0267548 0.999476 0.0181986 0.0040724 -0.0213173 -0.0176305 0.999617 -0.00614342 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999201 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:660/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.11111 resInfo good: 5221, 165 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 8995/8 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999391 -0.0270127 0.0221091 0.0420524 0.0266057 0.999475 0.018498 0.00510923 -0.0225972 -0.0178985 0.999584 -0.00624551 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875601.611146 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875601.611146 to keyframe with id: 34563072 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875601.611146 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 857 size: 5166 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId34563072 timestamp: 1311875601.611146 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -8.8945 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -9.73384 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -10.5231 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -9.98172 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 841 keyframeId: 171 score: -12.4753 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 844 keyframeId: 172 score: -11.3553 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 174 = 174 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1d6615e0 fh1 0x3ddc0840fh->id: 151 174 851goodE: 289 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1d6615e0 fh1 0x10913f80fh->id: 154 174 851goodE: 68 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1d6615e0 fh1 0x3ec60b00fh->id: 161 174 851goodE: 82 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1d6615e0 fh1 0x7f04c3b55960fh->id: 165 174 851goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1d6615e0 fh1 0x7f04b2f09140fh->id: 171 174 851goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1d6615e0 fh1 0x7f04b96246a0fh->id: 172 174 851goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x1d6615e0 fh1 0x7f04cb0b8120fh->id: 173 174 851goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew174 Input.cpp[readImages,206]: Got image from sensor!856 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 111 out of 121 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 121 newEdgePixels: 121 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3540 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 668 lastEnergy: 1005.67 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 265 INF|LocalMapper.cpp[optimize,276]: Start Energy: 1005.67 0 0 lastEnergyL: 0 Input.cpp[readImages,215]: mInputFrameQueue: 5 Input.cpp[readImages,218]: mNbOfImages: 857 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.62809e-11 5.59664e-12 -2.64635e-12 1.66674e-13 -0.00127609 -0.000269189 0.000483791 -3.76686e-06 0.000448263 0.00011516 0.000570192 0.000308571 0.00124862 7.24801e-05 0.0002116 9.00815e-05 0.000205428 0.000559626 0.00136694 0.000198341 0.000229597 -0.000280257 0.00230709 0.0016465 0.000366928 0.000420369 -0.000278578 -0.000143477 -0.00201489 0.00488339 0.00196434 0.000974219 0.00102996 -0.00187886 0.00188365 -0.00175864 0.00208875 -0.000100666 -8.98369e-05 -1.43261e-05 0.0028338 -0.0013361 -0.0020643 -0.00032548 -0.00022087 -2.71045e-05 0.00321777 -0.00205906 -0.00251488 -0.000173044 -0.000301731 0.000789861 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3540 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 928.014 0 0 newEnergyL 0 lastEnergy: 1005.67 0 0 lastEnergyL: 0mActiveResiduals: 3540 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -7.76241e-13 -1.17207e-12 -1.05813e-11 -5.44133e-14 0.000247372 -0.000161247 -0.000467276 -4.34498e-05 9.13612e-06 -2.26196e-05 0.000812769 -7.72085e-06 -0.000219367 -3.37297e-05 -7.7287e-05 -8.28305e-05 0.000720318 0.000426109 -0.000871535 8.18083e-05 -7.94117e-05 0.000158905 -0.0016554 -0.00116842 0.000330446 -0.000288546 0.000412466 5.02032e-05 -0.00119513 -0.00273341 -0.00395222 -0.000620743 -6.82318e-05 0.00110323 -0.00185856 0.00467381 -0.00103461 0.000724466 0.000404026 -0.000240027 -0.00353197 0.00182028 -0.000168338 0.000389012 0.000498468 0.000306877 -0.0022166 0.00131636 -0.00215677 0.000141975 0.000683075 0.000250276 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3540 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 908.281 0 0 newEnergyL 0 lastEnergy: 928.014 0 0 lastEnergyL: 0mActiveResiduals: 3540 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 9.05967e-12 -1.39846e-12 8.76707e-12 -6.97572e-12 0.000710259 -0.000103323 -0.00105533 5.15039e-05 -0.000487828 7.86827e-05 -0.0012321 0.000401825 -0.000564194 0.000139416 -0.000211089 0.000139376 -0.00117501 -0.000220556 9.8641e-05 -6.86629e-05 -0.000349397 -0.000102432 8.43379e-05 0.000291712 -0.001147 -1.14109e-05 -0.00072656 -0.000179067 -0.00269246 0.00256736 -0.000160338 0.000311608 -0.000103847 -0.000953501 -0.000188355 -0.00272359 -0.00012999 -0.000441868 -0.000757954 0.000174919 0.00255656 -0.00138002 -0.000455343 -0.00030509 -0.0011354 -0.000439949 0.0017815 0.00095552 0.00312902 0.000227485 -0.0010851 -0.000198601 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3540 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 889.203 0 0 newEnergyL 0 lastEnergy: 908.281 0 0 lastEnergyL: 0mActiveResiduals: 3540 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!857 INF|Input.cpp[getImages,132]: mNbReceivedImages!858 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.4168e-12 -1.0955e-12 -2.60071e-12 1.112e-11 -0.000204866 -0.00021021 0.00150283 -0.000101594 0.000445572 -5.38782e-05 0.000446863 0.00035279 0.000335739 5.47117e-06 0.000410814 -0.000169923 0.00208734 -0.00034573 0.000119219 -2.48835e-05 0.000329177 0.000121704 9.88529e-05 -9.39811e-05 0.00090701 0.000106475 0.000786319 0.000311395 0.00165126 -0.00259875 0.000605637 -0.000296268 0.000396284 0.000801042 -0.0011414 0.00344765 -0.00125725 0.000514242 0.0010577 -0.000228903 -0.00279231 0.000164036 -0.000605662 1.04943e-05 0.00110742 0.000616292 0.000104841 -0.000279506 -0.00133794 -0.000148784 0.000976877 9.30636e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3540 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 883.652 0 0 newEnergyL 0 lastEnergy: 889.203 0 0 lastEnergyL: 0mActiveResiduals: 3540 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -8.36915e-13 -3.12578e-12 7.946e-12 -9.18788e-12 0.000267394 0.000723119 -0.00187413 0.000187581 -0.000533667 0.000155727 -0.000896515 -0.000535928 -0.00114207 1.87694e-05 -0.000479012 0.000313609 -0.00198833 0.000109791 -3.12068e-05 -6.21077e-05 -0.000565901 -0.000108513 -0.00114109 1.77627e-05 -0.00112422 -0.000214366 -0.000783792 -0.000600909 -0.00191465 0.00018485 0.00101197 -7.0991e-05 -0.000789722 -0.000831392 0.00149778 -0.00280615 0.00189166 -0.000442721 -0.00136504 -0.00022543 0.00214673 9.40132e-05 -0.0009787 -0.00012419 -0.00136997 -0.00105938 0.00131254 0.00147444 0.00160929 0.000319564 -0.00167472 -7.7436e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3540 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 873.512 0 0 newEnergyL 0 lastEnergy: 883.652 0 0 lastEnergyL: 0mActiveResiduals: 3540 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.07834e-12 5.05786e-12 -8.95403e-12 1.88836e-12 0.000239318 -0.000692207 0.00159239 -0.000139171 0.000834155 7.67227e-05 0.000687059 -0.000151567 0.00154053 -4.26274e-05 0.000929456 -0.000123756 0.00180291 -0.000143359 0.000474346 9.19873e-05 0.000845122 0.000353298 0.00114573 0.00074894 0.00185031 0.000399361 0.00100257 0.000761098 0.000549873 -0.00068191 -0.00190254 8.2399e-05 0.00110933 0.000913327 -0.00168297 0.00276181 -0.00152552 0.000528801 0.0014678 0.000182099 -0.00326428 -8.2426e-05 0.000399803 0.000175445 0.00157867 0.00114419 0.00121614 -0.00086537 -0.00179233 -0.000223793 0.00114503 6.58431e-06 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3540 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 871.804 0 0 newEnergyL 0 lastEnergy: 873.512 0 0 lastEnergyL: 0mActiveResiduals: 3540 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 871.804 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3540 INF|LocalMapper.cpp[optimize,345]: End Energy: 871.804 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.502326 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.502326 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 171 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 171 with idx: 4 and allID: 841 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->171 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 171->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->171 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 171->154 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->171 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 171->161 INF|LocalMapper.cpp[marginalizeFrame,801]: 171 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 171 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 19586 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x1d6615e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 174 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 129 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 12 with distance 0.21Found rest min at: 128 with distance 0.116 overall min: 0.116 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 12 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 746 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 174 into DB 0.21 12 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 12 and real id(27) current kf: 174(851) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.266062 0.643091 -0.718084 -2.68214 -0.0335876 0.750667 0.659827 1.5615 0.96337 -0.151436 0.221324 -4.0945 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 27 currFrame: 174 Input.cpp[readImages,206]: Got image from sensor!857 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.000926647 edge: 174 to 27 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 174 to 27 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 56(1311875574.282187) and 851(1311875601.611146) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999924 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1441/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 174 to 27 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 56(1311875574.282187) and 851(1311875601.611146) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999082 0.00351923 -0.0426943 0.104512 -0.00474721 0.999577 -0.028695 0.0415946 0.0425752 0.0288713 0.998676 0.1434 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999981 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:965/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 174 to 27 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 56(1311875574.282187) and 851(1311875601.611146) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999081 0.0035348 -0.0427046 0.104496 -0.00476316 0.999577 -0.0286966 0.0416004 0.0425851 0.0288737 0.998676 0.14342 Input.cpp[readImages,215]: mInputFrameQueue: 6 Input.cpp[readImages,218]: mNbOfImages: 858 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999415 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1655/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.998418 0.0217998 -0.0518237 0.14765 -0.0245762 0.998262 -0.0535553 0.108558 0.0505662 0.0547443 0.997219 0.180764 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 26 end 29 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 8112 o[1]: 158 o[2]: 35 o[3]: 6 histWeights: 1 1 1.25 1.5overlap: 210.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 5166 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 27 and 174 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 174 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 174 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 7716 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 852 keyframes 175 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 523 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!858 INF|Input.cpp[getImages,132]: mNbReceivedImages!859 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.648461 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999973 -0.00459591 0.00571448 0.00561758 0.00459014 0.999989 0.00102158 0.000258028 -0.00571911 -0.000995326 0.999983 -0.000860734 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 174 to 4783999801400229888 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.648461) and 851(1311875601.611146) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999973 -0.00459591 0.00571448 0.00561758 0.00459014 0.999989 0.00102158 0.000258028 -0.00571911 -0.000995326 0.999983 -0.000860734 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999476 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1202/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 174 to 4783999801400229888 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.648461) and 851(1311875601.611146) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999987 -0.00445802 0.00266536 0.0103082 0.00446212 0.999989 -0.00153612 0.0110717 -0.00265848 0.001548 0.999995 -0.0090334 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999072 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2167/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 174 to 4783999801400229888 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.648461) and 851(1311875601.611146) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99998 -0.0046033 0.00423347 0.0119004 0.00459994 0.999989 0.000803614 0.00900336 -0.00423712 -0.000784124 0.999991 -0.00716905 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999391 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1204/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.56271 resInfo good: 5166, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 5689/5 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999967 -0.00587844 0.00567399 0.0102253 0.00586177 0.999978 0.0029495 0.00565125 -0.00569121 -0.00291614 0.99998 -0.00770072 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!852 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!858 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.679449 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999866 -0.0117731 0.0113303 0.0203732 0.0117064 0.999914 0.00593213 0.0113396 -0.0113992 -0.0057987 0.999918 -0.015476 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 174 to 4783999801400229888 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.679449) and 851(1311875601.611146) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999866 -0.0117731 0.0113303 0.0203732 0.0117064 0.999914 0.00593213 0.0113396 -0.0113992 -0.0057987 0.999918 -0.015476 Input.cpp[readImages,215]: mInputFrameQueue: 5 Input.cpp[readImages,218]: mNbOfImages: 859 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2491/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 174 to 4783999801400229888 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.679449) and 851(1311875601.611146) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999889 -0.0115423 0.0094692 0.021033 0.0114958 0.999922 0.0049538 0.011834 -0.00952564 -0.00484439 0.999943 -0.015081 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999681 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1510/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 174 to 4783999801400229888 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.679449) and 851(1311875601.611146) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999865 -0.0126467 0.0105347 0.0222436 0.0125735 0.999897 0.00698189 0.0109382 -0.0106219 -0.00684849 0.99992 -0.0132366 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999838 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1129/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.821261 resInfo good: 5159, 7 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6307/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999836 -0.013586 0.0120145 0.0216848 0.0134861 0.999874 0.00835965 0.00978237 -0.0121266 -0.00819624 0.999893 -0.0123852 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!853 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!859 INF|Input.cpp[getImages,132]: mNbReceivedImages!860 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.710107 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999605 -0.021326 0.0183126 0.0330822 0.0210745 0.999682 0.0138176 0.0139759 -0.0186015 -0.0134262 0.999737 -0.017165 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 174 to 4783999801400229888 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.710107) and 851(1311875601.611146) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999605 -0.021326 0.0183126 0.0330822 0.0210745 0.999682 0.0138176 0.0139759 -0.0186015 -0.0134262 0.999737 -0.017165 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.99972 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2133/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 174 to 4783999801400229888 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.710107) and 851(1311875601.611146) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999655 -0.0192486 0.0178501 0.0334485 0.0190434 0.999751 0.0115974 0.0141877 -0.0180688 -0.0112535 0.999773 -0.0188488 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.99961 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2012/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 174 to 4783999801400229888 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.710107) and 851(1311875601.611146) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999604 -0.0203035 0.0194737 0.0344012 0.0200383 0.999705 0.013715 0.0120117 -0.0197464 -0.0133194 0.999716 -0.0162837 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999789 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1130/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.0308 resInfo good: 5120, 46 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 6256/6 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999558 -0.0213394 0.0206963 0.0335939 0.0210231 0.999661 0.015385 0.0101841 -0.0210175 -0.0149431 0.999667 -0.0147137 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875601.710107 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875601.710107 to keyframe with id: 4783999801400229888 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875601.710107 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 806 size: 4519 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId4783999801400229888 timestamp: 1311875601.710107 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -8.94784 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -9.8072 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -10.5982 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -9.95329 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 844 keyframeId: 172 score: -13.4224 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 847 keyframeId: 173 score: -12.1195 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 175 = 175 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbdddba0 fh1 0x3ddc0840fh->id: 151 175 854goodE: 256 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbdddba0 fh1 0x10913f80fh->id: 154 175 854goodE: 67 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbdddba0 fh1 0x3ec60b00fh->id: 161 175 854goodE: 82 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbdddba0 fh1 0x7f04c3b55960fh->id: 165 175 854goodE: 13 Input.cpp[readImages,206]: Got image from sensor!859 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbdddba0 fh1 0x7f04b96246a0fh->id: 172 175 854goodE: 23 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbdddba0 fh1 0x7f04cb0b8120fh->id: 173 175 854goodE: 31 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbdddba0 fh1 0x1d6615e0fh->id: 174 175 854goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew175 Input.cpp[readImages,215]: mInputFrameQueue: 5 Input.cpp[readImages,218]: mNbOfImages: 860 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 109 out of 115 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 115 newEdgePixels: 115 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3450 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 588 lastEnergy: 983.684 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 181 INF|LocalMapper.cpp[optimize,276]: Start Energy: 983.684 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 9.70455e-12 -1.20322e-11 9.01106e-12 3.4209e-12 -0.00102694 -0.00104456 0.000324709 -0.000158625 -0.000261961 -0.000154369 -0.00114322 0.00127672 0.000131437 0.000142027 -0.000245806 -0.000254242 -0.00116891 0.000597421 0.000951952 0.000130189 -8.11204e-05 -0.000666623 0.000963195 0.000586485 -0.000900692 3.57842e-05 -0.00061126 -0.000612232 0.002934 0.000430215 0.00415934 0.000123502 -0.000560298 -0.000423725 0.00111249 0.00156886 0.000546492 0.000185076 -0.000235996 -0.000763584 -0.00232079 0.00443472 8.64417e-05 0.000657429 0.000194508 -0.00086502 -0.00571743 0.00210386 -0.00526555 0.000211658 0.000343696 -0.000488611 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3450 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 912.225 0 0 newEnergyL 0 lastEnergy: 983.684 0 0 lastEnergyL: 0mActiveResiduals: 3450 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 7.9591e-12 4.83649e-12 -7.07534e-12 5.96862e-12 0.000747485 0.000691051 -0.000602961 8.07323e-05 -0.000144059 -1.89115e-05 0.000703232 -0.00026123 -0.000362104 -9.40017e-05 -0.000121835 -1.64083e-05 0.000126038 0.000489797 -0.000386626 5.11722e-05 1.29969e-05 5.38388e-05 -0.000221393 -0.000727944 0.00114934 -0.000223808 0.000139917 0.000149617 -0.00259095 0.000151579 -0.00282599 -0.00013625 0.000374382 0.000208352 -0.00362669 0.0022664 -0.00105386 0.000369014 0.000555361 0.000136382 -0.0037768 9.36491e-05 -0.00351202 -8.61685e-05 0.000652261 5.88526e-05 0.000593806 -0.000675247 -0.00271835 -9.04746e-05 -7.0675e-05 0.000110802 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3450 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 883.454 0 0 newEnergyL 0 lastEnergy: 912.225 0 0 lastEnergyL: 0mActiveResiduals: 3450 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!860 INF|Input.cpp[getImages,132]: mNbReceivedImages!861 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 3.81294e-12 -1.86989e-12 3.13574e-12 -9.73228e-12 0.000124167 0.000156609 -0.000919303 0.000102614 -0.000264172 0.000313339 -0.000522371 -0.000705942 -0.000566638 -1.61942e-05 -0.000196354 0.000390702 -0.000937122 -0.000161089 6.26124e-05 -3.43473e-05 -0.000257594 8.12784e-05 -0.000646621 0.000751533 0.00019696 0.000217161 -0.000377118 9.55944e-06 0.000259901 5.25719e-05 0.00106585 0.000107863 -0.000545806 -9.90516e-05 0.00251341 -0.00257931 -0.00032066 -0.000482746 -0.000907874 2.77843e-05 -0.000312737 0.000327215 0.00109502 0.000229097 -0.000530914 -0.000165528 -0.00091156 0.00163609 -0.000593783 0.000251036 -0.000412836 -0.000541821 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3450 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 864.252 0 0 newEnergyL 0 lastEnergy: 883.454 0 0 lastEnergyL: 0mActiveResiduals: 3450 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.32178e-12 6.24254e-12 -3.45634e-12 -1.56524e-12 -0.00059424 -0.000298325 0.00110446 -9.58124e-05 0.000547458 -0.000136901 0.00124511 0.000508631 0.000618466 3.77725e-05 0.000351768 -0.000203418 0.000766056 -0.000190747 0.000761928 -3.36093e-05 0.000596911 -1.53603e-05 0.0012744 0.000107695 0.00120831 -1.46381e-05 0.000536011 0.000129842 -0.000262777 -0.000558584 -0.00192851 -0.000186446 0.000910988 0.000249268 -0.00255535 0.00278445 0.000210235 0.000584064 0.00123638 0.000160115 -0.000498575 -0.000867518 -0.00214207 -0.000294118 0.000985449 4.93486e-05 0.000900541 -0.000966844 0.000391348 -5.78836e-05 0.000832177 0.000292358 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3450 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 859.278 0 0 newEnergyL 0 lastEnergy: 864.252 0 0 lastEnergyL: 0mActiveResiduals: 3450 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -6.18048e-12 -3.28148e-12 -3.20004e-12 1.4479e-12 0.000468826 0.000400351 -0.000752698 0.000114214 -0.000283668 0.000114432 -0.000821426 -0.00038665 -0.000547739 -4.05885e-05 -0.000138019 0.000117206 -0.000406764 0.000220707 -0.000116705 4.80447e-05 -0.00032185 -9.18155e-05 -0.0012205 0.0011439 -0.000511576 0.000308214 -0.000185407 -6.11525e-05 -0.00118125 -0.000128923 0.000502989 -8.69508e-05 -0.00032912 -0.000361332 0.00349784 -0.00321839 0.00045195 -0.000724695 -0.000971399 -0.000453861 0.000361453 -6.30113e-06 0.00144222 2.682e-05 -0.00068839 -0.000230989 -0.000972567 0.00164694 -0.000714592 8.93647e-06 -0.000441114 -0.000755486 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3450 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 852.993 0 0 newEnergyL 0 lastEnergy: 859.278 0 0 lastEnergyL: 0mActiveResiduals: 3450 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 3.72556e-12 6.46703e-12 -1.70466e-13 -5.7059e-12 -0.000172075 -3.19414e-05 0.000574418 -3.08779e-05 0.000347008 4.7613e-05 0.000663921 -0.000718942 0.000552777 -0.000139434 0.000300554 8.64122e-06 0.000598186 5.98106e-05 2.56184e-05 -1.89827e-05 0.000361524 0.000144216 0.000361828 -0.000144354 0.0014579 1.76114e-06 0.000349116 0.00019565 0.000241487 -0.000747624 -0.00101908 -6.94812e-05 0.000463526 0.000513949 -0.00297871 0.00269702 -7.68868e-05 0.000634304 0.000917983 0.000354362 0.000344677 -0.000573474 -0.00131054 -7.63766e-05 0.000585434 0.000276525 0.00105907 -0.00027351 2.88613e-05 0.000288582 0.000393855 0.000509022 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3450 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 855.541 0 0 newEnergyL 0 lastEnergy: 852.993 0 0 lastEnergyL: 0mActiveResiduals: 3450 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 855.541 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3450 INF|LocalMapper.cpp[optimize,345]: End Energy: 855.541 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.50513 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.50513 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! Input.cpp[readImages,206]: Got image from sensor!860 INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 172 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 172 with idx: 4 and allID: 844 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->172 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 172->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->172 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 172->154 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->172 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 172->161 INF|LocalMapper.cpp[marginalizeFrame,801]: 172 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 172 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 19279 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04bbdddba0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 175 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 130 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 62 with distance 0.218Found rest min at: 129 with distance 0.074 overall min: 0.074 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 62 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 732 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 175 into DB 0.218 62 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 62 and real id(90) current kf: 175(854) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.952137 -0.208797 0.223245 -2.66097 0.176283 0.971738 0.157003 -0.692003 -0.249717 -0.110134 0.962035 1.45244 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 90 currFrame: 175 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg 0.00104995 eye: 0.000568626 edge: 175 to 90 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 175 to 90 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 426(1311875587.432193) and 854(1311875601.710107) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 Input.cpp[readImages,215]: mInputFrameQueue: 6 Input.cpp[readImages,218]: mNbOfImages: 861 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 11,0.999571 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2328/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 175 to 90 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 426(1311875587.432193) and 854(1311875601.710107) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999201 -0.000246326 0.0399661 -0.0328738 -0.00376532 0.994953 0.10027 -0.366727 -0.0397891 -0.10034 0.994157 0.478345 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999276 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:503/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 175 to 90 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 426(1311875587.432193) and 854(1311875601.710107) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999145 -0.00174107 0.0413159 -0.0304697 -0.00250226 0.994737 0.102431 -0.37486 -0.0412768 -0.102447 0.993882 0.48968 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999546 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1169/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.999096 -0.00401831 0.042322 -0.0287736 -0.000430211 0.994516 0.104582 -0.380563 -0.0425102 -0.104505 0.993615 0.48959 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 89 end 92 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!861 INF|Input.cpp[getImages,132]: mNbReceivedImages!862 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 6390 o[1]: 2261 o[2]: 367 o[3]: 22 histWeights: 1 1 1.25 1.5overlap: 2752.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 4519 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 90 and 175 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 175 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 175 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 7877 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 855 keyframes 176 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 527 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.747182 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999982 -0.00382027 0.00465525 0.00572132 0.00380373 0.999986 0.00355821 9.68588e-05 -0.00466878 -0.00354044 0.999983 0.00014577 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 175 to 139658250124576 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.747182) and 854(1311875601.710107) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999982 -0.00382027 0.00465525 0.00572132 0.00380373 0.999986 0.00355821 9.68588e-05 -0.00466878 -0.00354044 0.999983 0.00014577 Input.cpp[readImages,206]: Got image from sensor!861 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 10,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:4000/4 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 175 to 139658250124576 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.747182) and 854(1311875601.710107) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999974 -0.0045683 0.00561292 0.0124906 0.00456019 0.999989 0.00145644 -0.000903654 -0.00561951 -0.00143081 0.999983 -0.00284039 Input.cpp[readImages,215]: mInputFrameQueue: 6 Input.cpp[readImages,218]: mNbOfImages: 862 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 8): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:3961/3 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 175 to 139658250124576 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.747182) and 854(1311875601.710107) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999955 -0.00432576 0.00841181 0.0101023 0.00431134 0.999989 0.00173155 0.00355715 -0.00841921 -0.0016952 0.999963 -0.00319623 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999998 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1442/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.5964 resInfo good: 4516, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 10672/10 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99995 -0.00498514 0.00871049 0.0116833 0.0049601 0.999984 0.00289476 0.0022771 -0.00872477 -0.00285141 0.999958 -0.00313703 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!855 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.779875 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!862 INF|Input.cpp[getImages,132]: mNbReceivedImages!863 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999799 -0.00999479 0.0174057 0.0233273 0.0098946 0.999934 0.00583256 0.00460303 -0.0174629 -0.00565916 0.999831 -0.00638235 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 175 to 139658250124576 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.779875) and 854(1311875601.710107) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999799 -0.00999479 0.0174057 0.0233273 0.0098946 0.999934 0.00583256 0.00460303 -0.0174629 -0.00565916 0.999831 -0.00638235 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999042 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:631/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 175 to 139658250124576 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.779875) and 854(1311875601.710107) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999769 -0.0111574 0.0183733 0.0260811 0.011042 0.999919 0.00637189 0.00744155 -0.0184429 -0.00616754 0.999811 -0.0110907 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999586 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1258/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 175 to 139658250124576 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.779875) and 854(1311875601.710107) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999749 -0.00946967 0.0203024 0.0218629 0.00934272 0.999936 0.00633904 0.011962 -0.0203611 -0.00614777 0.999774 -0.013737 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999426 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:908/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.889901 resInfo good: 4506, 13 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3789/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999721 -0.0105396 0.0211374 0.0212299 0.0103568 0.999908 0.00874022 0.00858244 -0.0212276 -0.00851887 0.999738 -0.0123182 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!856 Input.cpp[readImages,206]: Got image from sensor!862 Input.cpp[readImages,215]: mInputFrameQueue: 6 Input.cpp[readImages,218]: mNbOfImages: 863 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!863 INF|Input.cpp[getImages,132]: mNbReceivedImages!864 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 13821 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.812003 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999307 -0.0161636 0.0335282 0.0306266 0.0156795 0.99977 0.0146519 0.0148863 -0.0337573 -0.0141161 0.99933 -0.0216537 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 175 to 139658250124576 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.812003) and 854(1311875601.710107) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999307 -0.0161636 0.0335282 0.0306266 0.0156795 0.99977 0.0146519 0.0148863 -0.0337573 -0.0141161 0.99933 -0.0216537 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.99954 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2249/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 175 to 139658250124576 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.812003) and 854(1311875601.710107) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999291 -0.0153943 0.034345 0.0332384 0.0149512 0.999802 0.0131214 0.0113007 -0.0345402 -0.0125986 0.999324 -0.0119554 Input.cpp[readImages,206]: Got image from sensor!863 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999502 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2588/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 175 to 139658250124576 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.812003) and 854(1311875601.710107) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999248 -0.0169105 0.0348914 0.0350795 0.0163419 0.99973 0.0165176 0.0074535 -0.0351613 -0.015935 0.999255 -0.0119487 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999829 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1077/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.12634 resInfo good: 4319, 200 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7096/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999199 -0.0172404 0.0361101 0.0340511 0.0166358 0.999717 0.0169792 0.00800338 -0.0363926 -0.0163649 0.999204 -0.00997673 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875601.812003 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875601.812003 to keyframe with id: 139658250124576 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875601.812003 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 820 size: 4312 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId139658250124576 timestamp: 1311875601.812003 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -8.99913 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -9.87117 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -10.6746 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -9.94248 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 847 keyframeId: 173 score: -11.9815 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 851 keyframeId: 174 score: -10.9354 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 176 = 176 Input.cpp[readImages,215]: mInputFrameQueue: 6 Input.cpp[readImages,218]: mNbOfImages: 864 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b8637d40 fh1 0x3ddc0840fh->id: 151 176 857goodE: 225 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b8637d40 fh1 0x10913f80fh->id: 154 176 857goodE: 64 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b8637d40 fh1 0x3ec60b00fh->id: 161 176 857goodE: 81 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b8637d40 fh1 0x7f04c3b55960fh->id: 165 176 857goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b8637d40 fh1 0x7f04cb0b8120fh->id: 173 176 857goodE: 33 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b8637d40 fh1 0x1d6615e0fh->id: 174 176 857goodE: 26 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b8637d40 fh1 0x7f04bbdddba0fh->id: 175 176 857goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew176 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 112 out of 117 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 117 newEdgePixels: 117 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3233 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 543 lastEnergy: 905.24 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 168 INF|LocalMapper.cpp[optimize,276]: Start Energy: 905.24 0 0 lastEnergyL: 0 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!864 INF|Input.cpp[getImages,132]: mNbReceivedImages!865 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 6.44792e-13 -2.63022e-11 2.1367e-11 1.42439e-11 -0.000390501 0.000174256 0.000512347 5.61727e-05 -0.000275024 -0.00034245 9.29969e-05 -0.000681019 0.000882185 -0.000130569 -0.000416534 -5.89947e-05 -0.000838277 0.000535815 0.00168157 0.000211414 -0.000172239 -0.000411411 -0.0013428 0.000311987 -0.000297024 0.000205134 2.64722e-05 -0.000311463 0.00371669 -0.00124503 5.21364e-05 -0.000371557 -0.000840333 -0.000289278 -0.00194102 0.00204754 -0.000310553 0.000342599 -0.000103456 -0.000517328 -0.000432317 0.00275834 -0.000248074 0.000192542 -7.90952e-05 -0.000905281 -0.0075533 0.00562892 -0.00578874 0.000720549 0.00107373 -0.00100444 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3233 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 854.273 0 0 newEnergyL 0 lastEnergy: 905.24 0 0 lastEnergyL: 0mActiveResiduals: 3233 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 4.49047e-12 3.58903e-12 1.89873e-12 3.96672e-12 0.000365153 0.000228371 -0.000255524 1.34108e-05 -9.16169e-05 -2.68866e-05 -0.000276752 0.000278527 0.000227827 2.56674e-05 7.67397e-05 -3.51975e-05 0.00174788 0.000307504 0.000183906 5.21245e-05 -0.00033061 8.84031e-06 0.00130698 0.000105093 -0.000139072 -9.19665e-05 -0.000383142 0.0003313 -0.00251718 0.0012 -9.65224e-05 0.000321794 0.000316136 1.99231e-06 -0.000860891 -0.00177145 -0.00270995 -0.000341353 4.50409e-05 0.000339317 -0.00370921 0.00157751 -0.000661604 0.000504652 0.000490799 0.000114621 -0.000593053 0.00244521 0.00312625 0.000487099 0.000228434 -9.20006e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3233 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 830.305 0 0 newEnergyL 0 lastEnergy: 854.273 0 0 lastEnergyL: 0mActiveResiduals: 3233 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -2.74585e-12 3.51049e-13 -4.3096e-12 -4.77582e-12 0.000540268 0.00036015 -0.000526955 6.41279e-05 -0.000162491 -9.33917e-05 0.000617311 0.000164375 0.00030766 3.23439e-05 -0.000188591 1.49352e-06 -0.00229012 -0.000330709 -0.000585613 -9.24635e-05 0.000280403 -0.000140455 -0.00052644 -0.000686972 -0.00116141 -0.000177162 3.97009e-05 -0.00017055 0.0018611 -0.00113783 0.000631322 -0.000226089 -0.000428641 0.000133256 -0.000782678 0.00189718 0.0013693 0.000334907 -0.000101128 -4.78654e-06 0.00174406 -0.000604265 -0.000154415 -0.000271964 -0.000427863 0.000305319 -0.00113716 0.000461834 -0.000553563 0.0001764 0.000227661 0.000144371 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3233 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 818.769 0 0 newEnergyL 0 lastEnergy: 830.305 0 0 lastEnergyL: 0mActiveResiduals: 3233 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.21049e-11 1.02318e-12 -6.59784e-13 1.51921e-14 -0.000534156 -0.000303467 6.05301e-06 -0.000134544 -4.12858e-05 -7.99848e-05 -0.000296367 0.000301245 -0.000274993 1.99201e-05 -7.82289e-05 -9.92149e-06 0.0013728 -0.000262893 -1.8963e-05 -0.000122648 -0.000347326 2.46223e-05 -1.7469e-05 0.00102192 0.000844037 0.000183537 -0.000108943 -4.06296e-05 -0.00149279 0.000434533 0.000773311 0.000126045 0.000173309 -0.000109469 0.00123806 -0.00209958 -0.000801072 -0.000330891 -0.000231305 -2.68176e-05 -0.000827748 -0.000318118 0.000615392 0.000140269 2.88616e-05 -0.000168456 0.00036606 0.000976991 -0.000818927 2.49936e-05 -0.000178622 -0.000433924 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3233 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 810.134 0 0 newEnergyL 0 lastEnergy: 818.769 0 0 lastEnergyL: 0mActiveResiduals: 3233 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.63674e-12 7.47406e-13 5.94233e-12 -5.80896e-12 0.000419634 -0.000114759 -0.000171549 1.93279e-05 9.85064e-05 -0.000153705 0.000113675 -8.71744e-05 0.00014733 2.42161e-05 0.000134355 -0.000123149 -0.00121135 0.000488299 0.000207882 0.000158655 0.000321633 -9.91965e-05 0.000184281 -0.000800195 -0.000406454 -0.000106278 3.179e-05 -0.000148442 0.00151295 -0.0005265 0.000158534 -0.0001013 -0.000183266 0.000102506 -0.00228787 0.00140371 0.000882074 0.000264241 0.000271222 9.56802e-05 0.0021964 0.000423829 0.000419867 -8.00362e-05 -0.000229858 6.40301e-05 -0.000993817 -0.000759795 -0.00140898 1.76521e-05 -8.61357e-06 0.00096362 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3233 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 809.348 0 0 newEnergyL 0 lastEnergy: 810.134 0 0 lastEnergyL: 0mActiveResiduals: 3233 Input.cpp[readImages,206]: Got image from sensor!864 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.84479e-12 1.81994e-13 -4.91183e-12 3.36447e-12 -0.000255992 0.000181317 0.000346417 -4.64019e-05 -0.000186074 4.9664e-05 3.48404e-05 0.000399611 -0.00016787 -1.85917e-07 -0.000218696 7.66487e-05 0.00131685 -0.000343455 -0.000742397 -0.000127523 -0.000411333 6.58214e-05 -0.000600508 0.000748684 -0.0001865 1.09242e-05 1.19343e-05 9.69542e-05 -0.00219678 0.000434628 -0.000275967 1.58545e-05 0.000319012 -0.000173204 0.00126987 -0.00224699 -0.00083522 -0.000365242 -8.04062e-05 -0.000132457 -0.00182125 -0.0005647 0.000612279 3.65214e-05 0.000178482 -0.00025459 0.00245476 0.00158272 0.00105907 2.52498e-06 -0.000339877 -0.00102034 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3233 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 803.625 0 0 newEnergyL 0 lastEnergy: 809.348 0 0 lastEnergyL: 0mActiveResiduals: 3233 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 803.625 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 3233 INF|LocalMapper.cpp[optimize,345]: End Energy: 803.625 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.508086 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.508086 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 173 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 173 with idx: 4 and allID: 847 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->173 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 173->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->173 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 173->154 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->173 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 173->161 INF|LocalMapper.cpp[marginalizeFrame,801]: 173 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 173 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 Input.cpp[readImages,215]: mInputFrameQueue: 7 Input.cpp[readImages,218]: mNbOfImages: 865 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 17909 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04b8637d40 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 176 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 131 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 12 with distance 0.218Found rest min at: 130 with distance 0.088 overall min: 0.088 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 12 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 727 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 176 into DB 0.218 12 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 12 and real id(27) current kf: 176(857) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.19947 0.627707 -0.75246 -2.7188 -0.0284242 0.771275 0.635868 1.56685 0.979492 -0.105448 0.171688 -4.16177 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 27 currFrame: 176 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00111358 edge: 176 to 27 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 176 to 27 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 56(1311875574.282187) and 857(1311875601.812003) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.99926 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:773/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 176 to 27 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 56(1311875574.282187) and 857(1311875601.812003) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999642 -0.02615 -0.00567096 -0.0308197 0.0264203 0.998168 0.0544309 -0.139616 0.0042372 -0.0545613 0.998501 -0.198025 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999965 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:754/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 176 to 27 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 56(1311875574.282187) and 857(1311875601.812003) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999642 -0.0261562 -0.00570523 -0.0309027 0.0264284 0.998166 0.0544703 -0.139628 0.00427004 -0.0546015 0.998499 -0.19816 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999993 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:671/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.999647 -0.0255777 -0.00722479 -0.0248139 0.0259577 0.997943 0.0586124 -0.147118 0.00571076 -0.0587792 0.998255 -0.201721 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 26 end 29 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!865 INF|Input.cpp[getImages,132]: mNbReceivedImages!866 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 7207 o[1]: 207 o[2]: 32 o[3]: 3 histWeights: 1 1 1.25 1.5overlap: 251.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 4312 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 27 and 176 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 176 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 176 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 5643 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 858 keyframes 177 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 523 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.846185 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999969 -0.00355778 0.00700066 0.00765871 0.00352623 0.999984 0.00451301 -0.00208392 -0.0070166 -0.00448819 0.999965 0.00264657 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 176 to 139658424365056 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.846185) and 857(1311875601.812003) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999969 -0.00355778 0.00700066 0.00765871 0.00352623 0.999984 0.00451301 -0.00208392 -0.0070166 -0.00448819 0.999965 0.00264657 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999508 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1202/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 176 to 139658424365056 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.846185) and 857(1311875601.812003) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999932 -0.00555192 0.0102244 0.0144179 0.00556152 0.999984 -0.000911478 -0.00511356 -0.0102192 0.00096828 0.999947 0.00645292 Input.cpp[readImages,206]: Got image from sensor!865 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999467 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1795/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 176 to 139658424365056 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.846185) and 857(1311875601.812003) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999911 -0.00578662 0.0119936 0.0153914 0.00578519 0.999983 0.000153469 -0.00393423 -0.0119943 -8.40697e-05 0.999928 0.00270104 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999372 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:716/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.675 resInfo good: 4150, 162 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4728/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999898 -0.00461506 0.0135342 0.0145414 0.00460205 0.999989 0.000991945 -0.00125944 -0.0135387 -0.000929559 0.999908 -0.000379534 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!858 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.881761 Input.cpp[readImages,215]: mInputFrameQueue: 6 Input.cpp[readImages,218]: mNbOfImages: 866 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999591 -0.00924217 0.0270613 0.0290819 0.00919015 0.999956 0.00204607 -0.00245232 -0.027079 -0.00179654 0.999632 -0.000954734 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 176 to 139658424365056 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.881761) and 857(1311875601.812003) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999591 -0.00924217 0.0270613 0.0290819 0.00919015 0.999956 0.00204607 -0.00245232 -0.027079 -0.00179654 0.999632 -0.000954734 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999941 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2018/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 176 to 139658424365056 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.881761) and 857(1311875601.812003) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999428 -0.0150805 0.0302815 0.0253362 0.0150376 0.999886 0.00164362 0.000933927 -0.0303028 -0.00118732 0.99954 -0.0204787 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999992 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:467/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 176 to 139658424365056 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.881761) and 857(1311875601.812003) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999376 -0.0146696 0.0321349 0.0254836 0.0146131 0.999891 0.00199123 0.00237476 -0.0321606 -0.00152039 0.999482 -0.018459 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999934 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1076/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.01894 resInfo good: 4156, 156 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4483/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999353 -0.0133833 0.0333844 0.0257861 0.0132788 0.999906 0.0033488 0.00347803 -0.033426 -0.00290333 0.999437 -0.0136359 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875601.881761 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875601.881761 to keyframe with id: 139658424365056 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875601.881761 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!866 INF|Input.cpp[getImages,132]: mNbReceivedImages!867 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 707 size: 3367 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId139658424365056 timestamp: 1311875601.881761 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -9.03952 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -9.92875 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -10.7402 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -9.93258 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 851 keyframeId: 174 score: -12.5759 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 854 keyframeId: 175 score: -11.4634 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 177 = 177 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c2c63020 fh1 0x3ddc0840fh->id: 151 177 859goodE: 194 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c2c63020 fh1 0x10913f80fh->id: 154 177 859goodE: 62 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c2c63020 fh1 0x3ec60b00fh->id: 161 177 859goodE: 69 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c2c63020 fh1 0x7f04c3b55960fh->id: 165 177 859goodE: 9 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c2c63020 fh1 0x1d6615e0fh->id: 174 177 859goodE: 28 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c2c63020 fh1 0x7f04bbdddba0fh->id: 175 177 859goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c2c63020 fh1 0x7f04b8637d40fh->id: 176 177 859goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew177 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 134 out of 138 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 138 newEdgePixels: 138 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2929 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 473 lastEnergy: 850.022 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 144 INF|LocalMapper.cpp[optimize,276]: Start Energy: 850.022 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -6.61132e-12 -5.95104e-12 -5.20688e-12 3.32736e-12 0.000329095 6.66938e-06 -0.000174435 7.41076e-05 0.000191276 0.000233353 0.000478801 0.00131191 -0.000411222 0.000229126 0.000174636 0.000158218 -0.000900305 -0.00112083 1.52586e-05 -0.000263259 0.000425168 0.000329106 0.000864162 -0.00165174 -0.000516844 -0.000304127 1.70593e-06 0.000355414 0.000324888 0.00129739 0.000416385 0.000280524 0.000172939 0.000457907 0.00208294 0.00122942 0.000515705 0.000118179 0.000177875 0.000293906 -0.0022765 -0.00250789 -0.00249288 -0.000278664 0.000572703 0.00142358 -0.00783 -0.00183912 -0.00533305 -2.18048e-05 0.00118498 0.00163396 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2929 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 798.892 0 0 newEnergyL 0 lastEnergy: 850.022 0 0 lastEnergyL: 0mActiveResiduals: 2929 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 5.59392e-12 1.8506e-13 6.21385e-12 -3.41575e-13 8.48168e-06 -0.000225901 0.000350956 -1.70661e-05 2.26446e-06 7.92535e-06 -0.000659334 -0.000774772 0.000150547 -0.000112668 0.000130083 7.03132e-05 0.00066962 2.88816e-05 6.00698e-05 0.000114026 -0.000191011 0.000175564 -0.000520659 0.000351236 0.00194796 0.000199607 9.82565e-05 3.08199e-05 0.000477542 0.00053249 0.000370078 0.000145261 6.5309e-05 -0.000624298 -0.00177343 -0.000184228 0.000827705 5.32725e-05 0.000214915 -0.00046372 0.001454 0.00093467 0.000426096 9.55962e-05 -5.38712e-05 -0.00133849 -0.00507834 0.00026524 -0.00655742 -0.000160601 0.00032287 -0.000316567 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2929 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 771.69 0 0 newEnergyL 0 lastEnergy: 798.892 0 0 lastEnergyL: 0mActiveResiduals: 2929 Input.cpp[readImages,206]: Got image from sensor!866 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 2.15471e-12 3.6129e-12 -6.47059e-12 1.15599e-12 -0.00020628 0.000592349 0.000710115 7.8714e-05 -0.000173985 -0.000315348 -0.000156586 0.000556154 0.000440514 4.69814e-05 -8.43688e-05 -0.000319979 0.000281052 -0.000347263 -0.000168567 -0.000157784 4.49692e-05 -0.00041094 0.00185824 -0.000762753 -0.00118773 -0.000259959 -0.000181526 -0.000428311 -0.000669022 0.000975819 -0.000143661 -6.85677e-05 0.000524654 3.91953e-05 0.00123554 -4.54222e-05 -9.01921e-05 -0.000219578 0.000276314 -4.59652e-05 0.0032082 -0.000908372 0.00377311 -6.76281e-05 -0.000116771 0.00065728 -0.00525003 0.000113282 -0.00296901 -0.00029877 0.00140394 -0.000239801 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2929 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 755.157 0 0 newEnergyL 0 lastEnergy: 771.69 0 0 lastEnergyL: 0mActiveResiduals: 2929 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.5294e-12 -4.73912e-12 2.03853e-12 6.07998e-12 -7.80701e-06 -0.000644293 0.000226585 -0.000102876 0.000598039 0.000512689 0.000218486 -0.00057831 0.000494796 -6.50867e-05 0.00056717 0.00037189 0.000328446 -0.000519037 0.000712742 -9.75486e-06 0.000428812 0.000601081 0.000331878 0.00103758 0.00188999 0.000369571 0.000422002 0.000627717 0.000983427 -0.000882909 7.542e-05 0.000108515 0.000369613 0.000354297 -0.000755371 0.000659958 -0.00010948 0.000333948 0.000612607 0.000243943 -0.00046894 0.00155055 -0.00126329 0.000244139 0.000759767 -0.000595052 -0.000964587 -0.00079942 -0.00137068 0.000268536 0.000463142 0.000745753 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2929 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 746.836 0 0 newEnergyL 0 lastEnergy: 755.157 0 0 lastEnergyL: 0mActiveResiduals: 2929 Input.cpp[readImages,215]: mInputFrameQueue: 7 Input.cpp[readImages,218]: mNbOfImages: 867 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 5.84095e-13 -3.49534e-12 4.64145e-12 -3.27372e-12 9.30899e-05 0.000674897 -0.000191393 0.00013914 -0.000522192 -0.000638202 -0.00039474 0.000359731 -0.000338639 2.56928e-05 -0.000443773 -0.000588561 -0.000647147 0.000421569 -0.000496348 8.5149e-06 -0.000268332 -0.000735923 0.000278519 0.000569723 -0.0013447 -6.06505e-05 -0.000375147 -0.000806104 -0.000123875 0.000689342 0.000538652 -0.000172254 -0.000259809 -0.000579984 0.00214271 -0.000664267 0.00142962 -0.000352022 -0.000614581 -0.000484027 0.00117761 -0.00114952 0.00208029 -0.000251521 -0.000647313 0.000404429 -0.00227519 -0.000927985 -0.00179197 -0.000763758 0.000147056 -0.000538713 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2929 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 746.263 0 0 newEnergyL 0 lastEnergy: 746.836 0 0 lastEnergyL: 0mActiveResiduals: 2929 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.39381e-12 -5.00551e-13 1.12924e-12 3.38869e-12 4.65758e-05 -0.000538493 -0.000197339 -0.000104485 0.000208613 0.000616934 -0.000173793 -0.000224528 0.000336888 -9.55992e-07 0.000266786 0.000578009 0.000408705 -0.000485903 2.92718e-05 -4.32157e-05 5.80149e-06 0.000526091 7.79993e-05 -0.000850318 0.00081572 -6.47142e-05 -5.38526e-07 0.000794261 -0.000602586 -0.000275164 -0.000158293 0.000216951 0.000128161 0.000467552 -0.00146386 -0.000141766 -0.000623505 0.000274664 0.000216323 0.000485631 -0.00032187 0.00133816 -0.00139995 0.000238513 0.000302386 -0.000765907 0.00179402 0.00111124 0.00127429 0.000764389 -0.000483476 0.000690387 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2929 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 742.485 0 0 newEnergyL 0 lastEnergy: 746.263 0 0 lastEnergyL: 0mActiveResiduals: 2929 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 742.485 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2929 INF|LocalMapper.cpp[optimize,345]: End Energy: 742.485 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.515595 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.515595 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!867 INF|Input.cpp[getImages,132]: mNbReceivedImages!868 INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 174 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 174 with idx: 4 and allID: 851 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->174 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 174->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->174 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 174->154 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->174 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 174->161 INF|LocalMapper.cpp[marginalizeFrame,801]: 174 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 174 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 19195 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04c2c63020 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 177 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 132 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 12 with distance 0.206Found rest min at: 131 with distance 0.08 overall min: 0.08 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 12 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 736 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 177 into DB 0.206 12 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 12 and real id(27) current kf: 177(859) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.169369 0.627607 -0.759884 -2.73156 -0.0179007 0.772855 0.634331 1.56732 0.98539 -0.0938337 0.142132 -4.19572 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 27 currFrame: 177 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 1 0 0 0 0 1 0 0 0 0 1 0 avg inf eye: 0.00164574 edge: 177 to 27 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 177 to 27 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 56(1311875574.282187) and 859(1311875601.881761) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999992 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1317/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 177 to 27 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 56(1311875574.282187) and 859(1311875601.881761) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999437 0.017923 0.0283671 -0.141375 -0.0191796 0.998818 0.0446645 -0.149378 -0.0275331 -0.0451834 0.998599 0.00542019 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 11,0.999397 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1647/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 177 to 27 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 56(1311875574.282187) and 859(1311875601.881761) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999156 0.0344935 0.0222939 -0.136544 -0.0362276 0.995913 0.0827373 -0.226408 -0.0193488 -0.0834751 0.996322 0.00845838 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999904 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1384/1 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.999272 0.0329695 0.0191766 -0.12734 -0.0345987 0.995162 0.0919589 -0.2423 -0.016052 -0.0925555 0.995578 0.00441484 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 26 end 29 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!867 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 6614 o[1]: 157 o[2]: 25 o[3]: 4 histWeights: 1 1 1.25 1.5overlap: 194.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 3367 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 27 and 177 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 177 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 177 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 7896 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 860 keyframes 178 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.911810 Input.cpp[readImages,215]: mInputFrameQueue: 7 Input.cpp[readImages,218]: mNbOfImages: 868 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999823 -0.00655584 0.0176463 0.0224912 0.00652115 0.999977 0.00202269 0.0052692 -0.0176591 -0.00190725 0.999842 -0.00401428 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 177 to 85899345939 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.911810) and 859(1311875601.881761) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999823 -0.00655584 0.0176463 0.0224912 0.00652115 0.999977 0.00202269 0.0052692 -0.0176591 -0.00190725 0.999842 -0.00401428 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999967 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:2330/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 177 to 85899345939 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.911810) and 859(1311875601.881761) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999867 -0.00390736 0.0158246 0.0119535 0.0038833 0.999991 0.00155114 -0.00117486 -0.0158305 -0.00148948 0.999874 -0.00265564 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!868 INF|Input.cpp[getImages,132]: mNbReceivedImages!869 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 5): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:2294/2 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 177 to 85899345939 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.911810) and 859(1311875601.881761) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999834 -0.0034636 0.0178934 0.0109148 0.00342616 0.999992 0.00212266 0.00305222 -0.0179006 -0.002061 0.999838 -0.00367503 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999981 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1789/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.726265 resInfo good: 3366, 1 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 7432/7 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999823 -0.00373894 0.0184526 0.0115332 0.00367807 0.999988 0.00333157 0.00248113 -0.0184648 -0.00326311 0.999824 -0.00410347 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!860 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.948198 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999291 -0.00753738 0.0368862 0.0229794 0.00729392 0.999951 0.00673038 0.00499098 -0.0369351 -0.00645656 0.999297 -0.00842727 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 177 to 85899345939 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.948198) and 859(1311875601.881761) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999291 -0.00753738 0.0368862 0.0229794 0.00729392 0.999951 0.00673038 0.00499098 -0.0369351 -0.00645656 0.999297 -0.00842727 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999921 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1392/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 177 to 85899345939 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.948198) and 859(1311875601.881761) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999504 -0.00100679 0.0314869 0.0349952 0.00102966 0.999999 -0.000710235 0.0199781 -0.0314862 0.000742303 0.999504 0.00870785 Input.cpp[readImages,206]: Got image from sensor!868 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999694 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1395/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 177 to 85899345939 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.948198) and 859(1311875601.881761) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999397 -0.00527625 0.034325 0.0269729 0.00508135 0.99997 0.00576289 0.0108625 -0.0343544 -0.00558499 0.999394 -0.00341997 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.99997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1086/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.03273 resInfo good: 3243, 124 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 4614/4 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999352 -0.00608046 0.0354907 0.0246271 0.00582898 0.999957 0.00718493 0.0107588 -0.0355328 -0.0069734 0.999344 -0.00760957 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875601.948198 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875601.948198 to keyframe with id: 85899345939 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875601.948198 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 654 size: 2673 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId85899345939 timestamp: 1311875601.948198 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -9.08082 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -9.98886 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -10.8357 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -9.97601 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 854 keyframeId: 175 score: -12.4508 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 857 keyframeId: 176 score: -11.3542 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 178 = 178 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba517ee0 fh1 0x3ddc0840fh->id: 151 178 861goodE: 171 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba517ee0 fh1 0x10913f80fh->id: 154 178 861goodE: 57 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba517ee0 fh1 0x3ec60b00fh->id: 161 178 861goodE: 64 Input.cpp[readImages,215]: mInputFrameQueue: 7 Input.cpp[readImages,218]: mNbOfImages: 869 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba517ee0 fh1 0x7f04c3b55960fh->id: 165 178 861goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba517ee0 fh1 0x7f04bbdddba0fh->id: 175 178 861goodE: 16 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba517ee0 fh1 0x7f04b8637d40fh->id: 176 178 861goodE: 22 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ba517ee0 fh1 0x7f04c2c63020fh->id: 177 178 861goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew178 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 125 out of 129 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 129 newEdgePixels: 129 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2621 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 431 lastEnergy: 803.046 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 139 INF|LocalMapper.cpp[optimize,276]: Start Energy: 803.046 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.57072e-11 7.86956e-13 5.11771e-12 2.54475e-12 -0.000318266 0.000177043 -0.000631755 6.41951e-05 -4.58028e-05 -0.000133508 0.00127463 0.00129601 0.000274906 0.000192523 -0.000411221 -0.000258076 -0.00111418 -0.000466521 0.000161074 -0.000182471 -1.39302e-06 2.35646e-05 -0.00135683 -0.000204629 -0.000645928 -0.000188578 8.30012e-05 -0.000252594 -0.0006023 0.00220732 0.00640125 0.000397261 0.000158618 -0.000880347 -0.000149739 -0.00216569 0.00290622 -7.65402e-05 -0.00045936 0.0011574 0.00221669 -0.00347072 0.00439307 -0.00103198 -4.49363e-05 -0.000391299 0.000129258 0.00179057 -0.00169817 -0.000253813 0.000348046 -0.00130544 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2621 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!869 INF|Input.cpp[getImages,132]: mNbReceivedImages!870 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 751.663 0 0 newEnergyL 0 lastEnergy: 803.046 0 0 lastEnergyL: 0mActiveResiduals: 2621 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -9.50858e-12 -4.14886e-13 9.60559e-12 -2.94136e-13 0.000105549 0.000832546 0.000266784 0.000147209 -1.83047e-05 2.76235e-07 -0.000304478 -0.000589569 0.00050425 -0.000111532 6.37264e-05 -5.04815e-06 -6.96757e-05 -0.000141644 -0.000511191 -4.47509e-05 -7.35968e-05 -0.000126175 0.000877259 0.000491274 -0.000814157 9.53355e-05 -0.000240182 0.000197732 -0.000763757 -0.00215586 -0.000990331 -0.000272922 -5.25882e-05 6.41481e-06 -0.0019569 0.000489594 -0.00178703 -9.64052e-05 0.0004625 -0.00131803 0.000980567 0.00150576 0.00121819 0.000571075 -0.000224594 -0.000447293 -0.00211571 5.44928e-05 -0.00235621 2.53441e-05 0.000387951 4.50952e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2621 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 725.023 0 0 newEnergyL 0 lastEnergy: 751.663 0 0 lastEnergyL: 0mActiveResiduals: 2621 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 2.20422e-12 4.91466e-13 -1.06437e-11 7.90765e-12 0.000177077 -2.97529e-05 0.000356291 -9.81308e-05 0.000909002 -0.000588095 0.000831684 0.000577903 0.000312234 -3.23981e-05 0.00087284 -0.000470348 -0.00088776 4.44303e-05 0.00193519 3.91876e-05 0.0013724 -0.000292269 0.000664875 -0.000292721 0.00254016 0.000145913 0.00107641 -0.00021062 -0.000695966 0.000953208 0.000191366 -5.39631e-05 0.0012775 -0.000244503 0.000821896 -0.00123522 0.000294983 -0.000192319 0.000729181 0.00085829 -0.00287629 0.00135091 -0.00336675 -0.00028545 0.0014656 -0.000161438 0.000995039 -0.00147975 -0.00238285 -0.000525705 0.000928988 0.000220534 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2621 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 711.919 0 0 newEnergyL 0 lastEnergy: 725.023 0 0 lastEnergyL: 0mActiveResiduals: 2621 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 2.41663e-12 6.67541e-12 5.77543e-12 -1.16271e-11 0.00023457 0.000131296 -0.000592746 4.36398e-05 -0.000623327 0.000173932 -0.000413095 -0.000451153 -0.000745497 -7.43543e-05 -0.000615768 7.27163e-05 -4.67922e-05 0.000438069 -0.00149366 -4.01247e-06 -0.000898209 0.000101785 -0.00183406 0.00063494 -0.00100506 2.33013e-05 -0.000509199 0.000172767 -0.000698056 -0.000531643 0.000340405 -2.50084e-05 -0.000810041 -0.000239532 0.000722543 0.000716781 0.00191807 2.66778e-05 -0.000720125 -0.0012346 0.00407769 -0.000545767 0.00521853 0.000250809 -0.00128186 -0.000162874 -0.00186613 -0.000441784 -0.0040443 -0.000187355 -0.000858019 7.70535e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2621 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 703.765 0 0 newEnergyL 0 lastEnergy: 711.919 0 0 lastEnergyL: 0mActiveResiduals: 2621 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 2.74734e-12 -5.5612e-12 3.39648e-13 2.43375e-12 0.000107347 -9.08544e-05 9.9876e-05 -4.30999e-05 0.000606732 -0.000201997 0.000638482 0.000483979 0.000405817 5.35268e-05 0.000588536 -0.000162232 -0.00130107 -0.00038048 0.0011484 -1.3047e-05 0.00105409 -0.000137683 0.00135347 -0.000477306 0.00146305 -2.00216e-05 0.000500434 -0.000236161 -0.00092432 -0.00104163 -0.000174551 -0.000297648 0.000767668 0.000175861 -0.00042661 0.00013875 -0.0008909 6.44463e-05 0.000504278 0.000832279 -0.00150564 0.00170295 -0.00229542 3.577e-06 0.000751094 -0.000114108 0.00151485 -0.000370849 0.000105175 3.2315e-05 0.000417686 0.000214199 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2621 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 696.092 0 0 newEnergyL 0 lastEnergy: 703.765 0 0 lastEnergyL: 0mActiveResiduals: 2621 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 4.48132e-13 3.34497e-12 1.04954e-12 -1.8702e-12 -7.23396e-05 -2.30484e-05 0.000248846 -3.09382e-05 0.000150542 0.000351368 3.09076e-05 -0.000174976 0.000354669 -3.02062e-05 0.000158186 0.000358767 0.00174258 5.76323e-05 -0.000153388 -4.31053e-06 -0.000245197 0.000331827 -0.00152138 -0.000816705 -0.000111005 -0.000150915 0.000408289 0.000622282 0.00138132 0.0020524 0.000559944 0.000488474 0.000129115 -0.00017323 -0.00161938 -0.000493077 -0.00208121 -0.000206178 0.000536305 -0.000254474 0.00247023 -0.00133043 0.00522332 0.00015331 8.41611e-05 0.000238367 -0.00248937 0.000817584 -0.00397824 -3.264e-06 0.000456751 -1.4281e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2621 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 696.826 0 0 newEnergyL 0 lastEnergy: 696.092 0 0 lastEnergyL: 0mActiveResiduals: 2621 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 696.826 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2621 INF|LocalMapper.cpp[optimize,345]: End Energy: 696.826 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.52869 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.52869 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper Input.cpp[readImages,206]: Got image from sensor!869 INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 175 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 175 with idx: 4 and allID: 854 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->175 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 175->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->175 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 175->154 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->175 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 175->161 INF|LocalMapper.cpp[marginalizeFrame,801]: 175 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 175 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 15154 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04ba517ee0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 178 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 133 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 118 with distance 0.196Found rest min at: 132 with distance 0.076 overall min: 0.076 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 118 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 735 INF|LoopCloser.cpp[loopCloserLinear,145]: No loop because too close!178 with: 0.196 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 744 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 862 keyframes 179 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 527 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875601.979253 Input.cpp[readImages,215]: mInputFrameQueue: 7 Input.cpp[readImages,218]: mNbOfImages: 870 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999868 -0.00201487 0.0161114 0.0179412 0.00196234 0.999993 0.00327549 0.00776288 -0.0161179 -0.00324344 0.999865 0.00902037 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 178 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.979253) and 861(1311875601.948198) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999868 -0.00201487 0.0161114 0.0179412 0.00196234 0.999993 0.00327549 0.00776288 -0.0161179 -0.00324344 0.999865 0.00902037 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999763 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1731/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 178 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.979253) and 861(1311875601.948198) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99979 -0.00757681 0.0190345 0.0139854 0.00745709 0.999952 0.00635287 -0.00832151 -0.0190818 -0.00620959 0.999799 0.00321464 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999663 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:322/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 178 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875601.979253) and 861(1311875601.948198) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999789 -0.00799065 0.0189187 0.0186858 0.00789072 0.999955 0.00535052 -0.00419406 -0.0189606 -0.00520011 0.999807 0.005321 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999218 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:542/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.782656 resInfo good: 2667, 6 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3284/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999754 -0.00397289 0.0218378 0.0160125 0.00383515 0.999973 0.00634572 -0.000112949 -0.0218624 -0.00626041 0.999741 0.00831484 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!862 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 464 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!870 INF|Input.cpp[getImages,132]: mNbReceivedImages!871 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.009368 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999015 -0.0080814 0.0436393 0.0322031 0.00753051 0.99989 0.0127734 -0.000111721 -0.0437378 -0.0124322 0.998966 0.0162782 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 178 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.009368) and 861(1311875601.948198) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999015 -0.0080814 0.0436393 0.0322031 0.00753051 0.99989 0.0127734 -0.000111721 -0.0437378 -0.0124322 0.998966 0.0162782 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999326 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1021/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 178 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.009368) and 861(1311875601.948198) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99933 -0.000459881 0.0365902 0.049133 0.000254895 0.999984 0.00560668 -0.00828752 -0.0365922 -0.0055936 0.999315 0.0210266 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999451 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:306/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 178 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.009368) and 861(1311875601.948198) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999286 -0.00122268 0.0377501 0.049445 0.00101733 0.999985 0.00545836 -0.00466442 -0.0377562 -0.00541607 0.999272 0.0199556 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.99919 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:426/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.15499 resInfo good: 2496, 177 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2379/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999204 0.00203643 0.0398406 0.0473504 -0.00230955 0.999974 0.00681065 -0.00221376 -0.0398257 -0.00689725 0.999183 0.0183552 Input.cpp[readImages,206]: Got image from sensor!870 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875602.009368 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875602.009368 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875602.009368 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 620 size: 1997 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875602.009368 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -9.09824 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -10.0073 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -10.8416 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -9.93336 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 857 keyframeId: 176 score: -12.4719 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 859 keyframeId: 177 score: -11.5741 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 179 = 179 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80a840 fh1 0x3ddc0840fh->id: 151 179 863goodE: 130 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80a840 fh1 0x10913f80fh->id: 154 179 863goodE: 42 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80a840 fh1 0x3ec60b00fh->id: 161 179 863goodE: 51 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80a840 fh1 0x7f04c3b55960fh->id: 165 179 863goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80a840 fh1 0x7f04b8637d40fh->id: 176 179 863goodE: 27 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80a840 fh1 0x7f04c2c63020fh->id: 177 179 863goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80a840 fh1 0x7f04ba517ee0fh->id: 178 179 863goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew179 Input.cpp[readImages,215]: mInputFrameQueue: 7 Input.cpp[readImages,218]: mNbOfImages: 871 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 114 out of 117 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 117 newEdgePixels: 117 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2119 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 338 lastEnergy: 658.982 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 107 INF|LocalMapper.cpp[optimize,276]: Start Energy: 658.982 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -7.18389e-12 -3.47007e-12 2.32069e-12 -4.58614e-12 -0.00158198 -0.000933594 0.000736702 -4.8093e-05 -0.000791398 0.000165737 -0.000609432 0.000577615 0.000587221 0.000308419 -0.00105507 0.000130207 -0.00302753 -0.00120475 -0.00183255 -0.000239125 -0.000675389 0.000325986 -7.33723e-05 -0.000814426 -0.00190975 -0.000204288 -0.00115234 -0.000358341 0.000206387 0.00011085 0.00314031 0.000396029 -0.000844992 -0.000644208 -0.00291555 0.00313792 -0.00972355 0.000334498 -0.00103259 -0.00039193 0.00681095 0.00168452 0.00520365 0.00074719 -0.0021782 -0.000194828 0.00226108 0.000159024 0.000756488 0.000292395 -0.0016442 0.000576297 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2119 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 608.233 0 0 newEnergyL 0 lastEnergy: 658.982 0 0 lastEnergyL: 0mActiveResiduals: 2119 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 7.85344e-12 -1.70308e-12 4.66987e-12 5.45784e-12 0.000261152 4.87693e-05 -0.00029956 3.45544e-05 -0.000113893 0.000115868 -5.65462e-05 0.000210408 -0.000535177 5.95153e-05 -7.63074e-05 7.62763e-05 0.00100162 -0.000447588 9.44764e-05 -0.000136467 -0.000269834 5.46273e-05 -0.000391129 -0.000560413 0.000354104 -0.000142712 4.00609e-05 -4.57155e-06 -0.000724074 0.00130857 0.000645327 0.000140759 0.000153351 -0.000171201 0.00263979 -0.00190098 -0.000975093 -0.000346177 -0.000356035 0.000135993 -0.000362391 0.00243601 5.36146e-05 5.52258e-05 0.000208075 -0.000888659 0.00348012 0.00183368 0.00338248 0.00010775 -0.000458067 -0.000971256 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2119 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 592.186 0 0 newEnergyL 0 lastEnergy: 608.233 0 0 lastEnergyL: 0mActiveResiduals: 2119 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 3.62941e-14 -2.44028e-12 8.3118e-12 1.12611e-12 8.6131e-05 8.76298e-06 -0.000264092 -4.34985e-06 -1.65647e-05 -0.000459657 -0.000818329 -0.000445363 -0.000162238 -5.01884e-05 8.4545e-05 -0.000406709 -0.000245077 0.000492084 0.000395823 0.000148207 -4.44727e-05 -0.000449487 0.00114304 0.00190647 5.04094e-05 0.000508849 -0.000411472 -0.000362057 -0.00172428 -0.00068127 -0.000264988 -0.000275546 -5.26397e-05 -0.00045609 -4.78214e-05 0.00332769 -0.00118431 0.000199308 -0.000214091 -0.000908528 0.0028799 -0.0016698 0.00355095 -8.18306e-05 -0.000788496 4.67237e-05 -0.00104173 -0.0031029 -0.00157102 -0.000516988 -0.000605949 0.000285406 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2119 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 579.059 0 0 newEnergyL 0 lastEnergy: 592.186 0 0 lastEnergyL: 0mActiveResiduals: 2119 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!871 INF|Input.cpp[getImages,132]: mNbReceivedImages!872 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.97703e-12 3.54058e-12 -1.15675e-11 -6.78849e-12 0.000111017 -0.000106013 0.000441857 -6.58994e-05 0.000222562 0.000290651 0.000734388 0.000642171 0.000158131 3.79448e-05 0.000163754 0.000288803 0.000746854 -0.000354076 2.26968e-05 -9.87056e-05 0.000214178 0.000314014 -0.00175641 -0.000359883 0.000236015 -0.000172082 0.000757872 0.000247337 0.00109418 -0.000539637 4.18639e-05 -2.81963e-05 0.000307786 0.000195979 9.83957e-05 -0.0028784 -0.000428854 -0.000347329 0.000435601 0.000650141 -0.00112985 0.00232277 -0.00175821 8.36121e-05 0.000740345 -0.000522916 -4.33348e-05 0.0015252 0.000837979 0.000147249 0.000595288 -0.000713808 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2119 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 573.831 0 0 newEnergyL 0 lastEnergy: 579.059 0 0 lastEnergyL: 0mActiveResiduals: 2119 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -3.26388e-12 4.44861e-14 6.55533e-12 -4.29666e-12 0.000256178 -2.59716e-05 -0.000364894 -1.23942e-05 -0.000206991 -0.000255356 -0.000521399 1.43627e-05 -0.000249423 -3.38221e-07 -0.000123385 -0.000370902 -0.00101749 0.000518745 0.000133751 7.70769e-05 -2.45268e-05 -0.000365858 0.000794375 0.000152195 -0.0010901 8.27495e-06 -0.000476425 -0.000221225 -0.000588187 -0.00049383 0.000881265 -0.000133623 -0.00030241 -0.000289976 -0.000275544 0.0028275 0.000190332 0.000326574 -0.000326505 -0.000645559 0.00235314 -0.00136664 0.00266091 2.25503e-05 -0.000842569 0.000450811 -0.000856266 -0.00162552 -0.00218896 -0.000246873 -0.000578423 0.000292167 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2119 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 567.427 0 0 newEnergyL 0 lastEnergy: 573.831 0 0 lastEnergyL: 0mActiveResiduals: 2119 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 6.70481e-12 -4.31725e-12 1.44694e-12 7.45264e-12 -0.000338974 -0.000167433 0.000132886 -2.23098e-05 -7.62923e-06 0.000309099 0.000317221 0.000197777 0.000243956 4.53572e-05 -5.22172e-05 0.000369018 0.00163233 4.44612e-05 -0.000222792 1.77222e-05 -0.000323658 0.000288282 -0.00106689 -0.000858689 6.03563e-05 -0.000236373 0.000299803 -3.13389e-06 -0.000317965 0.00136191 -0.00058929 0.000317818 0.0002396 0.000107742 -0.00154097 -0.00335009 -0.00163681 -0.00041371 0.000319985 0.000814378 -0.00135 0.00231716 -0.000960354 0.000259304 0.000535632 -0.000655073 0.00279744 0.000534785 0.00273801 0.000251387 -0.000214388 -0.000117856 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2119 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 567.5 0 0 newEnergyL 0 lastEnergy: 567.427 0 0 lastEnergyL: 0mActiveResiduals: 2119 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 567.5 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 2119 INF|LocalMapper.cpp[optimize,345]: End Energy: 567.5 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.533082 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.533082 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 176 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 176 with idx: 4 and allID: 857 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->176 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 176->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->176 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 176->154 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->176 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 176->161 INF|LocalMapper.cpp[marginalizeFrame,801]: 176 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 176 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 13600 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04ab80a840 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 179 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 133 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 119 with distance 0.182Found rest min at: 132 with distance 0.148 overall min: 0.148 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 119 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 736 INF|LoopCloser.cpp[loopCloserLinear,145]: No loop because too close!179 with: 0.182 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 744 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 864 keyframes 180 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 531 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!871 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.049009 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999802 0.00726322 0.0185389 0.032726 -0.00725714 0.999974 -0.000394963 0.0012648 -0.0185413 0.000260345 0.999828 0.0123902 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 179 to 4611447282670239744 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.049009) and 863(1311875602.009368) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999802 0.00726322 0.0185389 0.032726 -0.00725714 0.999974 -0.000394963 0.0012648 -0.0185413 0.000260345 0.999828 0.0123902 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:900/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 179 to 4611447282670239744 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.049009) and 863(1311875602.009368) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999857 0.0122661 0.0116305 0.064501 -0.0121657 0.999888 -0.00866382 0.00563082 -0.0117355 0.00852109 0.999895 0.0140432 Input.cpp[readImages,215]: mInputFrameQueue: 7 Input.cpp[readImages,218]: mNbOfImages: 872 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999202 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:586/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 179 to 4611447282670239744 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.049009) and 863(1311875602.009368) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999792 0.00995844 0.0177921 0.0518926 -0.00985112 0.999933 -0.00610935 0.00520415 -0.0178518 0.00593281 0.999823 0.0118308 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999418 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:639/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.94907 resInfo good: 1939, 58 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2658/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999661 0.00786462 0.0248397 0.0347521 -0.00776136 0.999961 -0.00425067 0.00167984 -0.0248722 0.00405643 0.999682 0.00958569 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!864 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.080003 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998642 0.015827 0.0496297 0.0697436 -0.0154141 0.999843 -0.00869261 0.00304915 -0.0497595 0.00791581 0.99873 0.0183108 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 179 to 4611447282670239744 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.080003) and 863(1311875602.009368) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998642 0.015827 0.0496297 0.0697436 -0.0154141 0.999843 -0.00869261 0.00304915 -0.0497595 0.00791581 0.99873 0.0183108 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999746 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:959/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 179 to 4611447282670239744 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.080003) and 863(1311875602.009368) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998301 0.0200243 0.0547227 0.0377225 -0.0191227 0.999673 -0.0169502 0.0181066 -0.0550442 0.015875 0.998358 -0.00259448 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!872 INF|Input.cpp[getImages,132]: mNbReceivedImages!873 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999083 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:635/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 179 to 4611447282670239744 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.080003) and 863(1311875602.009368) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998348 0.0172615 0.0548099 0.0410956 -0.0166013 0.999784 -0.0124765 0.00928564 -0.0550134 0.011546 0.998419 -3.77645e-05 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999045 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:229/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.2287 resInfo good: 1690, 307 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2192/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998297 0.0150693 0.0563548 0.0358924 -0.0144504 0.999831 -0.0113739 0.00889468 -0.0565166 0.0105402 0.998346 -0.00387995 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875602.080003 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875602.080003 to keyframe with id: 4611447282670239744 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875602.080003 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 506 size: 1245 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId4611447282670239744 timestamp: 1311875602.080003 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -9.1423 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -10.0703 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -10.9342 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -10.0086 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 859 keyframeId: 177 score: -15.5003 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 861 keyframeId: 178 score: -14.3242 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 180 = 180 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80b1c0 fh1 0x3ddc0840fh->id: 151 180 865goodE: 94 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80b1c0 fh1 0x10913f80fh->id: 154 180 865goodE: 29 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80b1c0 fh1 0x3ec60b00fh->id: 161 180 865goodE: 46 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80b1c0 fh1 0x7f04c3b55960fh->id: 165 180 865goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80b1c0 fh1 0x7f04c2c63020fh->id: 177 180 865goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80b1c0 fh1 0x7f04ba517ee0fh->id: 178 180 865goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80b1c0 fh1 0x7f04ab80a840fh->id: 179 180 865goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew180 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 112 out of 112 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 112 newEdgePixels: 112 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1637 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 269 lastEnergy: 536.783 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 91 INF|LocalMapper.cpp[optimize,276]: Start Energy: 536.783 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -6.54596e-12 -9.41631e-13 -4.58598e-12 1.67061e-12 -0.000102547 -7.24299e-05 -0.000261373 3.20457e-05 1.49676e-05 0.000142247 -6.86947e-05 4.80114e-05 -0.000506659 2.91783e-06 -3.57448e-05 -3.6029e-06 -0.000496615 -0.000202313 -0.000544923 -4.5797e-05 0.000126018 0.000178961 0.00147791 -0.00144716 -0.00154828 -0.000342358 -0.000345308 7.09813e-05 -0.000471935 0.00073286 0.00394148 0.00014709 0.000459111 -0.000426663 0.00456694 -6.07592e-05 0.00735127 0.000347643 -0.000477334 -0.000187302 0.00834945 0.000227397 0.00652484 0.000297 -0.00112008 -0.000764489 0.00370901 0.00478231 0.000420211 0.00121714 -0.000608069 -0.00125612 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1637 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 492.975 0 0 newEnergyL 0 lastEnergy: 536.783 0 0 lastEnergyL: 0mActiveResiduals: 1637 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.73151e-12 -3.32529e-14 -6.28279e-13 -1.05647e-12 0.000247418 9.01624e-05 -0.000118822 2.0623e-05 -2.92211e-05 3.99741e-05 0.000152701 3.2563e-05 -0.000306525 -5.13923e-07 -3.78651e-05 -2.01454e-05 -2.43432e-05 -0.000828281 -4.44843e-05 -0.000154637 8.7793e-06 8.129e-05 -0.00124086 -0.00115743 0.000577074 -0.000204793 0.000341094 5.28646e-05 -0.00120372 0.00121482 0.00135698 0.000381738 0.000355071 -6.98382e-05 -7.96803e-05 0.00225401 -0.00226318 0.000240103 -7.97305e-05 -0.000589595 0.00483908 0.00177601 0.00398635 0.000433655 -0.00072625 -0.000694852 0.00123422 0.00147734 0.00188618 0.000136952 -0.000295035 -0.00124579 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1637 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 473.127 0 0 newEnergyL 0 lastEnergy: 492.975 0 0 lastEnergyL: 0mActiveResiduals: 1637 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -4.66334e-12 -1.65086e-12 -6.61028e-13 -1.1098e-12 0.000248112 -0.000383878 7.49071e-05 -9.9641e-05 -5.87245e-05 -0.000153458 -0.000184533 0.000429795 -0.000307156 2.95309e-05 -3.87208e-05 -0.000156193 -0.000525885 6.81691e-05 5.87824e-05 -7.05093e-06 4.87695e-05 -0.000122858 6.14265e-05 0.000922415 -0.00072551 8.41036e-05 -0.000127289 -0.000416103 -0.000350705 0.000787122 8.94632e-05 3.0996e-06 2.80184e-05 -0.000378104 0.00157041 -0.000706764 0.00397841 0.000116633 -0.000155755 -1.23266e-05 5.51424e-05 0.000577144 -0.000306256 1.35157e-06 -0.000278345 -0.000298833 -0.000896456 -0.00155714 -0.0028391 -6.36439e-05 -0.000363898 0.000287242 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1637 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 464.298 0 0 newEnergyL 0 lastEnergy: 473.127 0 0 lastEnergyL: 0mActiveResiduals: 1637 Input.cpp[readImages,206]: Got image from sensor!872 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -3.62805e-12 6.44457e-12 6.49514e-13 -4.4059e-12 5.45729e-05 0.000500078 1.58813e-05 -3.22964e-05 0.00050013 -0.000200439 -0.000268948 0.000272597 6.37922e-05 -4.97509e-05 0.000588852 -0.000232435 0.000824252 -9.62775e-05 0.00081265 -8.64247e-05 0.000411349 1.6137e-05 -0.000785339 -0.000929599 0.00114428 -0.000190291 0.00075903 0.0002037 0.00137231 -0.00113071 0.00277907 -0.000184917 0.000382807 2.56326e-05 -0.00161651 -0.000328667 -0.00304391 -0.000493394 0.000702607 -0.000112269 0.00340138 0.000925665 0.00357414 0.000170074 -7.12131e-05 -9.63738e-05 -0.00409279 0.000754407 -0.00531457 -0.00048549 0.00075814 -0.00031526 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1637 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 465.487 0 0 newEnergyL 0 lastEnergy: 464.298 0 0 lastEnergyL: 0mActiveResiduals: 1637 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 1.04428e-12 -1.88203e-12 2.60815e-12 -2.47051e-13 0.000123138 -0.000243919 -0.00064047 -2.60051e-05 -0.00012527 0.000185038 0.00013544 -0.000269639 -0.000180991 -6.18251e-06 -0.000208012 0.000228596 -0.000777635 -5.09975e-06 -0.000384016 7.08138e-06 -0.000218921 0.000140502 -0.000593222 0.000737735 -0.000499911 0.000100971 -0.00036575 -8.31312e-05 -0.000622759 0.00176528 -0.000754072 0.000240957 -0.000360829 -0.000369864 0.000395691 -0.000821552 0.00357654 0.000249145 -0.000418323 6.24057e-05 -0.00086958 0.0014568 -0.00156174 0.000195531 -0.000522271 -0.000455549 0.00236794 -0.00265953 4.69678e-06 -6.74161e-05 -0.0010145 -3.37903e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1637 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 459.595 0 0 newEnergyL 0 lastEnergy: 465.487 0 0 lastEnergyL: 0mActiveResiduals: 1637 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.44944e-12 3.11205e-12 1.73898e-12 -5.82709e-12 -1.00715e-07 0.000495099 0.000255929 5.5707e-05 -0.000106501 -0.000141717 -0.000178274 0.00022096 -0.000428978 2.85607e-05 -6.57676e-05 -0.000104228 0.000158141 -0.000111089 -0.000206006 -7.13449e-05 -1.59842e-05 -0.000171989 0.000107912 -0.000713576 8.96064e-05 -0.000157121 6.91995e-05 3.90291e-05 0.000213133 -0.00111477 0.0016953 -0.000168982 5.10031e-05 0.000207843 -0.000819412 -0.00057337 -0.00274669 -0.000513664 0.000123189 -0.000183965 -0.00015818 -0.000713104 0.00129136 -0.000109834 4.3771e-05 6.77398e-05 0.000593924 0.00244009 -0.000156492 4.5504e-05 -0.000217583 -0.000305531 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1637 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 458.491 0 0 newEnergyL 0 lastEnergy: 459.595 0 0 lastEnergyL: 0mActiveResiduals: 1637 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 458.491 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1637 INF|LocalMapper.cpp[optimize,345]: End Energy: 458.491 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.543875 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.543875 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! Input.cpp[readImages,215]: mInputFrameQueue: 7 Input.cpp[readImages,218]: mNbOfImages: 873 INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 177 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 177 with idx: 4 and allID: 859 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->177 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 177->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->177 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 177->154 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->177 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 177->161 INF|LocalMapper.cpp[marginalizeFrame,801]: 177 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 177 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 12268 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04ab80b1c0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 180 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 133 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 120 with distance 0.17Found rest min at: 129 with distance 0.146 overall min: 0.146 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 120 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 733 INF|LoopCloser.cpp[loopCloserLinear,145]: No loop because too close!180 with: 0.17 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 742 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 866 keyframes 181 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 531 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.109593 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!873 INF|Input.cpp[getImages,132]: mNbReceivedImages!874 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999877 0.003238 0.015333 0.00379446 -0.00318525 0.999989 -0.00346397 0.0034698 -0.015344 0.0034147 0.999876 -0.00155344 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 180 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.109593) and 865(1311875602.080003) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999877 0.003238 0.015333 0.00379446 -0.00318525 0.999989 -0.00346397 0.0034698 -0.015344 0.0034147 0.999876 -0.00155344 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999731 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:606/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 180 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.109593) and 865(1311875602.080003) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999807 3.27035e-07 0.0196379 -0.00836508 -2.97134e-05 0.999999 0.00149612 0.00875366 -0.0196379 -0.00149642 0.999806 -0.0506357 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999977 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:496/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 180 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.109593) and 865(1311875602.080003) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999697 0.00185143 0.0245481 -0.0123577 -0.00189623 0.999997 0.00180176 0.00977669 -0.0245447 -0.00184776 0.999697 -0.0427309 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999732 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:268/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.743805 resInfo good: 1231, 14 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1664/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99966 0.00165345 0.0260095 -0.0139573 -0.00175862 0.99999 0.00402119 0.00808969 -0.0260026 -0.00406556 0.999654 -0.042785 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!866 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 474 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.147784 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999236 0.00244037 0.0390112 -0.021347 -0.00267698 0.999978 0.00601427 0.012079 -0.0389957 -0.0061141 0.999221 -0.0640499 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 180 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.147784) and 865(1311875602.080003) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999236 0.00244037 0.0390112 -0.021347 -0.00267698 0.999978 0.00601427 0.012079 -0.0389957 -0.0061141 0.999221 -0.0640499 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999366 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:404/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 180 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.147784) and 865(1311875602.080003) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999364 0.00182291 0.0356059 -0.00439519 -0.00201001 0.999984 0.0052196 0.0266116 -0.0355959 -0.00528785 0.999352 -0.065873 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999963 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:424/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 180 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.147784) and 865(1311875602.080003) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999459 0.00622109 0.0323075 0.0270955 -0.00638476 0.999967 0.00496534 0.02865 -0.0322755 -0.00516893 0.999466 -0.0275327 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999909 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:302/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.06272 resInfo good: 1084, 161 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1388/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999314 0.00654032 0.0364402 0.0219636 -0.00677761 0.999957 0.00639214 0.0272975 -0.0363968 -0.00663474 0.999315 -0.0233437 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875602.147784 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875602.147784 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875602.147784 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 491 size: 1148 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875602.147784 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -9.18447 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -10.1259 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -11.016 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -10.0664 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 861 keyframeId: 178 score: -11.1005 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 863 keyframeId: 179 score: -10.1712 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 181 = 181 Input.cpp[readImages,206]: Got image from sensor!873 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80a000 fh1 0x3ddc0840fh->id: 151 181 867goodE: 60 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80a000 fh1 0x10913f80fh->id: 154 181 867goodE: 24 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80a000 fh1 0x3ec60b00fh->id: 161 181 867goodE: 33 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80a000 fh1 0x7f04c3b55960fh->id: 165 181 867goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80a000 fh1 0x7f04ba517ee0fh->id: 178 181 867goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80a000 fh1 0x7f04ab80a840fh->id: 179 181 867goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab80a000 fh1 0x7f04ab80b1c0fh->id: 180 181 867goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew181 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 88 out of 90 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 90 newEdgePixels: 90 Input.cpp[readImages,215]: mInputFrameQueue: 6 Input.cpp[readImages,218]: mNbOfImages: 874 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1185 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 194 lastEnergy: 398.757 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 66 INF|LocalMapper.cpp[optimize,276]: Start Energy: 398.757 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -4.25545e-12 3.33344e-12 2.4962e-12 -1.92407e-12 -0.000226493 -0.000324866 0.00048982 7.65777e-05 -0.000233657 0.000232311 -0.00094588 -0.000567883 0.000782079 2.51271e-05 -2.49765e-05 0.000214282 0.000621987 0.000155928 -0.000890325 0.000114356 -0.000328712 0.000259127 0.000528188 -0.000101336 -0.0021971 7.26218e-05 -0.000400959 0.000415594 -0.00247829 -0.00110544 -0.00157319 4.70847e-05 0.000245148 0.000583126 0.00344997 -0.00372938 -0.00175875 -0.000328788 -0.000687122 0.000613835 0.0157279 1.22248e-05 0.0137673 0.00124239 -0.00176006 -8.53867e-07 0.0297622 0.00764672 0.0205332 0.00314317 -0.00457644 0.000698021 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1185 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 370.924 0 0 newEnergyL 0 lastEnergy: 398.757 0 0 lastEnergyL: 0mActiveResiduals: 1185 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -4.38214e-13 -3.60457e-12 -8.34781e-12 5.70777e-12 0.000556063 0.000363631 -7.49022e-05 4.40404e-05 -7.75872e-05 3.43942e-05 -0.000102555 0.000727199 -0.000434063 0.000125899 1.19416e-05 2.73548e-05 -0.000172669 -0.000455875 -0.000578362 -0.000139926 3.67505e-05 -0.000118209 0.000220232 -0.0007734 4.478e-05 -0.000190512 2.18891e-05 4.79532e-06 -0.00209141 -0.00230668 -0.000482891 -0.00030131 0.00047013 0.000146675 -0.00203049 0.00130198 0.00318811 0.000316342 0.000405148 0.000262217 -0.00646632 -0.000598854 -0.00656071 -0.000668771 0.000479899 -0.00018593 0.00695571 0.00280968 -0.00149754 2.63559e-05 -0.00140183 -0.00108267 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1185 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 365.729 0 0 newEnergyL 0 lastEnergy: 370.924 0 0 lastEnergyL: 0mActiveResiduals: 1185 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.59936e-12 3.65948e-12 7.88724e-12 -6.77672e-12 0.000806797 -9.95974e-05 -0.00124439 2.69835e-05 7.84702e-05 0.000160127 -7.52799e-05 -0.000997971 -0.000400126 -8.06152e-05 0.000115819 0.000227656 -0.00100344 0.000142121 0.000351887 0.00011625 -2.00478e-05 0.000257167 -0.00166186 -0.000199568 4.23698e-05 -1.73384e-06 -5.86812e-05 0.000148966 -0.00216461 0.00188616 0.000948329 0.000409505 -0.000151415 -0.00016962 -0.00336414 -0.000111391 -0.00142673 -1.34741e-06 -0.000104232 -0.000482599 0.00261219 -3.31893e-06 0.00373276 0.000638121 -0.000699908 0.000481612 0.00442743 -0.000908179 -0.0033062 0.000128707 -0.00196132 0.000649574 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1185 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 353.619 0 0 newEnergyL 0 lastEnergy: 365.729 0 0 lastEnergyL: 0mActiveResiduals: 1185 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.71247e-12 -1.49977e-12 -1.95349e-12 2.64421e-12 0.000284105 0.000125658 9.23602e-05 0.000109242 -0.000709314 0.000470126 -0.000303403 -0.000371805 -0.000645221 3.56575e-05 -0.00071188 0.000392378 0.00018391 -0.000496263 -0.00133376 -0.000109652 -0.000873582 0.000216849 0.000292097 0.000266304 -0.00195621 -1.49413e-05 -0.000978681 0.00026095 -0.00404344 -0.00206927 -0.00271709 -4.17986e-05 -0.000232888 0.000416899 -0.00272446 -0.00115858 0.00289193 0.000416186 -0.000132949 0.000816874 -0.00687013 -0.000308264 -0.00484855 -0.000180837 -0.000111975 -0.000312327 0.0147914 0.00398166 0.00742385 0.000928685 -0.00322818 -0.00136393 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1185 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 349.108 0 0 newEnergyL 0 lastEnergy: 353.619 0 0 lastEnergyL: 0mActiveResiduals: 1185 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -8.73619e-13 -2.02566e-12 1.91627e-13 1.82375e-13 1.79919e-06 -0.000214867 -0.000460206 2.23837e-06 0.000343507 -0.000344409 0.000429072 0.00044045 8.76028e-05 0.000108948 0.00025465 -0.000324319 -0.000744 0.000556996 0.000711767 0.000206963 0.000420101 -0.000258264 -0.000275043 -0.000310841 0.000426985 1.42216e-05 0.000324385 -0.00055037 0.00122027 0.00260476 0.00182007 0.000359489 -5.94439e-05 -0.000478961 -0.00550754 -0.000767312 -0.00735511 -0.000624645 0.000445989 -0.000441118 0.00340415 -0.00135398 0.00333621 0.000159168 -0.000271915 0.000561831 0.00126966 -0.00112464 0.000845914 -0.000287797 -0.000643263 0.000105418 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1185 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 343.228 0 0 newEnergyL 0 lastEnergy: 349.108 0 0 lastEnergyL: 0mActiveResiduals: 1185 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!874 INF|Input.cpp[getImages,132]: mNbReceivedImages!875 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 2.07781e-12 3.06682e-14 5.92089e-14 2.10449e-12 6.14446e-05 0.000393669 0.000207752 3.40964e-05 -0.000492448 0.0001117 -0.000841866 0.000367659 -0.000126186 4.02763e-05 -0.000334481 5.98218e-05 0.00127587 -0.000799474 -0.00104848 -0.000288993 -0.00072659 -2.06314e-05 -1.94784e-05 0.000527516 -0.000936337 9.39759e-06 -0.000461237 0.00033409 -0.00226629 -0.00202516 -0.00141644 -0.000351656 -1.1261e-05 0.000123528 0.00422667 0.000239067 0.00739683 0.000501141 -0.000328027 5.89334e-05 -0.0060723 0.00133425 -0.0055964 -0.000474088 0.000308083 -0.00105434 0.00414313 8.26371e-05 0.00152895 -0.000366221 -0.000856535 -0.000730849 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1185 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 341.167 0 0 newEnergyL 0 lastEnergy: 343.228 0 0 lastEnergyL: 0mActiveResiduals: 1185 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 341.167 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 1185 INF|LocalMapper.cpp[optimize,345]: End Energy: 341.167 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.555149 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.555149 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 178 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 178 with idx: 4 and allID: 861 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->178 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->178 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->178 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 165<->178 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 178<->178 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 179<->178 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 180<->178 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 181<->178 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 178 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 861: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 177/859: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 177 allId: 859 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.999306 0.00634779 -0.0366975 -0.0272228 -0.00662585 0.99995 -0.00746052 -0.0106078 0.0366483 0.0076985 0.999299 0.00265006 worldPose: 0.982953 0.160816 -0.0891109 -4.48971 -0.14708 0.978629 0.143713 2.15099 0.110318 -0.128157 0.985599 2.7977 after: 0.982953 0.160816 -0.0891109 -4.48971 -0.14708 0.978629 0.143713 2.15099 0.110318 -0.128157 0.985599 2.7977 worldPose of new: 0.986562 0.15496 -0.0517867 -4.46108 -0.14604 0.978482 0.145756 2.15701 0.0732589 -0.136235 0.987964 2.79563 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.999306 0.00634779 -0.0366975 -0.0272228 -0.00662585 0.99995 -0.00746052 -0.0106078 0.0366483 0.0076985 0.999299 0.00265006 INF|Mapper.cpp[changeRefFrame,578]: Updating: 862 from old kf id: 178/861 with new ref frame: 859/177 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 861 after changeRefFrame: 0.999306 0.00634779 -0.0366975 -0.0272228 -0.00662585 0.99995 -0.00746052 -0.0106078 0.0366483 0.0076985 0.999299 0.00265006 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 178 to normal frame with refFrame: 177 frame id kf: 861 newref id: 859 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 178 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 17038 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04ab80a000 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 181 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 133 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 119 with distance 0.156Found rest min at: 131 with distance 0.132 overall min: 0.132 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 119 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 734 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 181 into DB 0.156 119 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 119 and real id(164) current kf: 181(867) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.898767 0.104409 -0.425813 -0.718078 -0.143323 0.987838 -0.0602952 -0.00713365 0.414339 0.11522 0.9028 -0.000633523 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 164 currFrame: 181 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.898767 0.104409 -0.425813 -0.718078 -0.143323 0.987838 -0.0602952 -0.00713365 0.414339 0.11522 0.9028 -0.000633523 avg 0.00108449 eye: 0.00190925 edge: 181 to 164 INF|Tracker.cpp[trackFrames,78]: initPose: 0.898767 0.104409 -0.425813 -0.718078 -0.143323 0.987838 -0.0602952 -0.00713365 0.414339 0.11522 0.9028 -0.000633523 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 181 to 164 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 809(1311875600.209756) and 867(1311875602.147784) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.898767 0.104409 -0.425813 -0.718078 -0.143323 0.987838 -0.0602952 -0.00713365 0.414339 0.11522 0.9028 -0.000633523 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999881 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:227/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 181 to 164 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 809(1311875600.209756) and 867(1311875602.147784) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.907352 0.083839 -0.411926 -0.806118 -0.118454 0.991194 -0.0591825 -0.0588378 0.403337 0.102494 0.909294 0.123273 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999422 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:255/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 181 to 164 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 809(1311875600.209756) and 867(1311875602.147784) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.907676 0.0868272 -0.410591 -0.814089 -0.119353 0.991371 -0.0542041 -0.0687195 0.402342 0.098205 0.910207 0.149904 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:292/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.908097 0.0905574 -0.408851 -0.822346 -0.122616 0.991047 -0.0528315 -0.0719443 0.400406 0.0981076 0.911071 0.168349 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 163 end 166 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 6108 o[1]: 272 o[2]: 36 o[3]: 7 histWeights: 1 1 1.25 1.5overlap: 327.5 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 1148 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 164 and 181 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 181 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 181 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 3789 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 868 keyframes 182 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.179681 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,206]: Got image from sensor!874 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999943 0.00185694 0.0105047 0.00344714 -0.00188556 0.999995 0.00271511 0.00629783 -0.0104996 -0.00273476 0.999941 0.00408299 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 181 to 139658114847648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.179681) and 867(1311875602.147784) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999943 0.00185694 0.0105047 0.00344714 -0.00188556 0.999995 0.00271511 0.00629783 -0.0104996 -0.00273476 0.999941 0.00408299 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999473 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:509/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 181 to 139658114847648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.179681) and 867(1311875602.147784) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999904 -0.00773234 0.0114653 0.00275939 0.00765731 0.999949 0.00657359 0.00449624 -0.0115155 -0.00648516 0.999913 -0.0116941 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.99986 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:338/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 181 to 139658114847648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.179681) and 867(1311875602.147784) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999879 -0.00782477 0.0134259 0.00532431 0.00770316 0.999929 0.00908549 0.00302007 -0.0134961 -0.00898097 0.999869 -0.0066778 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999678 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:296/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.68215 resInfo good: 1148, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1422/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999883 -0.00690843 0.013668 0.00878602 0.00679401 0.999942 0.00839983 0.00714054 -0.0137252 -0.00830598 0.999871 -0.00343136 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!868 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.211135 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 Input.cpp[readImages,215]: mInputFrameQueue: 5 Input.cpp[readImages,218]: mNbOfImages: 875 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999531 -0.0139292 0.0272745 0.0174748 0.0134715 0.999767 0.0168909 0.0143115 -0.0275034 -0.0165156 0.999485 -0.00704219 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 181 to 139658114847648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.211135) and 867(1311875602.147784) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999531 -0.0139292 0.0272745 0.0174748 0.0134715 0.999767 0.0168909 0.0143115 -0.0275034 -0.0165156 0.999485 -0.00704219 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999485 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:616/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 181 to 139658114847648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.211135) and 867(1311875602.147784) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999641 -0.0169362 0.0207558 0.0159021 0.0165558 0.999694 0.0183662 0.00877169 -0.0210605 -0.018016 0.999616 -0.0103417 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 7,0.999055 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:519/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 181 to 139658114847648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.211135) and 867(1311875602.147784) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999587 -0.0150235 0.0244882 0.0103174 0.0145466 0.999703 0.0195372 0.0127021 -0.0247744 -0.0191729 0.999509 -0.012887 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999893 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:263/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.939523 resInfo good: 1144, 4 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1719/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999579 -0.0146491 0.0250364 0.0120624 0.0141352 0.999688 0.0205797 0.013529 -0.0253301 -0.0202171 0.999475 -0.011735 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!869 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.249521 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999357 -0.0185697 0.0306838 0.0136465 0.0177523 0.999486 0.0266996 0.0166947 -0.0311639 -0.0261377 0.999172 -0.0159294 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 181 to 139658114847648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.249521) and 867(1311875602.147784) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999357 -0.0185697 0.0306838 0.0136465 0.0177523 0.999486 0.0266996 0.0166947 -0.0311639 -0.0261377 0.999172 -0.0159294 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999737 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:450/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 181 to 139658114847648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.249521) and 867(1311875602.147784) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999323 -0.0200599 0.0308506 0.0144532 0.0191439 0.999375 0.0297046 0.0190479 -0.0314272 -0.0290939 0.999083 -0.0210014 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!875 INF|Input.cpp[getImages,132]: mNbReceivedImages!876 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 3): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:478/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 181 to 139658114847648 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.249521) and 867(1311875602.147784) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999216 -0.0225894 0.0325061 0.00727385 0.0214549 0.999163 0.0348377 0.00995878 -0.0332659 -0.034113 0.998864 -0.0334301 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999439 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:289/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.1022 resInfo good: 1128, 20 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1454/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999249 -0.0202548 0.0330385 0.0150356 0.0191191 0.999227 0.0343359 0.0146895 -0.0337084 -0.0336784 0.998864 -0.0202301 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875602.249521 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875602.249521 to keyframe with id: 139658114847648 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875602.249521 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 586 size: 1792 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId139658114847648 timestamp: 1311875602.249521 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -9.17809 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -10.1172 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -10.9648 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -9.93918 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 863 keyframeId: 179 score: -11.1244 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 865 keyframeId: 180 score: -10.8938 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 182 = 182 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b05353c0 fh1 0x3ddc0840fh->id: 151 182 870goodE: 40 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b05353c0 fh1 0x10913f80fh->id: 154 182 870goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b05353c0 fh1 0x3ec60b00fh->id: 161 182 870goodE: 30 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b05353c0 fh1 0x7f04c3b55960fh->id: 165 182 870goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b05353c0 fh1 0x7f04ab80a840fh->id: 179 182 870goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b05353c0 fh1 0x7f04ab80b1c0fh->id: 180 182 870goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b05353c0 fh1 0x7f04ab80a000fh->id: 181 182 870goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew182 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 89 out of 92 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 92 newEdgePixels: 92 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 941 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 146 lastEnergy: 331.234 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 55 INF|LocalMapper.cpp[optimize,276]: Start Energy: 331.234 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.60635e-12 -5.24175e-12 5.76963e-12 5.54205e-12 -0.000806061 -0.00027841 0.0011105 -0.000180023 0.000714673 -0.000364393 0.000245306 -5.17646e-05 0.00013066 -0.000244596 0.000662273 -0.000330587 0.000486667 0.00225454 0.00068338 0.000399532 0.00111915 -0.000211742 0.00289425 0.00029703 -0.000466836 -5.09972e-05 0.000783734 -0.000444124 0.000604388 -0.00173835 -0.00391163 -0.00114855 0.000778451 6.66842e-05 0.0111796 0.000749909 0.0100709 0.000662593 -3.62239e-05 0.00118085 0.00296971 0.00366614 -0.00115071 0.00068935 0.000154788 -0.000379541 0.0115453 -0.00254211 -0.0101058 0.000699914 -0.00254485 0.00290023 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 941 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 293.145 0 0 newEnergyL 0 lastEnergy: 331.234 0 0 lastEnergyL: 0mActiveResiduals: 941 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 4.22614e-12 -2.34375e-12 -6.75104e-12 4.445e-12 0.000465102 -0.000201263 -2.6201e-06 -3.90399e-05 -5.36484e-05 -9.15425e-06 -0.001195 0.000519585 0.000221468 0.000101304 0.000281137 -7.37774e-05 0.000698275 -0.000877847 0.000478539 -0.000173329 -7.38378e-05 -4.48344e-05 -0.000650074 0.000310563 0.00090347 0.000143943 0.000210073 0.000118354 0.00107964 0.00034617 0.00544027 0.000645708 0.000112655 -3.16304e-05 -0.00586634 0.00126703 -0.00343906 -0.000333179 0.00110933 -0.000779327 0.00447697 -0.00219606 -0.00422442 0.000402802 -0.00134798 0.00189092 0.000686426 0.00555899 -0.00338382 0.000815453 -0.000592704 -0.000426963 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 941 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 280.31 0 0 newEnergyL 0 lastEnergy: 293.145 0 0 lastEnergyL: 0mActiveResiduals: 941 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -3.58815e-12 1.86623e-13 6.57357e-13 -1.5141e-12 -4.70756e-05 -1.16152e-05 2.7869e-05 -0.000102301 0.000879319 -0.000504023 0.000402156 0.000158088 0.00079566 -9.06552e-05 0.000900556 -0.000429839 -0.000231651 0.000531539 0.00155357 0.000101785 0.00109188 -0.000402225 0.000977766 -0.000176262 0.0017719 4.75443e-05 0.000869448 -0.000288144 -6.76336e-05 0.00176863 -0.00179027 -0.000303682 0.000879459 -0.000229585 -0.000691096 -0.000593131 0.00527222 8.91375e-05 0.00124793 0.000721201 -0.00124005 0.000161883 -0.00260849 -0.000234029 0.000562932 -6.82139e-05 -0.000560346 -0.00218497 -0.00439226 -0.000753981 0.000671938 0.000223513 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 941 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 275.989 0 0 newEnergyL 0 lastEnergy: 280.31 0 0 lastEnergyL: 0mActiveResiduals: 941 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.95143e-12 2.17828e-13 -3.33571e-12 9.11872e-13 0.000133885 0.000303709 -0.00017086 -3.51965e-05 0.000213709 -0.000244471 6.7896e-05 -0.000169436 -4.02516e-05 -0.00010511 0.000255407 -0.000130389 -0.000291022 -7.06032e-05 0.000654348 -4.14999e-05 0.000396004 -7.05242e-05 -0.00013488 -0.000113542 0.000875891 -2.46045e-05 0.000402567 2.88956e-05 -0.00169199 -0.00105196 0.00140642 3.52105e-05 0.000456529 0.00036339 -0.000717632 0.00210265 -0.00222872 -0.0001546 0.000330395 -0.000763521 0.00324234 -0.000943138 0.00307584 -0.000180419 -1.92455e-05 1.37619e-05 -0.00140896 -0.000345852 -0.00377998 -0.00014739 0.000149164 0.000425681 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 941 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 269.689 0 0 newEnergyL 0 lastEnergy: 275.989 0 0 lastEnergyL: 0mActiveResiduals: 941 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 4.97325e-14 -1.50319e-12 3.15409e-12 1.36698e-12 -0.000174728 -0.000192489 -5.70401e-05 -1.78958e-05 -0.000439441 -8.30491e-05 2.96625e-05 -0.000191441 -0.000223645 -6.49322e-05 -0.000516883 -0.000154571 -0.000486566 0.000976079 -0.000656411 0.000149053 -0.000406254 -0.000200032 0.000200289 0.0010472 -0.000889338 0.000139664 -0.000523115 -0.000379636 7.59706e-05 0.00306716 -0.00208981 5.14273e-05 -0.000355896 -0.000747953 -0.000140578 -0.00055941 0.00233257 0.000244614 -0.000434282 0.000455028 0.000851062 -0.000831883 -0.00125755 -0.000310864 -0.000870816 -0.000481746 0.000687597 -0.00316068 0.00283162 -0.000521774 -0.000593939 -0.000485006 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 941 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 268.032 0 0 newEnergyL 0 lastEnergy: 269.689 0 0 lastEnergyL: 0mActiveResiduals: 941 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.03026e-12 7.29159e-13 -3.40567e-12 -1.9484e-12 -7.17085e-05 -0.000113213 0.000150518 9.0179e-05 -2.54143e-05 -0.00017678 9.41821e-05 5.75956e-05 -0.000144426 0.000182067 -4.66751e-05 -4.59283e-05 0.00047569 0.00022771 0.000161692 0.000174502 -4.97304e-05 -0.000180761 -0.000562825 -0.000233228 -0.000148145 8.58089e-05 0.000181262 -0.000122682 -0.00307143 -0.00250344 -0.00036554 -2.03937e-06 0.000311603 0.000588549 -0.00291475 0.000172788 -0.00622953 -0.00044745 0.00020321 -0.000483976 0.00178199 -0.000824675 0.00349292 4.69927e-05 -0.000175284 0.000264645 0.00461362 0.00342925 0.00225036 0.000746737 -0.00078802 0.000230111 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 941 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 263.534 0 0 newEnergyL 0 lastEnergy: 268.032 0 0 lastEnergyL: 0mActiveResiduals: 941 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 263.534 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 941 INF|LocalMapper.cpp[optimize,345]: End Energy: 263.534 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.53933 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.53933 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! Input.cpp[readImages,206]: Got image from sensor!875 INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 179 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 179 with idx: 4 and allID: 863 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->179 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->179 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->179 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 165<->179 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 179<->179 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 180<->179 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 181<->179 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 182<->179 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 179 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 863: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 178/861: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 177/859: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 177 allId: 859 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.996953 0.00368565 -0.0779148 -0.0677252 -0.00475957 0.999896 -0.013602 -0.00975047 0.0778566 0.0139314 0.996867 -0.0152379 worldPose: 0.978787 0.157859 -0.1306 -4.52861 -0.138904 0.979873 0.143369 2.15514 0.150604 -0.122187 0.981014 2.77695 after: 0.978787 0.157859 -0.1306 -4.52861 -0.138904 0.979873 0.143369 2.15514 0.150604 -0.122187 0.981014 2.77695 worldPose of new: 0.986562 0.15496 -0.0517867 -4.46108 -0.14604 0.978482 0.145756 2.15701 0.0732589 -0.136235 0.987964 2.79563 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.996953 0.00368565 -0.0779148 -0.0677252 -0.00475957 0.999896 -0.013602 -0.00975047 0.0778566 0.0139314 0.996867 -0.0152379 INF|Mapper.cpp[changeRefFrame,578]: Updating: 864 from old kf id: 179/863 with new ref frame: 859/177 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 863 after changeRefFrame: 0.996953 0.00368565 -0.0779148 -0.0677252 -0.00475957 0.999896 -0.013602 -0.00975047 0.0778566 0.0139314 0.996867 -0.0152379 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 179 to normal frame with refFrame: 177 frame id kf: 863 newref id: 859 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 179 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 8381 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04b05353c0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 182 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 134 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 122 with distance 0.154Found rest min at: 133 with distance 0.074 overall min: 0.074 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 122 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 749 INF|LoopCloser.cpp[loopCloserLinear,145]: No loop because too close!182 with: 0.154 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 757 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 871 keyframes 183 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 503 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.278877 Input.cpp[readImages,215]: mInputFrameQueue: 4 Input.cpp[readImages,218]: mNbOfImages: 876 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999985 -0.00192533 0.00510466 0.000673626 0.00188968 0.999974 0.00697921 0.00021685 -0.00511797 -0.00696946 0.999963 -0.000741147 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 182 to 4491493953854026808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.278877) and 870(1311875602.249521) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999985 -0.00192533 0.00510466 0.000673626 0.00188968 0.999974 0.00697921 0.00021685 -0.00511797 -0.00696946 0.999963 -0.000741147 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1161/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 182 to 4491493953854026808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.278877) and 870(1311875602.249521) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999994 -0.000672496 0.00348504 0.00396144 0.000656002 0.999989 0.00473184 0.00489249 -0.00348818 -0.00472952 0.999983 -0.0106462 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999115 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1260/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 182 to 4491493953854026808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.278877) and 870(1311875602.249521) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999983 -0.000297402 0.00586393 5.03484e-05 0.000255525 0.999974 0.00714087 0.00462897 -0.0058659 -0.00713925 0.999957 -0.011475 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999845 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:608/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.505302 resInfo good: 1759, 33 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 3530/3 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999985 -4.77765e-05 0.00553368 0.00455922 2.95454e-06 0.999967 0.00809957 0.00483641 -0.00553389 -0.00809943 0.999952 -0.00963855 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!871 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!876 INF|Input.cpp[getImages,132]: mNbReceivedImages!877 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 462 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.311822 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999939 -0.00014037 0.0110666 0.00906481 -3.89132e-05 0.999869 0.0161985 0.00959461 -0.0110674 -0.0161979 0.999808 -0.019341 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 182 to 4491493953854026808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.311822) and 870(1311875602.249521) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999939 -0.00014037 0.0110666 0.00906481 -3.89132e-05 0.999869 0.0161985 0.00959461 -0.0110674 -0.0161979 0.999808 -0.019341 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999865 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:518/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 182 to 4491493953854026808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.311822) and 870(1311875602.249521) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999933 -0.00128431 0.0115398 0.0109634 0.00110488 0.999879 0.0155413 0.00864301 -0.0115584 -0.0155275 0.999813 -0.0224148 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999639 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:762/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 182 to 4491493953854026808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.311822) and 870(1311875602.249521) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.9999 -0.0141116 -0.000285835 0.0666509 0.0141133 0.99987 0.00775778 0.0200021 0.000176323 -0.00776105 0.99997 0.0127635 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999697 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:414/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.937641 resInfo good: 1492, 300 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2054/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999904 -0.0138483 -0.000321468 0.067585 0.0138504 0.999873 0.00787398 0.0272532 0.000212386 -0.00787767 0.999969 0.0100647 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!872 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.348048 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999599 -0.0276472 -0.00617293 0.13018 0.0276936 0.999588 0.00756733 0.0505345 0.00596117 -0.00773525 0.999952 0.0301348 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 182 to 4491493953854026808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.348048) and 870(1311875602.249521) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999599 -0.0276472 -0.00617293 0.13018 0.0276936 0.999588 0.00756733 0.0505345 0.00596117 -0.00773525 0.999952 0.0301348 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999608 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:532/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 182 to 4491493953854026808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.348048) and 870(1311875602.249521) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999766 -0.00427494 0.021197 0.0304243 0.00376782 0.999707 0.0239065 0.0289103 -0.021293 -0.023821 0.999489 -0.00969714 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 7): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1252/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 182 to 4491493953854026808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.348048) and 870(1311875602.249521) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.99969 -0.00701452 0.0238798 0.0233212 0.00632828 0.999568 0.0286925 0.020753 -0.0240707 -0.0285325 0.999303 -0.014276 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:666/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.02655 resInfo good: 1742, 50 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2806/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.99969 -0.0075719 0.0236975 0.0263576 0.00685389 0.999519 0.030235 0.0184744 -0.023915 -0.0300632 0.999262 -0.0138276 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875602.348048 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875602.348048 to keyframe with id: 4491493953854026808 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875602.348048 Input.cpp[readImages,206]: Got image from sensor!876 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 646 size: 1899 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId4491493953854026808 timestamp: 1311875602.348048 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -9.1973 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -10.141 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -11.0164 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -9.97365 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 865 keyframeId: 180 score: -11.1068 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 867 keyframeId: 181 score: -10.9727 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 183 = 183 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab0135e0 fh1 0x3ddc0840fh->id: 151 183 873goodE: 38 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab0135e0 fh1 0x10913f80fh->id: 154 183 873goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab0135e0 fh1 0x3ec60b00fh->id: 161 183 873goodE: 29 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab0135e0 fh1 0x7f04c3b55960fh->id: 165 183 873goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab0135e0 fh1 0x7f04ab80b1c0fh->id: 180 183 873goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab0135e0 fh1 0x7f04ab80a000fh->id: 181 183 873goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ab0135e0 fh1 0x7f04b05353c0fh->id: 182 183 873goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew183 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 78 out of 83 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 83 newEdgePixels: 83 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 898 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 161 lastEnergy: 283.922 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 66 INF|LocalMapper.cpp[optimize,276]: Start Energy: 283.922 0 0 lastEnergyL: 0 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 877 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 5.63804e-13 1.19224e-12 -1.70875e-12 2.88921e-13 -0.000401852 0.000597611 0.000559595 0.000138256 -0.000507345 0.000893844 1.69502e-05 -0.000790437 6.45912e-05 -5.21558e-05 -0.000683758 0.00086881 -0.000421253 -0.000535183 -0.000365206 -0.000167784 -0.000765057 0.000695404 -0.000679551 5.02706e-05 -0.00068576 -2.45766e-05 -0.000891748 0.000933851 0.00528174 0.000592875 0.00966812 0.000762171 -0.00119437 -0.000338385 -0.00363324 -0.00091378 0.000816783 -0.000162851 -6.8443e-05 -0.000618582 -0.00521645 -0.00388204 -0.00352526 -0.000987178 -9.7364e-05 -0.0013229 -0.00986888 -0.00247519 -0.0127252 -0.000659013 -5.11532e-05 -0.00197527 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 898 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 255.293 0 0 newEnergyL 0 lastEnergy: 283.922 0 0 lastEnergyL: 0mActiveResiduals: 898 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -6.16198e-13 -2.65372e-12 -1.68955e-12 2.73267e-12 0.000535731 4.63107e-05 -0.000290148 -8.90556e-06 -0.000111873 4.0129e-05 0.000206901 0.000502534 -0.000212025 7.56579e-05 -4.85332e-05 6.06613e-06 0.000367354 -2.10612e-05 -0.000202886 -4.48128e-05 -8.60205e-05 9.214e-05 0.000963906 -0.00019775 -0.000310143 -0.000104798 -0.000177411 -9.33843e-05 -0.00338398 -0.00332502 -0.00230333 -0.000414481 0.00028042 0.000836978 -0.00910893 -0.00394297 -0.00935589 -0.000610666 0.000552896 0.00113431 -0.00381908 -7.59973e-05 0.000476091 7.44547e-05 0.000446498 0.000984166 -0.00724123 -0.00468205 -0.00856483 -0.00042245 0.0005085 0.00127888 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 898 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 247.695 0 0 newEnergyL 0 lastEnergy: 255.293 0 0 lastEnergyL: 0mActiveResiduals: 898 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.33471e-12 5.02026e-12 -4.00872e-12 -2.24641e-12 0.000262699 6.60052e-05 -0.000890151 5.77159e-06 -0.00106754 0.00048965 -0.000178997 -0.000125068 -0.00123009 -6.37924e-06 -0.0011681 0.000481228 -0.000752836 -0.000536604 -0.00185265 -0.000267638 -0.00122798 0.000213013 -0.00181229 0.00118254 -0.00197194 -1.41038e-05 -0.00112317 0.00017291 0.00352268 0.000830555 0.00436204 0.000282262 -0.00174614 -0.000793864 -0.00303692 -0.000780713 -0.00186429 -6.55793e-05 -0.00115127 -0.000326678 0.00224276 -0.00130852 0.00314342 4.87551e-05 -0.00165847 -0.000553726 0.00113412 0.000788298 -0.00092314 9.02111e-05 -0.00179156 -0.000817469 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 898 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 242.192 0 0 newEnergyL 0 lastEnergy: 247.695 0 0 lastEnergyL: 0mActiveResiduals: 898 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -3.31635e-14 -2.09408e-12 2.78811e-12 3.02424e-12 -0.000748598 0.000146037 0.00141431 -0.000125603 0.00194333 -0.000275958 0.00018228 0.000213097 0.00205357 -0.000124751 0.00207275 -0.000231417 0.00237186 -8.14087e-05 0.00347748 5.9053e-05 0.00187905 0.000206558 0.00300229 -0.00195261 0.00325049 -0.000183672 0.00176112 0.000366529 -0.00261317 -0.00125445 -0.00223652 -0.000284352 0.0029513 0.000689791 -0.000880166 -0.00102747 -0.0041354 -0.000300053 0.00243864 0.00084387 -0.00166595 0.00034175 0.00066437 3.19633e-05 0.00289679 0.000743836 -0.00239314 0.00329441 -0.00222392 0.000205512 0.00291339 0.00038434 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 898 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 240.331 0 0 newEnergyL 0 lastEnergy: 242.192 0 0 lastEnergyL: 0mActiveResiduals: 898 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 2.23113e-12 1.21796e-12 -4.50565e-12 -1.76905e-12 0.000666919 -2.06414e-05 -0.00147764 0.000257098 -0.00208321 0.000703242 -0.000649974 -0.000575726 -0.00188847 0.000225073 -0.00213 0.000679141 -0.00188567 -0.000911373 -0.00360392 -0.000176126 -0.00218942 0.00017907 -0.00214844 0.000758491 -0.00419107 -3.66814e-05 -0.00223388 -9.42383e-05 0.00271214 0.000452461 0.00378792 0.000656268 -0.00309413 -0.000297431 -0.00288374 0.000122483 -0.000664991 0.000521021 -0.00255573 1.56397e-05 0.00250446 0.000580976 0.000772626 0.00052119 -0.00313191 -0.000366882 0.00480621 0.000204269 0.0049265 0.000754872 -0.00332874 -0.000161326 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 898 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 237.549 0 0 newEnergyL 0 lastEnergy: 240.331 0 0 lastEnergyL: 0mActiveResiduals: 898 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 7.38305e-13 -6.85647e-13 4.85404e-12 1.66786e-12 -0.000959965 -0.00016209 0.00176346 -0.000368461 0.002694 -0.00129064 0.000633302 0.00079923 0.00231738 -0.000272359 0.00279278 -0.0011603 0.00272676 0.000876101 0.00497382 0.000193075 0.00286257 -0.000568729 0.00280645 -0.0005069 0.00571762 0.000167036 0.00300966 -0.000178815 -0.0018818 -0.000425232 -0.00233936 -0.000685642 0.0037473 0.000526968 0.000652282 -0.0013064 -0.00428313 -0.000716104 0.00322954 0.000775653 -0.001622 -0.000591871 -0.00150696 -0.000592204 0.00368628 0.000646707 -0.00650414 0.000573582 -0.00340665 -0.000655053 0.00422491 0.000432922 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 898 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 238.662 0 0 newEnergyL 0 lastEnergy: 237.549 0 0 lastEnergyL: 0mActiveResiduals: 898 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 238.662 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 898 INF|LocalMapper.cpp[optimize,345]: End Energy: 238.662 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.527103 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.527103 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 180 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 180 with idx: 4 and allID: 865 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->180 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->180 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->180 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 165<->180 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 180<->180 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 181<->180 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 182<->180 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 183<->180 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 180 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 865: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 179/863: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 178/861: 0/0 INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 177/859: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 177 allId: 859 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.99099 -0.00905333 -0.133631 -0.102589 0.0085698 0.999954 -0.00419314 -0.016712 0.133663 0.00301017 0.991022 -0.0161161 worldPose: 0.972079 0.145866 -0.183807 -4.56404 -0.116857 0.980199 0.15986 2.15329 0.203485 -0.133918 0.969876 2.77447 after: 0.972079 0.145866 -0.183807 -4.56404 -0.116857 0.980199 0.15986 2.15329 0.203485 -0.133918 0.969876 2.77447 worldPose of new: 0.986562 0.15496 -0.0517867 -4.46108 -0.14604 0.978482 0.145756 2.15701 0.0732589 -0.136235 0.987964 2.79563 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.99099 -0.00905333 -0.133631 -0.102589 0.0085698 0.999954 -0.00419314 -0.016712 0.133663 0.00301017 0.991022 -0.0161161 INF|Mapper.cpp[changeRefFrame,578]: Updating: 866 from old kf id: 180/865 with new ref frame: 859/177 Input.cpp[readImages,192]: readImages loop! INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 865 after changeRefFrame: 0.99099 -0.00905333 -0.133631 -0.102589 0.0085698 0.999954 -0.00419314 -0.016712 0.133663 0.00301017 0.991022 -0.0161161 INF|Input.cpp[getImages,128]: getimages!877 INF|Input.cpp[getImages,132]: mNbReceivedImages!878 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 180 to normal frame with refFrame: 177 frame id kf: 865 newref id: 859 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 180 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 8389 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04ab0135e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 183 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 134 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 63 with distance 0.16Found rest min at: 133 with distance 0.144 overall min: 0.144 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 63 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 729 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 183 into DB 0.16 63 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 63 and real id(91) current kf: 183(873) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.988083 -0.149386 -0.03709 -2.75941 0.150086 0.988529 0.0168572 -0.732096 0.0341464 -0.022223 0.99917 1.57727 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 91 currFrame: 183 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.988083 -0.149386 -0.03709 -2.75941 0.150086 0.988529 0.0168572 -0.732096 0.0341464 -0.022223 0.99917 1.57727 avg 0.00191854 eye: 0.00262698 edge: 183 to 91 INF|Tracker.cpp[trackFrames,78]: initPose: 0.988083 -0.149386 -0.03709 -2.75941 0.150086 0.988529 0.0168572 -0.732096 0.0341464 -0.022223 0.99917 1.57727 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 183 to 91 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 432(1311875587.632637) and 873(1311875602.348048) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.988083 -0.149386 -0.03709 -2.75941 0.150086 0.988529 0.0168572 -0.732096 0.0341464 -0.022223 0.99917 1.57727 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 23,0.999219 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1831/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 183 to 91 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 432(1311875587.632637) and 873(1311875602.348048) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.940634 -0.0414964 -0.336875 -1.77365 0.0987948 0.982998 0.154772 -1.84296 0.324725 -0.178865 0.928742 2.76233 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999318 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:193/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 183 to 91 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 432(1311875587.632637) and 873(1311875602.348048) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.940634 -0.0412433 -0.336908 -1.77731 0.0984749 0.983058 0.154595 -1.8445 0.324824 -0.178594 0.928759 2.76634 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 0,0.999325 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:201/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.940656 -0.0413598 -0.336832 -1.77696 0.0985273 0.983077 0.15444 -1.84433 0.324745 -0.178462 0.928812 2.76878 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 90 end 93 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 10584 o[1]: 0 o[2]: 0 o[3]: 0 histWeights: 1 1 1.25 1.5overlap: 0 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 1899 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 91 and 183 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 183 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 183 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 5516 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 874 keyframes 184 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.380285 Input.cpp[readImages,206]: Got image from sensor!877 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999926 0.00282907 0.0117904 -0.0176258 -0.00296264 0.999931 0.0113261 -0.00494955 -0.0117576 -0.0113602 0.999866 -0.00511187 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 183 to 139658114881536 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.380285) and 873(1311875602.348048) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999926 0.00282907 0.0117904 -0.0176258 -0.00296264 0.999931 0.0113261 -0.00494955 -0.0117576 -0.0113602 0.999866 -0.00511187 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.99915 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:564/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 183 to 139658114881536 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.380285) and 873(1311875602.348048) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999927 0.00366903 0.0114918 -0.0176381 -0.00378558 0.999941 0.0101368 -0.0107419 -0.0114539 -0.0101795 0.999883 -0.0075164 Input.cpp[readImages,215]: mInputFrameQueue: 3 Input.cpp[readImages,218]: mNbOfImages: 878 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999998 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:950/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 183 to 139658114881536 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.380285) and 873(1311875602.348048) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999968 -0.00322294 0.00728402 0.00589101 0.00315264 0.999949 0.00964254 -0.0249039 -0.00731473 -0.00961927 0.999927 0.015815 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:698/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.608276 resInfo good: 1625, 274 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2725/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999999 -0.00113951 0.00108897 0.0442407 0.00113136 0.999972 0.00745351 -0.0097669 -0.00109743 -0.00745227 0.999972 0.0198502 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!874 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 459 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.411103 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999995 -0.00228709 0.00216941 0.0885141 0.0022545 0.999886 0.0149078 -0.0193355 -0.00220326 -0.0149029 0.999887 0.0397241 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 183 to 139658114881536 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.411103) and 873(1311875602.348048) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999995 -0.00228709 0.00216941 0.0885141 0.0022545 0.999886 0.0149078 -0.0193355 -0.00220326 -0.0149029 0.999887 0.0397241 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 1): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:660/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 183 to 139658114881536 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.411103) and 873(1311875602.348048) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999938 -0.0111246 0.000772351 0.0910751 0.0111126 0.999839 0.0140922 -0.024431 -0.000928997 -0.0140828 0.9999 0.0235951 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.99998 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:571/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 183 to 139658114881536 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.411103) and 873(1311875602.348048) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999923 -0.0123781 -0.00126048 0.10741 0.0123933 0.99984 0.0128788 -0.015886 0.00110087 -0.0128934 0.999916 0.0268659 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!878 INF|Input.cpp[getImages,132]: mNbReceivedImages!879 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999858 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:434/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.92464 resInfo good: 1570, 329 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2033/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999934 -0.0110926 0.00285993 0.0863094 0.0110523 0.999844 0.0137612 -0.00456166 -0.00301213 -0.0137287 0.999901 0.00723251 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!875 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 453 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.445169 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 2 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999768 -0.0210556 0.00456797 0.128301 0.0209598 0.999579 0.0200856 0.000981425 -0.00498895 -0.0199852 0.999788 -0.00549787 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 183 to 139658114881536 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.445169) and 873(1311875602.348048) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999768 -0.0210556 0.00456797 0.128301 0.0209598 0.999579 0.0200856 0.000981425 -0.00498895 -0.0199852 0.999788 -0.00549787 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999943 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:1073/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 183 to 139658114881536 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.445169) and 873(1311875602.348048) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999558 -0.0059956 0.0291075 0.0298899 0.00520477 0.999617 0.0271694 -0.012753 -0.0292592 -0.0270059 0.999207 -0.00802409 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999864 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:1215/1 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 183 to 139658114881536 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.445169) and 873(1311875602.348048) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999459 -0.00588496 0.0323724 0.0214617 0.00498769 0.999603 0.0277286 -0.00507033 -0.0325228 -0.0275521 0.999091 -0.0103247 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999106 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:236/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.96386 resInfo good: 1805, 94 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2904/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999457 -0.00595396 0.0323967 0.0258108 0.00509417 0.999634 0.0265578 0.00192109 -0.0325429 -0.0263783 0.999122 -0.00683219 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!876 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 458 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.477367 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999457 -0.00595396 0.0323967 0.0258108 0.00509417 0.999634 0.0265578 0.00192109 -0.0325429 -0.0263783 0.999122 -0.00683219 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 183 to 139658114881536 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.477367) and 873(1311875602.348048) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999457 -0.00595396 0.0323967 0.0258108 0.00509417 0.999634 0.0265578 0.00192109 -0.0325429 -0.0263783 0.999122 -0.00683219 Input.cpp[readImages,206]: Got image from sensor!878 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999776 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:608/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 183 to 139658114881536 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.477367) and 873(1311875602.348048) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999353 -0.0154367 0.032499 0.0378862 0.0146959 0.999629 0.0229107 -0.0248867 -0.0328406 -0.0224183 0.999209 -0.000152416 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999404 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:446/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 183 to 139658114881536 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.477367) and 873(1311875602.348048) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999289 -0.0188991 0.0326118 0.044876 0.0181263 0.999552 0.0238316 -0.0236306 -0.0330476 -0.0232235 0.999184 0.00599129 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 13,0.999676 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:1004/1 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.05882 resInfo good: 1501, 398 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2535/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999332 -0.00645369 0.0359691 0.0455424 0.00544141 0.999588 0.0281701 -0.010126 -0.0361361 -0.0279556 0.998956 -0.000193948 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875602.477367 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875602.477367 to keyframe with id: 139658114881536 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875602.477367 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 509 size: 851 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId139658114881536 timestamp: 1311875602.477367 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 710 keyframeId: 151 score: -9.25675 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 740 keyframeId: 154 score: -10.2254 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -11.1572 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -10.1189 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 867 keyframeId: 181 score: -13.9713 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 870 keyframeId: 182 score: -13.1502 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 184 = 184 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b053d820 fh1 0x3ddc0840fh->id: 151 184 877goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b053d820 fh1 0x10913f80fh->id: 154 184 877goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b053d820 fh1 0x3ec60b00fh->id: 161 184 877goodE: 29 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b053d820 fh1 0x7f04c3b55960fh->id: 165 184 877goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b053d820 fh1 0x7f04ab80a000fh->id: 181 184 877goodE: 14 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b053d820 fh1 0x7f04b05353c0fh->id: 182 184 877goodE: 24 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b053d820 fh1 0x7f04ab0135e0fh->id: 183 184 877goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew184 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 879 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 61 out of 63 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 63 newEdgePixels: 63 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 807 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 132 lastEnergy: 240.405 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 48 INF|LocalMapper.cpp[optimize,276]: Start Energy: 240.405 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -2.6324e-12 8.00702e-12 -3.07201e-12 -8.6372e-12 -0.000633735 -0.000963775 -0.000307849 0.000143972 -0.0012476 0.000271184 -0.000238086 -0.00135098 -4.96833e-05 0.000120606 -0.00144005 0.000320073 -0.00304383 -0.00112827 -0.00258601 -4.94469e-05 -0.00122605 8.44004e-05 -0.00265781 -0.000372583 -0.0027244 -5.11878e-05 -0.00130647 -0.000203509 0.00438331 0.00290781 0.0132497 0.000856885 -0.0013504 -0.00137764 0.016855 0.00877929 0.0155495 0.00199465 -0.00330797 -0.00133557 0.0226336 0.00116098 0.0218016 0.00125904 -0.00364933 0.000483576 0.0451224 0.02413 0.0126807 0.00516335 -0.00733666 0.00322986 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 807 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 219.46 0 0 newEnergyL 0 lastEnergy: 240.405 0 0 lastEnergyL: 0mActiveResiduals: 807 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.91466e-12 -3.35003e-12 3.23928e-12 5.06781e-12 0.00139573 0.000353402 -0.000425617 2.82796e-05 -0.000281865 9.94897e-05 -0.000120006 0.000678491 -0.000592921 0.0001094 -2.3353e-05 7.91409e-05 0.00126915 0.000320906 -0.000155793 2.15891e-05 -0.000285751 3.64903e-05 0.00116015 0.00102031 0.000535263 0.000229329 -0.00024667 9.86318e-05 0.000646808 -0.00383547 0.00699658 -0.000314509 -7.88673e-05 0.000938538 0.000125301 -0.00218657 -0.00504388 -0.000517402 -0.000324159 0.000618276 -0.00167924 0.000353346 -0.00217119 -0.00023727 0.000158213 -0.000231259 -0.0219075 -0.00891285 0.0338251 -0.000478982 0.0035515 -0.000334542 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 807 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 213.929 0 0 newEnergyL 0 lastEnergy: 219.46 0 0 lastEnergyL: 0mActiveResiduals: 807 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -4.21595e-13 1.97987e-12 -6.61227e-12 -3.15638e-12 0.00292717 0.000120085 -0.00390629 0.000498568 -0.00417957 0.00109499 -0.000422413 -0.000746197 -0.0040889 0.000439353 -0.00430432 0.000926212 -0.00485539 -0.000784508 -0.00683999 -0.000146726 -0.0043347 8.83733e-05 -0.00593808 0.000856836 -0.00840179 -0.000221553 -0.00440635 -0.000535419 -0.00877939 0.00215058 0.00151249 0.000879109 -0.00458391 -0.00182164 -0.00864877 -0.000837268 0.000706593 0.000632264 -0.00508092 -0.000456159 -0.00358436 -0.00205923 0.00317252 0.000802064 -0.00566108 0.000185408 0.0361923 0.0037235 0.00963752 0.00210251 -0.00932981 0.000281272 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 807 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 207.354 0 0 newEnergyL 0 lastEnergy: 213.929 0 0 lastEnergyL: 0mActiveResiduals: 807 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -5.86663e-12 1.83152e-12 -2.53451e-12 -3.15762e-12 -0.000889922 0.000357892 0.00182943 -9.26157e-05 -0.000865709 -0.00102092 -0.000405723 0.000800175 0.000424029 -0.000116639 -0.000792159 -0.00101495 0.00125556 0.00201255 -0.00125258 0.00016829 -0.00054393 -0.00117781 0.00219152 0.00309784 -0.00136122 0.00033074 -0.000380301 -0.00127576 0.0039076 0.000916554 -0.00135653 -0.000837117 -0.000631542 -0.000551345 0.00445181 0.0048256 -0.00530773 -0.000359073 -0.000834284 -0.00118829 -0.00129081 0.00583664 -0.0079687 -0.000672512 -0.000259805 -0.00164955 -0.0063637 -0.0167205 0.0177052 -0.00246341 0.00175052 -0.00241512 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 807 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 205.952 0 0 newEnergyL 0 lastEnergy: 207.354 0 0 lastEnergyL: 0mActiveResiduals: 807 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 2.19081e-12 -7.11142e-14 1.18118e-12 -6.49341e-13 0.000590269 -2.23584e-05 -0.000890536 0.00015848 -0.000990567 0.000208752 4.63005e-05 0.000190491 -0.000989798 0.000196105 -0.00104481 8.84098e-05 -0.00123074 -0.000564323 -0.0016269 -5.99959e-05 -0.000977136 1.73158e-05 -0.00119217 -0.000424922 -0.00184086 -9.99614e-05 -0.00102299 -0.000101944 -0.00382549 0.00397764 -0.00689209 0.000411576 -0.00118611 -0.00108323 -0.00626952 -0.0020825 -0.00298336 -0.000325552 -0.000875956 -0.000315256 0.00512166 -0.00345035 0.00287783 4.54479e-06 -0.00216837 0.000214308 0.00902345 0.00376335 0.010211 0.0015521 -0.00270019 0.00139729 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 807 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 202.365 0 0 newEnergyL 0 lastEnergy: 205.952 0 0 lastEnergyL: 0mActiveResiduals: 807 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!879 INF|Input.cpp[getImages,132]: mNbReceivedImages!880 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 3.04046e-12 -1.34105e-12 3.00304e-12 2.08327e-12 -0.00124282 0.000755967 0.00240357 -0.000165082 0.00112403 7.04033e-05 -0.000408336 0.000709366 0.00180201 -0.000203578 0.00128552 8.57923e-05 0.00298557 -9.20104e-06 0.00187444 -0.000226278 0.0010596 0.000308064 0.00348 -0.000238885 0.00217028 -0.000170539 0.0011037 0.000396245 0.00457123 -0.00496487 0.00114841 -0.00101678 0.00171127 0.00126973 0.00600619 0.00046883 -0.00242596 -0.000349 0.00166397 9.61363e-05 -0.00690705 0.00115817 -0.00589075 -0.000740282 0.00316507 -0.00038648 -0.0102716 0.00157056 0.00229726 -0.0015278 0.00466774 -0.00296108 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 807 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 203.366 0 0 newEnergyL 0 lastEnergy: 202.365 0 0 lastEnergyL: 0mActiveResiduals: 807 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 203.366 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 807 INF|LocalMapper.cpp[optimize,345]: End Energy: 203.366 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.520725 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.520725 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 181 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 181 with idx: 4 and allID: 867 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->181 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 181->151 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->181 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 181->154 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->181 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 181->161 INF|LocalMapper.cpp[marginalizeFrame,801]: 181 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 181 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 7601 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04b053d820 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 184 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 135 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 61 with distance 0.164Found rest min at: 134 with distance 0.144 overall min: 0.144 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 61 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 730 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 184 into DB 0.164 61 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 61 and real id(89) current kf: 184(877) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.973852 -0.197283 -0.112657 -2.98692 0.196235 0.980344 -0.0204269 -0.902532 0.114473 -0.00221447 0.993424 1.62226 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 89 currFrame: 184 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.973852 -0.197283 -0.112657 -2.98692 0.196235 0.980344 -0.0204269 -0.902532 0.114473 -0.00221447 0.993424 1.62226 avg 0.00318751 eye: 0.00519662 edge: 184 to 89 INF|Tracker.cpp[trackFrames,78]: initPose: 0.973852 -0.197283 -0.112657 -2.98692 0.196235 0.980344 -0.0204269 -0.902532 0.114473 -0.00221447 0.993424 1.62226 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 184 to 89 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 412(1311875586.968467) and 877(1311875602.477367) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.973852 -0.197283 -0.112657 -2.98692 0.196235 0.980344 -0.0204269 -0.902532 0.114473 -0.00221447 0.993424 1.62226 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999521 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:291/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 184 to 89 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 412(1311875586.968467) and 877(1311875602.477367) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.983468 0.140689 -0.114005 -2.66807 -0.153605 0.981561 -0.113771 0.0310512 0.0958966 0.129402 0.986944 1.83972 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999913 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:212/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 184 to 89 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 412(1311875586.968467) and 877(1311875602.477367) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.983269 0.142266 -0.113769 -2.66463 -0.155136 0.981333 -0.113657 0.0360066 0.095476 0.129405 0.986985 1.85249 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 7,0.999654 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:263/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.981451 0.157522 -0.109277 -2.67957 -0.175159 0.968481 -0.177099 0.277534 0.0779357 0.192955 0.978108 2.14981 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 88 end 91 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 10028 o[1]: 43 o[2]: 0 o[3]: 0 histWeights: 1 1 1.25 1.5overlap: 43 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 851 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 89 and 184 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 184 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 184 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 3893 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 878 keyframes 185 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 452 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.510365 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999959 -0.000155226 0.00906704 0.00194448 5.49494e-05 0.999939 0.0110586 -0.0284263 -0.0090682 -0.0110577 0.999898 -0.0621396 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 184 to 85899345939 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.510365) and 877(1311875602.477367) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999959 -0.000155226 0.00906704 0.00194448 5.49494e-05 0.999939 0.0110586 -0.0284263 -0.0090682 -0.0110577 0.999898 -0.0621396 Input.cpp[readImages,206]: Got image from sensor!879 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999875 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:338/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 184 to 85899345939 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.510365) and 877(1311875602.477367) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999976 -0.00606416 0.00339961 0.0356207 0.00604932 0.999972 0.00435701 0.0259482 -0.00342593 -0.00433634 0.999985 0.00665908 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999489 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:78/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 184 to 85899345939 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.510365) and 877(1311875602.477367) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999989 -0.00439781 0.00153566 0.0450708 0.00438572 0.99996 0.00778985 0.0279668 -0.00156986 -0.00778303 0.999968 -0.0200879 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999763 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:233/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.856081 resInfo good: 781, 70 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 851/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999935 -0.00975678 -0.00596199 0.0712937 0.00978063 0.999944 0.00398477 0.0414278 0.00592278 -0.00404282 0.999974 -0.0159003 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!878 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 463 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 880 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.545030 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!880 INF|Input.cpp[getImages,132]: mNbReceivedImages!881 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999853 -0.0146258 -0.00895741 0.106823 0.0146794 0.999875 0.0059552 0.0623787 0.00886919 -0.00608582 0.999942 -0.0237545 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 184 to 85899345939 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.545030) and 877(1311875602.477367) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999853 -0.0146258 -0.00895741 0.106823 0.0146794 0.999875 0.0059552 0.0623787 0.00886919 -0.00608582 0.999942 -0.0237545 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:322/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 184 to 85899345939 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.545030) and 877(1311875602.477367) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.99985 -0.0158271 0.0070784 0.0555065 0.015606 0.99942 0.0302819 -0.0409819 -0.00755356 -0.0301669 0.999516 -0.0344086 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 5): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:456/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 184 to 85899345939 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.545030) and 877(1311875602.477367) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999775 -0.0155989 0.0143412 0.0358478 0.0153125 0.999685 0.0198722 0.0121584 -0.0146467 -0.0196482 0.9997 -0.0153995 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:324/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.926813 resInfo good: 851, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1313/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999742 -0.0156287 0.0164883 0.0332431 0.0152533 0.999627 0.0226572 0.00537131 -0.0168363 -0.0223999 0.999607 -0.0125735 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!879 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 452 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!880 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 881 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.579200 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999442 -0.0187185 0.0276689 0.0143257 0.0178294 0.999328 0.0320357 -0.0127095 -0.0282499 -0.0315245 0.999104 -0.0103371 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 184 to 85899345939 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.579200) and 877(1311875602.477367) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999442 -0.0187185 0.0276689 0.0143257 0.0178294 0.999328 0.0320357 -0.0127095 -0.0282499 -0.0315245 0.999104 -0.0103371 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999974 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:215/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 184 to 85899345939 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.579200) and 877(1311875602.477367) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999624 -0.0220823 -0.0162615 0.180096 0.0225725 0.999276 0.0306102 -0.0178214 0.0155738 -0.0309658 0.999399 -0.165278 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999938 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:171/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 184 to 85899345939 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.579200) and 877(1311875602.477367) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999527 -0.0268783 -0.0149657 0.184132 0.0273728 0.999051 0.0338774 -0.0346506 0.0140409 -0.0342711 0.999314 -0.173483 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999217 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:125/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.40532 resInfo good: 796, 55 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 721/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999639 -0.0251479 -0.00943323 0.16048 0.0254855 0.998969 0.0375601 -0.0432333 0.00847895 -0.037787 0.99925 -0.178694 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875602.579200 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875602.579200 to keyframe with id: 85899345939 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875602.579200 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 509 size: 964 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId85899345939 timestamp: 1311875602.579200 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 185 = 185 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04abff9980 fh1 0x3ddc0840fh->id: 151 185 880goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04abff9980 fh1 0x10913f80fh->id: 154 185 880goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04abff9980 fh1 0x3ec60b00fh->id: 161 185 880goodE: 20 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04abff9980 fh1 0x7f04c3b55960fh->id: 165 185 880goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04abff9980 fh1 0x7f04b05353c0fh->id: 182 185 880goodE: 24 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04abff9980 fh1 0x7f04ab0135e0fh->id: 183 185 880goodE: 33 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04abff9980 fh1 0x7f04b053d820fh->id: 184 185 880goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew185 Input.cpp[readImages,192]: readImages loop! INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 50 out of 54 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 54 newEdgePixels: 54 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 620 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 92 lastEnergy: 196.921 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 36 INF|LocalMapper.cpp[optimize,276]: Start Energy: 196.921 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.70423e-12 1.08936e-12 -2.42732e-12 -3.73077e-12 0.000484013 -0.000323049 -0.0025937 -0.000308913 0.00447143 -0.000154755 0.00412967 -9.84392e-05 -5.55034e-05 -0.00026618 0.00420764 0.000105721 0.00410338 -0.000580899 0.00445841 -1.02315e-05 0.00433481 0.000808459 0.00394134 -0.00369131 0.00577677 -0.00029285 0.00422616 0.00152511 0.0136712 -0.000123175 0.0247955 -0.000315107 0.00477145 -0.00141548 0.0289272 0.00511199 0.0277838 0.000613303 0.00291268 -0.00098958 0.0581067 0.00673373 0.0118954 0.00187069 -0.0015202 0.00227168 0.048295 -0.0298036 -0.0117241 -0.00294265 6.26436e-05 0.00148057 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 620 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 178.047 0 0 newEnergyL 0 lastEnergy: 196.921 0 0 lastEnergyL: 0mActiveResiduals: 620 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.50511e-13 2.01693e-12 -3.59718e-12 -1.77171e-12 -0.000841824 -0.000261164 0.00172833 -3.13992e-05 0.000278362 -0.000172312 -0.00150378 -0.000184353 0.00203268 -1.78132e-05 0.000450475 -0.000202604 -0.00161779 7.26793e-05 0.00196995 0.000141178 0.000419944 -3.20706e-05 -0.00224586 -0.00117962 0.00182962 -7.57879e-05 0.000554192 -5.35972e-05 0.00145678 -0.000611891 0.00651167 0.000291781 0.000412545 0.000280698 0.00127608 0.000804464 0.00594754 0.000200113 0.000453168 -9.14154e-05 -0.0215386 -0.0108879 0.00888598 -0.00159839 0.00315641 -0.00099426 0.0299141 -0.0331087 -0.0137992 -0.00299078 -0.00266162 0.00098186 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 620 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 171.567 0 0 newEnergyL 0 lastEnergy: 178.047 0 0 lastEnergyL: 0mActiveResiduals: 620 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.88299e-12 -1.85856e-12 4.71651e-13 2.17941e-12 -0.0011106 -0.000415024 6.13333e-06 -0.000410597 0.0026498 -0.00109147 0.000217371 0.000190297 0.00113785 -0.000377495 0.00270577 -0.000937287 0.00143135 0.000333955 0.00366183 -1.22825e-05 0.00280741 -0.000566488 0.00159901 8.4304e-05 0.0048819 0.00018878 0.00285942 -7.57972e-05 0.00142212 0.00245121 0.00222374 -0.000712273 0.00316901 -0.000968671 0.00348477 0.000764193 0.00413807 -0.000846454 0.00295048 -0.00104753 0.0052087 0.00886755 -0.00395514 -0.000721425 0.00256466 -0.00157218 -0.0158892 -0.0149259 -0.00862655 -0.00304768 0.00494611 -0.00126129 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 620 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 170.758 0 0 newEnergyL 0 lastEnergy: 171.567 0 0 lastEnergyL: 0mActiveResiduals: 620 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.55933e-12 -2.18851e-12 -1.07622e-12 1.8638e-12 -0.000148734 -0.000159744 0.00011087 -0.000595069 -0.000340485 -0.00214501 -0.000384284 0.00111966 -8.34608e-05 -0.000601632 -0.000197148 -0.00230329 0.000168727 0.00302289 -3.41762e-05 -1.8317e-05 0.000234211 -0.00227042 0.00123453 0.00318561 0.000293881 1.50316e-05 0.000423368 -0.00230705 -0.000620366 0.00682449 -0.00235438 -0.00100189 0.000201791 -0.00216791 0.00118372 0.00717607 0.00123655 -0.000916419 2.48484e-05 -0.00197897 0.00197898 -0.0121268 0.00663803 -0.00249244 0.000118715 -0.00156179 -0.00198108 -0.00915928 -0.0035582 -0.00282443 -0.000128742 -0.000974789 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 620 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 167.032 0 0 newEnergyL 0 lastEnergy: 170.758 0 0 lastEnergyL: 0mActiveResiduals: 620 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.06613e-12 6.33903e-14 2.78122e-12 -1.1679e-12 -0.00212832 0.000184535 0.00166405 0.000731679 0.00134517 0.00209057 -0.000893462 -0.00116886 0.00115793 0.000690854 0.00132563 0.00218344 0.00201055 -0.00334935 0.000635552 0.000152126 0.000695709 0.00248838 0.0016453 -0.00426902 0.000366317 3.07336e-05 0.000523825 0.00265894 0.00700313 -0.00740249 0.000558425 0.000966079 0.00080936 0.00221726 0.00386376 -0.00747398 -0.00310779 0.000843601 0.00113815 0.00188454 0.000622876 0.0129264 -0.00575495 0.0026392 0.00138178 0.00159774 -0.014103 0.0100762 0.00453422 0.00322466 0.00339846 0.00167057 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 620 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 165.793 0 0 newEnergyL 0 lastEnergy: 167.032 0 0 lastEnergyL: 0mActiveResiduals: 620 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.97321e-12 -8.33708e-13 3.06031e-13 2.87894e-12 0.00389144 -0.000241384 -0.00374332 -0.000755387 -8.05e-05 -0.00265199 0.00172754 0.0012301 -0.0014754 -0.000698839 7.03028e-05 -0.00271358 -0.00187731 0.00347761 0.00144922 4.90416e-05 0.000585787 -0.00276801 -0.00265733 0.00442681 0.00265362 0.000321235 0.000848195 -0.00265708 -0.0110749 0.00630813 0.00343059 -0.00103478 0.000881816 -0.00220636 -0.00758748 0.00599874 0.00753133 -0.000944238 0.000568861 -0.00185486 -0.00246559 -0.00962666 0.0130943 -0.00219115 0.000194968 -0.00149482 0.0196994 -0.0130888 -0.0226775 -0.00403476 -0.0039528 -0.00142142 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 620 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 165.615 0 0 newEnergyL 0 lastEnergy: 165.793 0 0 lastEnergyL: 0mActiveResiduals: 620 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 165.615 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 620 INF|LocalMapper.cpp[optimize,345]: End Energy: 165.615 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.539029 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.539029 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 151 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 151 with idx: 0 and allID: 710 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 151<->151 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->151 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 151->154 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->151 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 151->161 INF|LocalMapper.cpp[marginalizeFrame,772]: 165<->151 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 151->165 INF|LocalMapper.cpp[marginalizeFrame,801]: 151 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 151 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 8013 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04abff9980 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 185 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 136 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 66 with distance 0.14Found rest min at: 135 with distance 0.13 overall min: 0.13 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 66 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 730 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 185 into DB 0.14 66 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 66 and real id(94) current kf: 185(880) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.986064 -0.148119 0.0757573 -2.5134 0.148287 0.988938 0.00343254 -0.742997 -0.0754277 0.00784915 0.99712 2.12007 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 94 currFrame: 185 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.986064 -0.148119 0.0757573 -2.5134 0.148287 0.988938 0.00343254 -0.742997 -0.0754277 0.00784915 0.99712 2.12007 avg 0.00247626 eye: 0.00267383 edge: 185 to 94 INF|Tracker.cpp[trackFrames,78]: initPose: 0.986064 -0.148119 0.0757573 -2.5134 0.148287 0.988938 0.00343254 -0.742997 -0.0754277 0.00784915 0.99712 2.12007 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 185 to 94 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 443(1311875587.997540) and 880(1311875602.579200) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.986064 -0.148119 0.0757573 -2.5134 0.148287 0.988938 0.00343254 -0.742997 -0.0754277 0.00784915 0.99712 2.12007 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 11,0.999918 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:510/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 185 to 94 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 443(1311875587.997540) and 880(1311875602.579200) on lvl: 1 Input.cpp[readImages,206]: Got image from sensor!881 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.967641 -0.0107242 -0.252104 -0.903836 0.059807 0.980375 0.187851 -1.80206 0.245142 -0.196849 0.949292 2.62327 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999236 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:13877/13 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 185 to 94 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 443(1311875587.997540) and 880(1311875602.579200) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.959101 -0.0055359 -0.283009 -0.730117 0.0531307 0.985559 0.160778 -1.65487 0.278032 -0.169239 0.945545 2.53179 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999898 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:119/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.95924 -0.00292844 -0.282579 -0.727255 0.051418 0.985064 0.164334 -1.66544 0.277877 -0.172166 0.945063 2.52832 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 93 end 96 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 9244 o[1]: 0 o[2]: 0 o[3]: 0 histWeights: 1 1 1.25 1.5overlap: 0 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 964 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 94 and 185 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 185 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 185 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 17876 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 882 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 881 keyframes 186 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 451 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.612223 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999738 -0.00770823 -0.021564 0.115186 0.00781359 0.999958 0.00480615 -0.00293752 0.0215261 -0.00497338 0.999756 -0.123287 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 185 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.612223) and 880(1311875602.579200) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999738 -0.00770823 -0.021564 0.115186 0.00781359 0.999958 0.00480615 -0.00293752 0.0215261 -0.00497338 0.999756 -0.123287 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 1,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:261/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 185 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.612223) and 880(1311875602.579200) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999704 -0.0138569 -0.0199875 0.122576 0.0139402 0.999895 0.0040312 -0.00646721 0.0199295 -0.00430864 0.999792 -0.0907455 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 0,0.999721 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:81/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 185 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.612223) and 880(1311875602.579200) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999853 -0.0171441 -0.000654489 0.0476102 0.017149 0.999818 0.00837272 -0.0251211 0.000510826 -0.00838272 0.999965 -0.045827 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999584 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:220/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.755971 resInfo good: 842, 122 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 793/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999841 -0.0164873 0.00674829 0.00994192 0.0163983 0.999781 0.0130264 -0.0285888 -0.00696158 -0.0129136 0.999892 -0.0641827 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!881 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 450 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!882 INF|Input.cpp[getImages,132]: mNbReceivedImages!883 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!882 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 883 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.645075 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!883 INF|Input.cpp[getImages,132]: mNbReceivedImages!884 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999365 -0.0330554 0.01328 0.0199205 0.0326998 0.999123 0.0261591 -0.0578444 -0.0141331 -0.0257083 0.99957 -0.128059 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 185 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.645075) and 880(1311875602.579200) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999365 -0.0330554 0.01328 0.0199205 0.0326998 0.999123 0.0261591 -0.0578444 -0.0141331 -0.0257083 0.99957 -0.128059 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:334/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 185 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.645075) and 880(1311875602.579200) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999584 -0.0200592 0.0207107 0.0397166 0.0198384 0.999745 0.0108161 0.00691312 -0.0209224 -0.0104008 0.999727 -0.00254723 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999997 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:297/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 185 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.645075) and 880(1311875602.579200) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999611 -0.0217193 0.0175039 0.0625652 0.0214346 0.999637 0.0162927 -0.00666189 -0.0178515 -0.0159112 0.999714 -0.0104897 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:432/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.967711 resInfo good: 929, 35 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1300/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999493 -0.0221911 0.0228191 0.044818 0.0218485 0.999646 0.015153 0.000754764 -0.0231473 -0.0146468 0.999625 0.00360599 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!882 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 455 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!883 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 884 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.679839 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.99921 -0.025053 0.030848 0.0626048 0.0245603 0.999566 0.0162491 0.0155507 -0.0312417 -0.0154786 0.999392 0.0372646 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 185 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.679839) and 880(1311875602.579200) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.99921 -0.025053 0.030848 0.0626048 0.0245603 0.999566 0.0162491 0.0155507 -0.0312417 -0.0154786 0.999392 0.0372646 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:543/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 185 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.679839) and 880(1311875602.579200) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998559 -0.0247375 0.0476233 0.00467305 0.0240258 0.999592 0.0154604 -0.0229405 -0.0479863 -0.0142939 0.998746 -0.00212841 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 4): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:343/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 185 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.679839) and 880(1311875602.579200) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.9986 -0.0262856 0.0459129 0.0202569 0.0258767 0.99962 0.00947947 0.00671566 -0.0461446 -0.00827812 0.9989 0.00605647 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:361/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.11673 resInfo good: 817, 147 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 1477/1 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.99882 -0.0274449 0.0400642 0.0509745 0.0269801 0.999563 0.0120979 -0.000389368 -0.0403787 -0.0110027 0.999124 0.010799 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875602.679839 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875602.679839 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875602.679839 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!884 INF|Input.cpp[getImages,132]: mNbReceivedImages!885 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 497 size: 505 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875602.679839 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 186 = 186 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbde81e0 fh1 0x10913f80fh->id: 154 186 883goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbde81e0 fh1 0x3ec60b00fh->id: 161 186 883goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbde81e0 fh1 0x7f04c3b55960fh->id: 165 186 883goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbde81e0 fh1 0x7f04b05353c0fh->id: 182 186 883goodE: 42 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbde81e0 fh1 0x7f04ab0135e0fh->id: 183 186 883goodE: 30 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbde81e0 fh1 0x7f04b053d820fh->id: 184 186 883goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbde81e0 fh1 0x7f04abff9980fh->id: 185 186 883goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew186 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 31 out of 34 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 34 newEdgePixels: 34 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 646 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 106 lastEnergy: 200.814 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 37 INF|LocalMapper.cpp[optimize,276]: Start Energy: 200.814 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 6.11164e-13 -2.06938e-12 7.45166e-12 3.17962e-12 -0.00161847 -0.00123784 0.00137397 0.00102909 -0.0036527 0.00348989 -0.0031637 -0.0035265 -0.00378946 -5.0395e-05 -0.00401708 0.00297346 -0.0035539 -0.00389338 -0.00635328 -0.000452416 -0.00430144 0.00233076 -0.00544011 -0.00833383 -0.0117196 0.00140681 -0.00423762 0.00320194 -0.00286019 -0.00971153 -0.00883292 0.00131642 -0.00409986 0.00241259 -0.00303431 0.00344663 -0.00874813 0.00263338 -0.00402618 0.00188575 -0.0201885 0.00207807 -0.0179454 0.00326515 -0.00271829 0.00271605 0.0535898 0.0238061 -0.0228669 0.00637645 -0.0124644 0.00474021 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 646 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 190.792 0 0 newEnergyL 0 lastEnergy: 200.814 0 0 lastEnergyL: 0mActiveResiduals: 646 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 5.64281e-13 -1.40985e-13 3.4088e-12 1.54336e-13 0.000296367 9.17784e-05 -0.000823412 5.73849e-05 -0.000162172 0.000258372 0.00162579 0.000541707 -0.000981785 7.57404e-05 -0.000451199 9.58493e-05 0.00192622 -0.000358 -0.00126047 -0.000175771 -0.000523246 -4.74778e-05 -0.003277 -1.16972e-05 -0.00221109 7.47212e-05 0.000374092 -2.23391e-05 0.00135251 0.00114964 0.000355845 0.000357233 -9.4873e-05 9.07532e-05 -0.000259442 -0.01159 0.00825298 -0.0009621 0.000701188 -0.000158479 0.00797102 -0.0163891 -0.0061845 -0.00130425 -0.00154648 0.00112484 0.0174734 -0.00845959 -0.00508344 -0.000348048 -0.00310595 0.00228345 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 646 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 183.981 0 0 newEnergyL 0 lastEnergy: 190.792 0 0 lastEnergyL: 0mActiveResiduals: 646 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.33474e-12 5.97536e-13 -3.23214e-12 -7.96622e-13 0.00267276 -8.76796e-05 -0.00270011 0.000122311 0.000380754 -0.000518792 -0.000377993 7.6982e-05 -0.000178853 0.000261233 0.000615518 -0.000306956 -0.00153035 -0.00010485 0.000508619 0.000235157 0.000682526 -0.000234302 -0.00159973 -0.00045541 0.00253358 3.92277e-05 -0.000120114 -0.000214458 -0.00278633 -0.000303492 0.00466946 8.10211e-05 0.000123686 -0.000157007 -0.00567002 0.00601328 0.0016057 0.000591009 0.000239919 -0.000184936 -0.0174094 0.0168827 0.0115399 0.00218384 0.00160994 -0.000685494 0.0264668 -0.0219495 -0.0192716 -0.00337403 -0.00448099 -0.000683388 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 646 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 178.181 0 0 newEnergyL 0 lastEnergy: 183.981 0 0 lastEnergyL: 0mActiveResiduals: 646 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.62119e-14 1.5209e-12 4.19767e-12 -1.83518e-12 0.00360372 0.000151154 -0.00424192 -0.000244508 -0.000856996 -0.000890285 -0.000748223 0.00157427 -0.00137128 3.18568e-05 -0.000759329 -0.00110789 -0.00226681 0.00246172 -0.000693526 0.000143562 -0.000698856 -0.00124902 -0.0114824 0.00171358 0.00460611 -0.000412265 -0.000534642 -0.00101079 -0.00291105 0.00285189 0.00903635 -8.09302e-05 -0.0015093 -0.00119395 -0.00485932 -0.00543305 0.00407796 -0.00129933 -0.00141971 -0.00103034 0.0262902 -0.0143406 -0.0226678 -0.00248486 -0.00648487 4.34444e-05 -0.00599951 0.0109557 0.0102836 0.00115483 -0.00208523 -0.000212849 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 646 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 177.61 0 0 newEnergyL 0 lastEnergy: 178.181 0 0 lastEnergyL: 0mActiveResiduals: 646 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -4.89074e-12 -3.2535e-14 -3.33409e-12 1.03359e-12 -0.00158398 -0.000573077 -0.000108066 -6.56321e-05 0.00112706 -0.000103004 -0.000706766 -0.00032122 2.1785e-05 4.9397e-05 0.00125655 0.00021266 -0.000402271 -0.000472955 0.000325316 6.60107e-05 0.0012668 0.000406361 0.00575496 0.00126147 -0.00148656 0.000122752 0.000164529 -0.000250999 0.00657963 0.00120299 0.000196473 0.000142969 0.000140759 -0.000141576 0.0124543 0.00444828 0.00061031 0.000552503 -0.00046238 -0.00038604 -0.0363464 0.00617611 0.0181454 0.00100092 0.0053867 -0.00034807 0.0137291 -0.0121869 -0.0182348 -0.00181231 -0.00146414 -6.04611e-05 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 646 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 175.433 0 0 newEnergyL 0 lastEnergy: 177.61 0 0 lastEnergyL: 0mActiveResiduals: 646 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 3.7202e-12 -1.22991e-12 2.02177e-12 -6.97049e-13 0.000233055 0.000658023 0.00101423 -0.000190068 0.00136471 -0.000394101 0.00104264 0.000856461 0.00273823 3.82799e-05 0.00119623 -0.000184393 0.00129791 2.76408e-05 0.00314989 -7.38792e-06 0.00110459 -4.55011e-05 -0.000473193 0.00072597 0.000958504 -0.000300298 0.00140649 -0.000215092 -0.00277813 0.0017622 0.000706719 -0.000249487 0.00165839 -0.000579141 -0.0119953 -0.0102634 -0.00234389 -0.00161267 0.00243575 7.9205e-05 0.0300322 -0.00147502 -0.00874674 -0.000698576 -0.00279024 -2.91048e-05 -0.020088 0.00626388 0.00519425 0.000515891 0.0034992 0.000126736 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 646 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 175.799 0 0 newEnergyL 0 lastEnergy: 175.433 0 0 lastEnergyL: 0mActiveResiduals: 646 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 175.799 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 646 INF|LocalMapper.cpp[optimize,345]: End Energy: 175.799 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.541745 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.541745 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 154 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 154 with idx: 0 and allID: 740 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 154<->154 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->154 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 154->161 INF|LocalMapper.cpp[marginalizeFrame,772]: 165<->154 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 154->165 INF|LocalMapper.cpp[marginalizeFrame,772]: 182<->154 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 183<->154 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 154->183 INF|LocalMapper.cpp[marginalizeFrame,801]: 154 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 154 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 7242 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04bbde81e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 186 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 137 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 68 with distance 0.16Found rest min at: 136 with distance 0.102 overall min: 0.102 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 68 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 728 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 186 into DB 0.16 68 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 68 and real id(96) current kf: 186(883) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.985121 -0.140704 0.0986838 -2.26074 0.139984 0.990052 0.014214 -0.68139 -0.099702 -0.000188401 0.995017 2.26633 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 96 currFrame: 186 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.985121 -0.140704 0.0986838 -2.26074 0.139984 0.990052 0.014214 -0.68139 -0.099702 -0.000188401 0.995017 2.26633 avg 0.00532546 eye: 0.008136 edge: 186 to 96 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 199 < 306 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 186 and 96 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 186 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 186 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 841 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 884 keyframes 187 Input.cpp[readImages,206]: Got image from sensor!884 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1490 INF|System.cpp[startSystem,229]: input is still active! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 885 INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.710517 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999519 -0.00156602 0.0309613 -0.0415304 0.00165974 0.999994 -0.00300156 -0.00436062 -0.0309564 0.00305151 0.999516 0.0203803 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 186 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.710517) and 883(1311875602.679839) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999519 -0.00156602 0.0309613 -0.0415304 0.00165974 0.999994 -0.00300156 -0.00436062 -0.0309564 0.00305151 0.999516 0.0203803 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 0,0.999653 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:91/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 186 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.710517) and 883(1311875602.679839) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999528 -0.00130476 0.03069 -0.0420984 0.00144424 0.999989 -0.00452298 -0.0109481 -0.0306838 0.00456517 0.999519 0.0149916 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999936 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:151/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 186 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.710517) and 883(1311875602.679839) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999528 -0.00142144 0.0306798 -0.0419929 0.00156552 0.999988 -0.00467263 -0.0115739 -0.0306728 0.00471845 0.999518 0.0145796 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 0,0.999817 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:97/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.778059 resInfo good: 389, 116 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 481/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999529 -0.00143978 0.0306708 -0.0420051 0.00158415 0.999988 -0.00468337 -0.0116187 -0.0306637 0.00472975 0.999519 0.0145045 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!884 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 460 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!885 INF|Input.cpp[getImages,132]: mNbReceivedImages!886 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!885 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 886 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.748138 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!886 INF|Input.cpp[getImages,132]: mNbReceivedImages!887 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998114 -0.0027338 0.0613191 -0.0835288 0.00331115 0.999951 -0.00931583 -0.0233718 -0.0612906 0.00950131 0.998075 0.0302352 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 186 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.748138) and 883(1311875602.679839) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998114 -0.0027338 0.0613191 -0.0835288 0.00331115 0.999951 -0.00931583 -0.0233718 -0.0612906 0.00950131 0.998075 0.0302352 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:297/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 186 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.748138) and 883(1311875602.679839) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999219 0.0034584 0.039362 0.0123148 -0.00330275 0.999986 -0.00401872 0.0270033 -0.0393753 0.00388558 0.999217 -0.00114016 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999781 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:166/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 186 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.748138) and 883(1311875602.679839) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999216 0.00405127 0.0393881 0.0179092 -0.00419143 0.999985 0.00347647 0.00832483 -0.0393735 -0.00363884 0.999218 -0.0117829 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999054 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:81/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.846857 resInfo good: 505, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 692/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999029 0.00284045 0.0439559 -0.000993135 -0.00304428 0.999985 0.00457093 0.00739568 -0.0439422 -0.0047003 0.999023 -0.0185137 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!885 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 456 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!886 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 887 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!887 INF|Input.cpp[getImages,132]: mNbReceivedImages!888 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.779682 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999029 0.00284045 0.0439559 -0.000993135 -0.00304428 0.999985 0.00457093 0.00739568 -0.0439422 -0.0047003 0.999023 -0.0185137 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 186 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.779682) and 883(1311875602.679839) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999029 0.00284045 0.0439559 -0.000993135 -0.00304428 0.999985 0.00457093 0.00739568 -0.0439422 -0.0047003 0.999023 -0.0185137 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999858 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:191/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 186 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.779682) and 883(1311875602.679839) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997612 0.0146218 0.0675086 -0.0503156 -0.0149018 0.999882 0.00364631 -0.016922 -0.0674474 -0.00464361 0.997712 0.00720007 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999651 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:165/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 186 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.779682) and 883(1311875602.679839) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.997586 0.0138474 0.0680484 -0.04778 -0.0141564 0.999892 0.00406118 -0.0153977 -0.0679848 -0.0050147 0.997674 0.00702385 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999903 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:161/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.06229 resInfo good: 469, 36 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 660/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998003 0.00864517 0.0625744 -0.0212497 -0.00834206 0.999952 -0.00510371 0.0297537 -0.0626156 0.00457152 0.998027 -0.0215653 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875602.779682 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875602.779682 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875602.779682 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 494 size: 618 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875602.779682 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -10.8655 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -11.0935 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 870 keyframeId: 182 score: -28.7291 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 873 keyframeId: 183 score: -32.0989 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 877 keyframeId: 184 score: -21.8588 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 880 keyframeId: 185 score: -8.92372 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 187 = 187 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x35268860 fh1 0x3ec60b00fh->id: 161 187 886goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x35268860 fh1 0x7f04c3b55960fh->id: 165 187 886goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x35268860 fh1 0x7f04b05353c0fh->id: 182 187 886goodE: 41 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x35268860 fh1 0x7f04ab0135e0fh->id: 183 187 886goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x35268860 fh1 0x7f04b053d820fh->id: 184 187 886goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x35268860 fh1 0x7f04abff9980fh->id: 185 187 886goodE: 14 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x35268860 fh1 0x7f04bbde81e0fh->id: 186 187 886goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew187 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 15 out of 16 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 16 newEdgePixels: 16 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 466 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 82 lastEnergy: 150.936 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 23 INF|LocalMapper.cpp[optimize,276]: Start Energy: 150.936 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -5.96493e-12 1.25347e-12 3.61198e-12 -8.19823e-13 -0.000358576 -0.00214541 -0.000572955 -0.000322517 -0.00205652 0.00149627 0.00140848 -0.00186748 -0.00254744 -0.000358869 -0.00204357 0.00118981 0.0217097 -0.00370689 -0.00958714 0.000989695 -0.00428676 0.00277607 0.0193275 -0.00910241 -0.0142457 0.000399835 -0.00407918 0.0039139 0.0254708 0.0051335 -0.00879253 0.00229073 -0.00435458 0.00245239 -0.00824107 -0.0216018 -0.0166239 -0.000546796 -0.000417945 0.00338657 0.0311444 -0.00396265 -0.0393015 0.00129324 -0.00590835 0.00376457 0.07454 0.0246382 -0.0311962 0.00531517 -0.0115077 0.00345091 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 466 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 144.482 0 0 newEnergyL 0 lastEnergy: 150.936 0 0 lastEnergyL: 0mActiveResiduals: 466 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.74873e-12 6.56054e-13 -1.57303e-12 -5.50593e-13 0.000770261 -0.000187877 -0.000711067 -7.43718e-05 -0.000151398 -6.93799e-06 0.000217245 0.00049951 -0.000435554 7.87156e-05 -4.41624e-05 0.000141279 0.00201576 -0.000813547 -0.00122336 0.000185578 -0.000510249 0.000812327 0.000620985 0.000127315 -0.00175885 0.00029637 -0.000271332 0.00035467 -0.00560115 9.21688e-05 -0.00133441 0.000237202 0.000426258 0.000778124 0.0313683 -0.00337516 -0.0176293 8.32077e-05 -0.00437498 0.000729605 -0.00554405 -0.00858934 -0.0103911 -0.00076564 -0.000168502 0.000596344 0.0104117 -0.0154343 0.0117158 -0.000598005 -0.00191243 -0.000716319 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 466 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 141.307 0 0 newEnergyL 0 lastEnergy: 144.482 0 0 lastEnergyL: 0mActiveResiduals: 466 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.10425e-12 1.08147e-13 -3.95224e-13 2.94923e-13 0.00446253 -0.001134 -0.0015748 0.000512102 0.000798633 0.000340442 0.00154264 -0.00143883 -1.96701e-05 0.000474972 0.000765277 0.000519849 -0.00717975 -0.0029889 0.00509645 0.000712785 0.000811759 0.000241055 -0.00740421 -0.00419527 0.00563346 0.000585566 0.00078353 0.00057836 -0.00446694 -0.00584179 0.0104763 0.000721071 0.000622378 0.000641476 -0.0390285 -0.00212234 0.00944068 0.000766268 0.00429485 0.000458195 0.000732757 -0.0202156 -0.0145978 -0.00140528 -0.000495497 -2.79249e-05 0.0485542 0.0375055 -0.019663 0.00574706 -0.00681628 0.00195304 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 466 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 136.593 0 0 newEnergyL 0 lastEnergy: 141.307 0 0 lastEnergyL: 0mActiveResiduals: 466 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -7.02685e-13 6.67042e-13 1.73599e-13 -9.39139e-13 -0.000902277 3.29581e-06 -0.000935913 3.55657e-05 -0.000309779 -0.000169559 -2.39216e-06 0.000649014 -0.0012308 0.00013068 -0.000398613 -0.000205654 -0.000711203 0.00087138 -0.00251909 0.00010507 -0.000257367 -2.66601e-05 0.00569791 0.00110573 0.00116732 0.000183487 -0.000971572 -0.000523253 -0.00395758 -0.00263999 -0.00380946 -0.000595897 6.39428e-05 -0.000461599 0.0146609 -0.0138434 -0.0140808 -0.00161396 -0.00288481 8.7249e-05 -0.00296997 0.0101291 -0.00330557 0.00114569 -0.000830383 5.30158e-05 -0.00811354 0.00443824 0.025576 0.00187586 -8.40937e-05 0.00093582 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 466 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 135.729 0 0 newEnergyL 0 lastEnergy: 136.593 0 0 lastEnergyL: 0mActiveResiduals: 466 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -9.87401e-14 7.84275e-13 -2.41855e-12 -6.59429e-13 0.00777628 0.00113966 -0.00257813 0.000409915 0.0012976 -0.000713949 0.00218983 0.000786232 0.000832583 0.000368392 0.00147028 -0.000528563 -0.0138332 0.000342942 0.0114091 7.93027e-05 0.00101213 -0.00122777 -0.0205832 -0.000598158 0.00841098 -0.00011241 0.00162601 -0.000781541 -0.00243352 0.00283421 0.0162229 0.00060123 -0.00034425 -0.000852011 -0.0323008 0.00904756 0.0217198 0.000847326 0.00286873 -0.0017207 0.00723019 -0.0365967 -0.0213615 -0.00499026 -0.00224968 -0.00147419 0.0483642 0.0220022 -0.0376732 0.00141965 -0.00744458 0.000856157 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 466 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 135.345 0 0 newEnergyL 0 lastEnergy: 135.729 0 0 lastEnergyL: 0mActiveResiduals: 466 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.48762e-12 -2.90008e-14 -7.52982e-13 -1.21728e-13 -0.0112877 -0.0033278 0.00466983 2.9906e-05 0.000113837 0.00287733 -0.00303479 -0.00439111 -0.000124571 -0.000154459 -0.000474029 0.00281747 0.0252397 -0.00404647 -0.0140743 0.00107855 -8.8346e-05 0.0026895 0.0288754 -0.00424178 -0.0135874 0.00107029 -0.000308681 0.00252695 0.0172588 -0.00605164 -0.0182346 0.000781078 0.00124226 0.00227129 0.0138892 -0.0118744 -0.0174358 0.000573015 0.00193755 0.00275205 0.0270209 0.00703452 -0.0108381 0.00299297 0.000448489 0.00292806 -0.0949475 0.0270933 0.0740594 0.00638422 0.0159447 0.00188105 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 466 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 133.913 0 0 newEnergyL 0 lastEnergy: 135.345 0 0 lastEnergyL: 0mActiveResiduals: 466 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 133.913 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 466 INF|LocalMapper.cpp[optimize,345]: End Energy: 133.913 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.560013 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.560013 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 183 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 183 with idx: 3 and allID: 873 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->183 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 183->161 INF|LocalMapper.cpp[marginalizeFrame,772]: 165<->183 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 183->165 INF|LocalMapper.cpp[marginalizeFrame,772]: 182<->183 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 183<->183 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 184<->183 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 183->184 INF|LocalMapper.cpp[marginalizeFrame,801]: 183 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 183 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 Input.cpp[readImages,206]: Got image from sensor!887 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6217 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x35268860 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 187 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 138 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 68 with distance 0.174Found rest min at: 137 with distance 0.084 overall min: 0.084 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 68 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 749 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 187 into DB 0.174 68 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 68 and real id(96) current kf: 187(886) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.987208 -0.157034 0.0275736 -2.20292 0.157404 0.987464 -0.0117706 -0.651867 -0.0253795 0.0159602 0.99955 2.29768 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 96 currFrame: 187 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.987208 -0.157034 0.0275736 -2.20292 0.157404 0.987464 -0.0117706 -0.651867 -0.0253795 0.0159602 0.99955 2.29768 avg 0.00287369 eye: 0.00540138 edge: 187 to 96 INF|LoopCloser.cpp[optimizeLoopClosure,207]: No loop found because 382 < 236 * 2 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 187 and 96 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 187 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 187 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 887 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 887 keyframes 188 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 546 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 888 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!888 INF|Input.cpp[getImages,132]: mNbReceivedImages!889 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.815817 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999739 0.00825374 0.021288 -0.0347264 -0.0085127 0.999891 0.012103 -0.0550466 -0.0211858 -0.012281 0.9997 -0.0653513 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 187 to 3346849006685847808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.815817) and 886(1311875602.779682) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999739 0.00825374 0.021288 -0.0347264 -0.0085127 0.999891 0.012103 -0.0550466 -0.0211858 -0.012281 0.9997 -0.0653513 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999896 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:258/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 187 to 3346849006685847808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.815817) and 886(1311875602.779682) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999714 -0.011005 0.0212345 -0.00451064 0.0108648 0.999918 0.00670734 -0.0790269 -0.0213066 -0.00647471 0.999752 0.0288916 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999557 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:179/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 187 to 3346849006685847808 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.815817) and 886(1311875602.779682) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999704 -0.0126316 0.0207925 -0.00498886 0.0124973 0.9999 0.00657577 -0.0806244 -0.0208735 -0.00631397 0.999762 0.0391805 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 1,0.999463 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:114/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.08866 resInfo good: 381, 237 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 720/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999628 -0.0240737 -0.0128153 0.161533 0.024495 0.999129 0.0337967 -0.247155 0.0119905 -0.034098 0.999347 0.0474686 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875602.815817 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875602.815817 to keyframe with id: 3346849006685847808 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875602.815817 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 435 size: 272 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId3346849006685847808 timestamp: 1311875602.815817 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -10.6662 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 815 keyframeId: 165 score: -10.7989 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 870 keyframeId: 182 score: -14.5623 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 877 keyframeId: 184 score: -14.4241 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 880 keyframeId: 185 score: -10.9463 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 883 keyframeId: 186 score: -12.4368 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 188 = 188 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b8541b20 fh1 0x3ec60b00fh->id: 161 188 887goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b8541b20 fh1 0x7f04c3b55960fh->id: 165 188 887goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b8541b20 fh1 0x7f04b05353c0fh->id: 182 188 887goodE: 34 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b8541b20 fh1 0x7f04b053d820fh->id: 184 188 887goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b8541b20 fh1 0x7f04abff9980fh->id: 185 188 887goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b8541b20 fh1 0x7f04bbde81e0fh->id: 186 188 887goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b8541b20 fh1 0x35268860fh->id: 187 188 887goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew188 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 29 out of 29 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 29 newEdgePixels: 29 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 403 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 65 lastEnergy: 134.685 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 16 INF|LocalMapper.cpp[optimize,276]: Start Energy: 134.685 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.40595e-12 -3.9998e-13 7.61841e-13 -6.12512e-13 -0.00118984 0.00263934 0.00115261 -0.00102106 -0.00172872 -0.00228266 -0.000792796 0.00372536 0.000860784 -0.000852915 -0.00143448 -0.0026109 -0.00701818 0.00555454 -0.00416918 -0.0018732 -0.00123955 -0.00163935 -0.00985279 0.0160323 0.00161925 -0.000780988 -0.0011407 -0.00094556 -0.00566384 0.0208901 0.0121005 0.000178373 -0.0019486 -0.000658654 0.00210208 0.00980059 -0.0171314 -0.0015132 -0.00288325 -0.00153491 0.0639761 0.012029 -0.0410632 -0.0017084 -0.0101612 -0.00197432 0.103952 0.0134373 -0.151753 -0.00402203 -0.0171393 -0.00114784 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 403 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 125.545 0 0 newEnergyL 0 lastEnergy: 134.685 0 0 lastEnergyL: 0mActiveResiduals: 403 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -4.79159e-13 -2.99571e-13 -2.91112e-13 -5.25319e-15 0.000716748 0.000903093 -0.000480872 5.70335e-05 -9.10593e-05 -1.55388e-05 0.00088641 0.000601542 -0.000460874 -3.01299e-05 -0.000109073 -8.24207e-05 0.00108649 0.0013346 0.000167483 6.08294e-05 -0.000121819 -0.000194085 0.000536377 0.00202943 -0.00728583 -0.000120084 -0.000519426 -0.000166638 -0.0119146 -0.00937901 -0.00424872 -0.00150464 0.00138791 -0.0003973 -0.0150201 -0.00293508 -0.00690934 -0.000884162 0.00158938 -0.000799064 -0.0075219 -0.0632432 -0.0203224 -0.00687473 0.000625157 0.00172043 0.0699402 1.92081e-05 -0.00714214 -0.000595203 -0.00562342 -0.00338941 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 403 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 121.424 0 0 newEnergyL 0 lastEnergy: 125.545 0 0 lastEnergyL: 0mActiveResiduals: 403 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 7.93598e-13 -9.77559e-13 3.76918e-12 7.51301e-13 -2.0324e-05 -0.00101172 0.00519824 0.00317517 0.00295092 -0.00102438 0.000703879 -0.002119 0.00573255 0.00332569 0.00293865 -0.000310276 0.00565748 -0.00140796 0.00658871 0.00202878 0.00341893 -0.00176264 -0.000524963 -0.0082341 0.0114772 0.00136006 0.00419784 -0.0017719 0.0214445 0.003648 0.00626424 0.00257152 0.0015037 -0.00170698 -0.00731707 0.00165472 0.00953868 0.00186284 0.00492833 -0.00197554 0.00711543 0.0095024 -0.0235248 0.00172979 0.00235963 -0.00241361 -0.0376454 -0.00817873 -0.0159476 2.9708e-06 0.0063182 -0.00207552 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 403 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 117.548 0 0 newEnergyL 0 lastEnergy: 121.424 0 0 lastEnergyL: 0mActiveResiduals: 403 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -6.10779e-13 4.04865e-13 6.65852e-13 -4.88522e-13 0.00184704 0.00446599 -0.0108523 -0.00688545 -0.0050831 0.0100251 -0.00357463 0.00405384 -0.00997804 -0.00774182 -0.00623958 0.00864387 -0.0261585 -0.0141135 -0.00404677 -0.00188904 -0.00545051 0.0121174 -0.0187545 -0.00731707 -0.00263064 -0.000315618 -0.00563543 0.0115799 -0.0397657 -0.0187302 0.00260412 -0.00109601 -0.00377203 0.0124506 -0.016229 -0.0134217 0.0104851 0.000603935 -0.0057698 0.01175 -0.0174701 -0.0182537 0.0105531 0.000800621 -0.00525003 0.0128185 0.129394 0.072325 -0.017891 0.00570297 -0.0171101 -0.000951459 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 403 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 117.613 0 0 newEnergyL 0 lastEnergy: 117.548 0 0 lastEnergyL: 0mActiveResiduals: 403 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -9.91764e-13 -1.1001e-12 -7.28603e-13 2.51621e-12 -0.00198652 -0.00183136 0.00834841 0.00512989 0.003387 -0.00670186 0.0020501 -0.00187788 0.00769355 0.00567511 0.00411288 -0.00580289 0.0174495 0.0101995 0.00352003 0.00139594 0.00387791 -0.00870448 0.0224746 0.00184501 0.00169794 -3.7038e-05 0.00293488 -0.00864357 0.0238326 0.0136586 0.000981821 0.00089551 0.00285203 -0.00919483 0.00291665 0.0150425 -0.00101615 0.000314775 0.00459489 -0.00903859 0.0273504 0.0119669 -0.0177181 -0.000677281 0.00193498 -0.00918474 -0.102237 -0.056424 0.0115755 -0.00729561 0.0158324 -0.00733955 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 403 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 115.798 0 0 newEnergyL 0 lastEnergy: 117.613 0 0 lastEnergyL: 0mActiveResiduals: 403 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 9.40402e-13 1.82414e-12 -1.58336e-12 -3.10661e-12 0.00354655 0.00668122 -0.0129548 -0.0115908 -0.00696272 0.0118209 -0.00358984 0.00672826 -0.0116796 -0.0126307 -0.00820952 0.00981923 -0.0350465 -0.0162439 -0.008478 -0.00554985 -0.00776203 0.0161056 -0.042214 -0.00991078 -0.00134174 -0.00359171 -0.00620763 0.0163995 -0.0400125 -0.0235837 -0.00302505 -0.00463588 -0.00697833 0.0166919 -0.0125117 -0.0320877 -0.0092782 -0.00435063 -0.00932236 0.0163633 -0.0437785 -0.0276485 0.00918844 -0.00278281 -0.00590051 0.0179741 0.18763 0.110245 0.0107819 0.00769321 -0.0258249 0.000525731 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 403 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 116.859 0 0 newEnergyL 0 lastEnergy: 115.798 0 0 lastEnergyL: 0mActiveResiduals: 403 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 116.859 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 403 INF|LocalMapper.cpp[optimize,345]: End Energy: 116.859 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.569744 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.569744 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 182 data: 0 Input.cpp[readImages,206]: Got image from sensor!888 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 182 with idx: 2 and allID: 870 frame is in DB: 0 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->182 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 165<->182 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 182<->182 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 184<->182 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 185<->182 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 186<->182 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 187<->182 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 188<->182 isInFernDb: 0, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,801]: 182 with: 0 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,809]: Searching for new real kf: 870: 0 and 0 INF|Mapper.cpp[findLastValidKeyframe,603]: lock findLastValidKeyframe frames mode! INF|Mapper.cpp[findLastValidKeyframeNoLock,594]: f: 181/867: 1/0 INF|LocalMapper.cpp[marginalizeFrame,812]: Keyframe found: 181 allId: 867 INF|LocalMapper.cpp[marginalizeFrame,814]: camToRef Before: 1 0 0 0 0 1 0 0 0 0 1 0 camToRef after: 0.999119 0.00102436 -0.0419482 -0.0134267 -0.00236386 0.999488 -0.031895 -0.0201358 0.0418941 0.0319661 0.998611 0.0198827 worldPose: 0.949814 0.132652 -0.283297 -4.59096 -0.0987537 0.986476 0.130817 2.11734 0.296819 -0.0962755 0.950068 2.81781 after: 0.949814 0.132652 -0.283297 -4.59096 -0.0987537 0.986476 0.130817 2.11734 0.296819 -0.0962755 0.950068 2.81781 worldPose of new: 0.960997 0.139375 -0.238872 -4.57051 -0.103144 0.982032 0.158032 2.13258 0.256605 -0.12723 0.958105 2.79964 INF|LocalMapper.cpp[marginalizeFrame,823]: camToRef after: 0.999119 0.00102436 -0.0419482 -0.0134267 -0.00236386 0.999488 -0.031895 -0.0201358 0.0418941 0.0319661 0.998611 0.0198827 INF|Mapper.cpp[changeRefFrame,578]: Updating: 871 from old kf id: 182/870 with new ref frame: 867/181 INF|Mapper.cpp[changeRefFrame,578]: Updating: 872 from old kf id: 182/870 with new ref frame: 867/181 INF|LocalMapper.cpp[marginalizeFrame,827]: camToRef 870 after changeRefFrame: 0.999119 0.00102436 -0.0419482 -0.0134267 -0.00236386 0.999488 -0.031895 -0.0201358 0.0418941 0.0319661 0.998611 0.0198827 INF|LocalMapper.cpp[marginalizeFrame,829]: Making kf : 182 to normal frame with refFrame: 181 frame id kf: 870 newref id: 867 INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 182 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 5931 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04b8541b20 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 188 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 139 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 68 with distance 0.172Found rest min at: 138 with distance 0.024 overall min: 0.024 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 68 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 779 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 188 into DB 0.172 68 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 68 and real id(96) current kf: 188(887) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.993073 -0.117489 0.00174053 -2.23366 0.117426 0.991797 -0.0504886 -0.335529 0.00420559 0.0503433 0.998723 2.18385 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 96 currFrame: 188 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.993073 -0.117489 0.00174053 -2.23366 0.117426 0.991797 -0.0504886 -0.335529 0.00420559 0.0503433 0.998723 2.18385 avg 0.00763587 eye: 0.017183 edge: 188 to 96 INF|Tracker.cpp[trackFrames,78]: initPose: 0.993073 -0.117489 0.00174053 -2.23366 0.117426 0.991797 -0.0504886 -0.335529 0.00420559 0.0503433 0.998723 2.18385 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 188 to 96 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 450(1311875588.229341) and 887(1311875602.815817) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.993073 -0.117489 0.00174053 -2.23366 0.117426 0.991797 -0.0504886 -0.335529 0.00420559 0.0503433 0.998723 2.18385 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 11,0.999961 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:194/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 188 to 96 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 450(1311875588.229341) and 887(1311875602.815817) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.974556 0.111197 0.194619 -2.75193 -0.0945583 0.991183 -0.092817 -0.226582 -0.203224 0.0720525 0.976478 4.06826 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999948 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:50/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 188 to 96 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 450(1311875588.229341) and 887(1311875602.815817) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.963037 0.13802 0.231322 -2.87103 -0.112114 0.986217 -0.121682 -0.0709269 -0.244928 0.0912498 0.965238 4.21746 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999011 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:65/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.964064 0.130506 0.231407 -2.89272 -0.110715 0.989147 -0.0965971 -0.216182 -0.241502 0.0675057 0.96805 4.35 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 95 end 98 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 889 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 7241 o[1]: 0 o[2]: 0 o[3]: 0 histWeights: 1 1 1.25 1.5overlap: 0 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 272 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 96 and 188 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 188 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 188 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 3732 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 888 keyframes 189 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 535 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.847607 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999541 -0.0294628 0.00700886 0.00208361 0.0293025 0.999329 0.0219595 -0.17571 -0.00765115 -0.0217441 0.999734 0.0428111 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 188 to 8317692705465449053 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.847607) and 887(1311875602.815817) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999541 -0.0294628 0.00700886 0.00208361 0.0293025 0.999329 0.0219595 -0.17571 -0.00765115 -0.0217441 0.999734 0.0428111 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,1 ): FINISHED pyramid level 2 (last residual reduction too small). Input.cpp[readImages,192]: readImages loop! INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:143/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 188 to 8317692705465449053 INF|Input.cpp[getImages,128]: getimages!889 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.847607) and 887(1311875602.815817) on lvl: 1 INF|Input.cpp[getImages,132]: mNbReceivedImages!890 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.96411 -0.0692295 0.25632 -1.18884 0.0813114 0.996008 -0.0368289 0.140344 -0.252747 0.0563488 0.96589 0.48358 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 1): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:94/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 188 to 8317692705465449053 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.847607) and 887(1311875602.815817) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.964009 -0.0660093 0.257545 -1.18461 0.0778194 0.99632 -0.0359247 0.14838 -0.254226 0.0546738 0.965598 0.490719 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 13,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:180/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.90715 resInfo good: 272, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 517/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.94799 -0.0933451 0.304306 -1.4174 0.104805 0.99426 -0.0215075 0.063652 -0.300552 0.0522817 0.952331 0.554021 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875602.847607 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875602.847607 to keyframe with id: 8317692705465449053 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875602.847607 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 464 size: 500 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId8317692705465449053 timestamp: 1311875602.847607 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 189 = 189 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c2d6a000 fh1 0x3ec60b00fh->id: 161 189 888goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c2d6a000 fh1 0x7f04c3b55960fh->id: 165 189 888goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c2d6a000 fh1 0x7f04b053d820fh->id: 184 189 888goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c2d6a000 fh1 0x7f04abff9980fh->id: 185 189 888goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c2d6a000 fh1 0x7f04bbde81e0fh->id: 186 189 888goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c2d6a000 fh1 0x35268860fh->id: 187 189 888goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04c2d6a000 fh1 0x7f04b8541b20fh->id: 188 189 888goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew189 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 24 out of 24 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 24 newEdgePixels: 24 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 287 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 43 lastEnergy: 108.462 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 8 INF|LocalMapper.cpp[optimize,276]: Start Energy: 108.462 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.09142e-12 -7.89573e-13 -8.71921e-12 2.07907e-12 -0.0031814 -0.0112911 0.00773592 0.0097039 0.00559068 -0.0137222 0.00558899 -0.0089348 0.00523998 0.0109708 0.00706209 -0.0120746 0.0754837 0.0167524 -0.0108337 0.0017802 0.000411236 -0.0191042 0.0760868 0.0316221 -0.0386853 0.00249397 -0.000580107 -0.0181732 0.00819754 0.0259513 0.0324249 0.00243057 0.00864327 -0.0187916 -0.0153189 0.0708816 -0.0284076 0.00399451 0.00864334 -0.0190154 0.487237 0.108718 -0.0634798 0.00391728 -0.0340198 -0.0433947 0.0626117 0.048143 -0.114877 -0.000990363 -0.00355284 -0.0212025 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 287 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 93.0351 0 0 newEnergyL 0 lastEnergy: 108.462 0 0 lastEnergyL: 0mActiveResiduals: 287 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -9.54538e-13 -2.29757e-12 5.92604e-12 2.18236e-12 -0.000455815 0.00290693 0.00199662 0.000455215 0.000187656 -0.000325753 -0.000686785 0.00246322 0.00247723 0.000456813 0.000251746 -0.000229726 -0.0101408 0.0113674 0.0124457 0.00147136 0.00177506 4.63971e-05 0.0194119 -0.0157335 -0.00632272 -0.00217943 -0.00172335 -0.000226943 0.00645259 -0.027425 0.0092809 -0.00268111 0.000245204 0.000109376 0.052162 -0.0231019 -0.000872946 -0.00226583 -0.0044028 0.000120956 0.0459135 0.00851263 0.0421007 0.00231599 -0.00320231 -7.90385e-05 0.388254 -0.0514326 0.113435 -0.00313969 -0.0292993 -0.0140301 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 287 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 88.2965 0 0 newEnergyL 0 lastEnergy: 93.0351 0 0 lastEnergyL: 0mActiveResiduals: 287 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 8.82605e-13 6.89163e-15 1.67677e-12 8.11935e-13 0.0893704 -0.024836 -0.00852625 0.00947488 -0.00740743 -0.00851417 0.0683892 -0.0247996 -0.000337745 0.00989929 -0.00638795 -0.00880734 -0.0190817 -0.0299663 0.00210272 0.00447947 -0.00706298 -0.0106658 -0.0322085 -0.00295513 0.0255628 0.00797702 -0.00769057 -0.0103979 -0.0552338 0.013701 0.0341355 0.00890828 -0.00490518 -0.0113737 -0.00411506 -0.00960774 0.0266769 0.00582553 -0.00973952 -0.0103647 0.0808142 0.00382049 0.0166571 0.00375823 -0.0163663 -0.0128583 -0.119685 0.0499158 0.0131912 0.0114288 0.0170016 -0.0021564 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 287 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 92.8124 0 0 newEnergyL 0 lastEnergy: 88.2965 0 0 lastEnergyL: 0mActiveResiduals: 287 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.59136e-12 3.41961e-12 -1.12622e-11 -5.60281e-12 0.0193626 0.00795178 0.0129627 -0.0099838 -0.00106391 0.00985566 0.0166679 0.00352012 0.0152435 -0.0107586 -0.00227719 0.00867705 0.00605486 -0.0116429 -0.0026398 -0.00610353 -0.000349887 0.0119759 0.0063455 -0.00381717 -0.00542895 -0.00542957 -0.00139787 0.0112833 -0.0305157 -0.00926695 -0.00263439 -0.00528972 0.00254585 0.0109402 -0.0351827 -0.00722572 0.00735249 -0.00462373 0.00397263 0.0120969 0.0411402 0.0428226 0.0120512 -0.00139529 -0.00239223 0.00987586 -0.0290677 -0.0334446 -0.00249334 -0.00957157 0.0207935 0.00823898 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 287 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 95.7524 0 0 newEnergyL 0 lastEnergy: 92.8124 0 0 lastEnergyL: 0mActiveResiduals: 287 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -2.82863e-12 1.35138e-14 2.45054e-12 -7.68829e-13 -0.0468985 0.0176078 -0.0118988 -0.00559294 0.00909353 0.00829713 -0.0336885 0.0182814 -0.0137604 -0.00601201 0.00794199 0.00910959 -0.000953629 0.00835889 0.00301846 -0.00231033 0.0108838 0.00862709 0.0150284 -0.0102801 -0.0245883 -0.00452037 0.00912509 0.00953672 -0.0259981 0.0283289 -0.00139219 -0.000332857 0.0138349 0.008392 0.0191109 -0.00629463 -0.0279039 -0.0027626 0.00897245 0.00931522 0.0250198 -0.0143927 -0.0228573 -0.00662572 0.011127 0.002698 0.0739451 -0.0201077 0.0292186 -0.00154585 0.0102919 0.0118268 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 287 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 98.5456 0 0 newEnergyL 0 lastEnergy: 95.7524 0 0 lastEnergyL: 0mActiveResiduals: 287 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.11604e-12 -3.46189e-13 1.14967e-12 1.74644e-12 0.0253946 -0.00500143 0.0114654 0.00557396 -0.00351717 -0.00636059 0.0168434 -0.00605057 0.0141778 0.00597586 -0.00268384 -0.00633924 -0.00639154 0.00606024 0.0285824 0.00351465 -0.00294434 -0.00721757 0.00690386 0.0157994 0.0222139 0.00436242 -0.00555606 -0.00785209 0.0687469 -0.037555 -0.0168858 -0.00163715 -0.0125045 -0.00621744 0.00861705 0.01806 0.00152891 0.00293821 -0.00607349 -0.00700778 -0.111484 0.00173581 -0.00096314 -0.00140379 0.00576201 -0.00556831 -0.0264048 -0.0102195 -0.014254 0.0012051 0.00585256 0.00131182 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 287 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 101.958 0 0 newEnergyL 0 lastEnergy: 98.5456 0 0 lastEnergyL: 0mActiveResiduals: 287 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 101.958 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 287 INF|LocalMapper.cpp[optimize,345]: End Energy: 101.958 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.606695 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.606695 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 165 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 165 with idx: 1 and allID: 815 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->165 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 165->161 INF|LocalMapper.cpp[marginalizeFrame,772]: 165<->165 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 184<->165 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 165->184 INF|LocalMapper.cpp[marginalizeFrame,772]: 185<->165 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 165->185 INF|LocalMapper.cpp[marginalizeFrame,801]: 165 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 165 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 5212 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04c2d6a000 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 189 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 140 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 68 with distance 0.172Found rest min at: 139 with distance 0.044 overall min: 0.044 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 68 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 733 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 189 into DB 0.172 68 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 68 and real id(96) current kf: 189(888) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.959172 0.00330137 -0.282805 -0.55069 -0.0119907 0.999507 -0.0290002 -0.386588 0.28257 0.0312072 0.958739 2.1466 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 96 currFrame: 189 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.959172 0.00330137 -0.282805 -0.55069 -0.0119907 0.999507 -0.0290002 -0.386588 0.28257 0.0312072 0.958739 2.1466 avg 0.00235255 eye: 0.00594116 edge: 189 to 96 INF|Tracker.cpp[trackFrames,78]: initPose: 0.959172 0.00330137 -0.282805 -0.55069 -0.0119907 0.999507 -0.0290002 -0.386588 0.28257 0.0312072 0.958739 2.1466 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 189 to 96 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 450(1311875588.229341) and 888(1311875602.847607) on lvl: 2 Input.cpp[readImages,206]: Got image from sensor!889 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.959172 0.00330137 -0.282805 -0.55069 -0.0119907 0.999507 -0.0290002 -0.386588 0.28257 0.0312072 0.958739 2.1466 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 5): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:300/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 189 to 96 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 450(1311875588.229341) and 888(1311875602.847607) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.924257 0.165578 -0.343997 -0.26818 -0.158579 0.98615 0.0485949 -0.91335 0.347279 0.00963665 0.937712 3.44462 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 3): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:180/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 189 to 96 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 450(1311875588.229341) and 888(1311875602.847607) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.925006 0.178846 -0.335229 -0.276945 -0.204637 0.977895 -0.0429481 -0.407169 0.320138 0.108327 0.941157 3.42294 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999357 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:113/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.931518 0.172387 -0.320246 -0.355162 -0.1974 0.979191 -0.0470944 -0.393317 0.305464 0.107086 0.946163 3.4287 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 95 end 98 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 8250 o[1]: 70 o[2]: 0 o[3]: 0 histWeights: 1 1 1.25 1.5overlap: 70 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 500 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 96 and 189 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 189 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 189 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 24801 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 889 keyframes 190 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 481 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 890 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!890 INF|Input.cpp[getImages,132]: mNbReceivedImages!891 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.876950 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.991708 -0.0327073 0.124277 -0.682232 0.0347143 0.999299 -0.0140178 0.0877387 -0.123732 0.0182157 0.992148 0.173218 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 189 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.876950) and 888(1311875602.847607) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.991708 -0.0327073 0.124277 -0.682232 0.0347143 0.999299 -0.0140178 0.0877387 -0.123732 0.0182157 0.992148 0.173218 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,0.999368 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:131/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 189 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.876950) and 888(1311875602.847607) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.977953 -0.0722023 0.195945 -0.96763 0.0770452 0.996879 -0.0171968 0.0538959 -0.194092 0.0319143 0.980464 0.223989 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 2): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:177/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 189 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.876950) and 888(1311875602.847607) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.978057 -0.0675703 0.197076 -0.964462 0.07206 0.997277 -0.0156916 0.0621639 -0.195479 0.0295486 0.980263 0.227371 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:148/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.43433 resInfo good: 479, 21 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 601/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.984535 -0.0477426 0.168559 -0.800589 0.0502987 0.998674 -0.0109252 0.0641799 -0.167814 0.0192345 0.985631 0.210433 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875602.876950 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875602.876950 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875602.876950 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 469 size: 439 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875602.876950 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -6.11303 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 877 keyframeId: 184 score: -31.5874 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 880 keyframeId: 185 score: -61.9044 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 883 keyframeId: 186 score: -58.1221 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 886 keyframeId: 187 score: -44.1089 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 887 keyframeId: 188 score: -11.3605 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 190 = 190 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ca284480 fh1 0x3ec60b00fh->id: 161 190 889goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ca284480 fh1 0x7f04b053d820fh->id: 184 190 889goodE: 10 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ca284480 fh1 0x7f04abff9980fh->id: 185 190 889goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ca284480 fh1 0x7f04bbde81e0fh->id: 186 190 889goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ca284480 fh1 0x35268860fh->id: 187 190 889goodE: 16 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ca284480 fh1 0x7f04b8541b20fh->id: 188 190 889goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ca284480 fh1 0x7f04c2d6a000fh->id: 189 190 889goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew190 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 35 out of 36 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 36 newEdgePixels: 36 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 453 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 78 lastEnergy: 182.343 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 23 INF|LocalMapper.cpp[optimize,276]: Start Energy: 182.343 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.4587e-12 1.65356e-12 -8.11537e-12 -3.27358e-12 -0.0876327 0.00354091 -0.002921 0.000482357 0.00290464 -0.00303613 -0.0152505 0.00521301 -0.0438255 -0.00270788 0.00267421 -0.00263941 0.0189585 -0.00575861 -0.06549 -0.00501332 0.00128746 -0.00665539 -0.0463333 0.0508356 -0.0376944 0.000883703 0.00733447 -0.00624349 -0.00568564 0.00658951 -0.0353644 -0.00224107 0.00236931 -0.00277078 -0.262918 0.0149107 -0.0779286 -0.0027355 0.0233121 0.00220819 -0.1738 0.0326763 -0.0285987 -0.00313428 0.0110172 -0.0083902 -0.440914 0.0413683 -0.110347 -0.00223432 0.0301957 0.00352714 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 453 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 163.435 0 0 newEnergyL 0 lastEnergy: 182.343 0 0 lastEnergyL: 0mActiveResiduals: 453 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -4.00213e-13 -3.59314e-12 8.76835e-12 6.07927e-12 5.14952e-05 0.000404985 -0.00097097 2.12375e-05 6.75974e-05 -0.000205648 0.00592945 0.0126073 0.022866 0.00222054 0.000535235 0.000666298 0.0142875 0.00809953 0.00717503 0.00170001 -0.00100905 0.00233105 0.0273902 -0.0426084 0.0151126 -0.00340062 -0.00112908 0.00102263 0.0526013 -0.0127998 0.00756529 -0.000505479 -0.00397824 0.000492354 -0.000500249 0.00452107 0.0451059 0.000241993 0.00369726 -0.00582676 0.104048 -0.00121009 -0.036787 -0.000294224 -0.0105846 -0.00252852 0.0440009 0.100961 0.031344 0.00662174 -0.000259736 -0.0136367 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 453 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 148.771 0 0 newEnergyL 0 lastEnergy: 163.435 0 0 lastEnergyL: 0mActiveResiduals: 453 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -2.61133e-13 -1.4238e-12 4.64687e-12 1.77565e-12 -0.0381731 -0.00089151 -0.00763788 -0.000500572 0.00262642 0.00285682 -0.000958932 -0.00928682 0.00498802 0.000654742 0.00281635 0.00324944 0.00380098 -0.00983408 -0.0118426 0.000502431 0.00287468 0.00368112 0.00370828 0.0257731 -0.00238446 0.00420567 0.00313148 0.00313043 0.0149986 -0.00409898 -0.00106353 0.0015931 0.00202843 0.00269196 -0.00735444 0.000453358 -0.0129598 0.00233228 0.00367489 0.00144045 0.0182971 0.00708024 -0.00481842 0.00109704 -0.00473916 -0.00468196 0.00539011 -0.00282724 0.00543993 -0.000824818 -0.00421317 -0.00960681 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 453 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 148.498 0 0 newEnergyL 0 lastEnergy: 148.771 0 0 lastEnergyL: 0mActiveResiduals: 453 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -2.27024e-12 -2.11572e-12 7.8717e-12 3.9232e-12 -0.000351623 0.0144548 -0.0327534 -0.000283829 0.00613663 0.00113882 -0.0195403 0.000706656 -0.0066773 -0.000823948 0.00755965 0.00187922 -0.00540815 0.0229979 0.00485871 0.00161595 0.00631638 0.00147997 0.00222977 -0.0175174 0.00224311 -0.00260689 0.00588786 0.00115351 0.00877977 -0.0037179 -0.00521027 -0.0010013 0.0049538 0.000815099 0.0320742 -0.0134508 0.00861754 -0.00138404 0.0035069 -0.00104462 0.0142539 0.00662125 -0.00686349 -0.00077625 0.00101514 -0.00241288 -0.000853563 -0.00250425 0.0265591 -0.000800834 0.00258378 -0.00271798 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 453 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 140.516 0 0 newEnergyL 0 lastEnergy: 148.498 0 0 lastEnergyL: 0mActiveResiduals: 453 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 6.02303e-13 6.21821e-13 -7.98957e-13 -1.36557e-12 -0.0572492 0.00671452 -0.0518968 0.00205503 0.0265533 0.00807317 0.00158798 -0.00139724 -0.00640924 0.00350324 0.0260185 0.00401673 0.000746798 -0.0182754 -0.00931658 0.0012582 0.0282057 0.00381144 0.00924807 0.00760498 -0.0153968 0.00342068 0.0265352 0.00364311 0.0147737 -0.00364377 -0.00992583 0.00341544 0.0260784 0.00308855 0.0266905 0.0102825 -0.00395059 0.00544674 0.0242205 -0.00012068 0.0291418 0.0250814 -0.0323475 0.00248689 0.0133707 -0.00834145 0.0238445 -0.00888743 0.0741281 -0.00172181 0.012685 -0.0166541 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 453 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 156.209 0 0 newEnergyL 0 lastEnergy: 140.516 0 0 lastEnergyL: 0mActiveResiduals: 453 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -3.65626e-12 -2.89639e-12 1.0063e-11 4.30545e-12 0.00364482 0.0156129 -0.0158306 -0.00316559 -0.00350366 -0.000166611 -0.0288913 0.0175048 0.0161508 -0.00131827 -0.00294811 0.00192191 -0.01034 0.011684 0.0102466 -0.00173105 -0.00551869 0.00283176 0.015867 -0.0211932 0.0134363 -0.00449217 -0.00736595 0.00357781 -0.000637786 -0.00626045 -0.019518 -0.0039498 -0.00653263 0.00319375 0.0237833 -0.0114958 -0.0173282 -0.00329572 -0.00916935 0.0028874 0.0205882 0.00421426 0.0392801 -0.00184698 -0.0104267 -0.00230574 -0.0175488 -0.0070286 -0.0282806 -0.00371571 -0.0107225 0.0026592 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 453 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 149.308 0 0 newEnergyL 0 lastEnergy: 156.209 0 0 lastEnergyL: 0mActiveResiduals: 453 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 149.308 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 453 INF|LocalMapper.cpp[optimize,345]: End Energy: 149.308 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.585192 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.585192 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 185 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 185 with idx: 2 and allID: 880 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->185 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 185->161 INF|LocalMapper.cpp[marginalizeFrame,772]: 184<->185 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 185->184 INF|LocalMapper.cpp[marginalizeFrame,772]: 185<->185 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 186<->185 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 185->186 INF|LocalMapper.cpp[marginalizeFrame,801]: 185 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 185 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 6102 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04ca284480 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 190 Input.cpp[readImages,206]: Got image from sensor!890 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 141 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 70 with distance 0.17Found rest min at: 140 with distance 0.04 overall min: 0.04 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 70 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 771 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 190 into DB 0.17 70 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 70 and real id(101) current kf: 190(889) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.965462 0.0600825 -0.253521 0.571898 -0.0350507 0.994154 0.102126 -0.0487031 0.258175 -0.0897129 0.961924 2.00297 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 101 currFrame: 190 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.965462 0.0600825 -0.253521 0.571898 -0.0350507 0.994154 0.102126 -0.0487031 0.258175 -0.0897129 0.961924 2.00297 avg 0.00152137 eye: 0.00573586 edge: 190 to 101 INF|Tracker.cpp[trackFrames,78]: initPose: 0.965462 0.0600825 -0.253521 0.571898 -0.0350507 0.994154 0.102126 -0.0487031 0.258175 -0.0897129 0.961924 2.00297 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 190 to 101 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 478(1311875589.164868) and 889(1311875602.876950) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.965462 0.0600825 -0.253521 0.571898 -0.0350507 0.994154 0.102126 -0.0487031 0.258175 -0.0897129 0.961924 2.00297 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 7): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:257/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 190 to 101 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 478(1311875589.164868) and 889(1311875602.876950) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.992692 -0.0384887 -0.114372 -0.0803378 0.0542847 0.98889 0.138381 -0.441995 0.107775 -0.143578 0.983753 2.41416 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 14,0.999829 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:237/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 190 to 101 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 478(1311875589.164868) and 889(1311875602.876950) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.978213 -0.0741799 -0.1939 0.293043 0.114363 0.97204 0.205086 -0.811921 0.173265 -0.222792 0.959345 2.09586 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999693 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:118/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.977256 -0.0696078 -0.200313 0.340571 0.10941 0.974666 0.19508 -0.753156 0.181659 -0.212559 0.960114 2.10605 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 100 end 103 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 8634 o[1]: 3 o[2]: 0 o[3]: 0 histWeights: 1 1 1.25 1.5overlap: 3 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 439 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 101 and 190 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 190 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 190 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 3885 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 890 keyframes 191 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 891 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 543 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.915480 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 5 INF|Tracker.cpp[trackFrames,78]: initPose: 0.988741 -0.0567099 0.138476 -0.615635 0.0580327 0.998299 -0.00553008 0.0151431 -0.137927 0.0135039 0.99035 0.154672 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 190 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.915480) and 889(1311875602.876950) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.988741 -0.0567099 0.138476 -0.615635 0.0580327 0.998299 -0.00553008 0.0151431 -0.137927 0.0135039 0.99035 0.154672 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 3): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:175/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 190 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.915480) and 889(1311875602.876950) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.997338 -0.0702166 0.0196766 -0.065476 0.0690919 0.996204 0.0529586 -0.314721 -0.0233205 -0.0514581 0.998403 0.0290501 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 2,0.999891 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:91/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 190 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.915480) and 889(1311875602.876950) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.991398 -0.100568 0.0837616 -0.405431 0.0962706 0.993896 0.0538687 -0.324864 -0.0886678 -0.0453416 0.995029 0.0526726 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.99997 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:127/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.2287 resInfo good: 428, 11 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 524/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998322 -0.0576632 -0.00532345 0.0973381 0.0578976 0.995682 0.0725631 -0.384682 0.00111624 -0.0727495 0.99735 0.0363674 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875602.915480 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875602.915480 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875602.915480 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 481 size: 460 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875602.915480 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -7.57967 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 877 keyframeId: 184 score: -43.563 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 883 keyframeId: 186 score: -27.2808 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 886 keyframeId: 187 score: -43.7052 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 887 keyframeId: 188 score: -12.7852 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 888 keyframeId: 189 score: -3.83808 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 191 = 191 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x385b9040 fh1 0x3ec60b00fh->id: 161 191 890goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x385b9040 fh1 0x7f04b053d820fh->id: 184 191 890goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x385b9040 fh1 0x7f04bbde81e0fh->id: 186 191 890goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x385b9040 fh1 0x35268860fh->id: 187 191 890goodE: 19 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x385b9040 fh1 0x7f04b8541b20fh->id: 188 191 890goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x385b9040 fh1 0x7f04c2d6a000fh->id: 189 191 890goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x385b9040 fh1 0x7f04ca284480fh->id: 190 191 890goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew191 Input.cpp[readImages,192]: readImages loop! INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 21 out of 21 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 21 newEdgePixels: 21 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 390 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 59 lastEnergy: 141.87 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 14 INF|LocalMapper.cpp[optimize,276]: Start Energy: 141.87 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: 1.29804e-12 -3.3639e-13 7.16789e-12 7.04308e-13 0.089731 -0.03624 0.110911 0.00205247 -0.0314421 -0.0122387 0.0549468 -0.0113262 0.0386063 -0.000133073 -0.0320249 -0.00794474 0.0777934 0.000524436 0.0268861 0.00149652 -0.035197 -0.00816475 0.0666254 0.00604227 0.013332 0.000930525 -0.0348662 -0.00642006 -0.0217135 0.0225094 0.0203861 0.00434441 -0.0264686 2.11402e-06 0.120104 -0.00159381 0.143396 0.00653209 -0.0323488 -0.00445773 0.00247087 0.040412 0.0780303 0.0111528 -0.0194527 0.00207207 -0.00198787 -0.083997 0.155544 0.00412431 -0.0183267 0.0155321 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 390 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 141.021 0 0 newEnergyL 0 lastEnergy: 141.87 0 0 lastEnergyL: 0mActiveResiduals: 390 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 3.09799e-12 1.20186e-12 -3.1676e-12 -2.53688e-12 0.00354382 0.000754135 -0.00260791 -8.96592e-05 -0.000626708 0.000125235 -0.00206131 -0.00292791 -0.0234363 -0.00111268 -0.00113977 -0.000626474 -0.0210424 -0.00495348 -0.012585 -0.00101044 0.000978523 -0.000517466 -0.0292187 0.0204396 0.00102371 0.00197774 0.00146876 0.000434851 0.0274845 -0.00675296 0.00996339 0.000441182 -0.00357992 0.000194304 -0.0488136 0.0125365 -0.0214356 -0.00027435 0.00362908 -0.00193762 -0.0312618 -0.00283546 -0.0016996 -0.000604381 0.00175787 0.000228986 -0.207266 -0.0710264 -0.0211244 -0.00600048 0.0177319 0.00788908 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 390 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 133.717 0 0 newEnergyL 0 lastEnergy: 141.021 0 0 lastEnergyL: 0mActiveResiduals: 390 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 1.36502e-12 1.60354e-14 -3.71455e-12 2.23514e-13 0.014895 -7.4519e-05 0.0158643 0.00332809 -0.00243811 -0.00273272 0.0105337 0.0047176 0.00193799 0.0015749 -0.00309936 -0.00433537 -0.0123464 0.0160223 0.001745 0.00256676 -0.00131779 -0.00442247 0.0122782 0.00240228 0.00599294 0.000816924 -0.00360927 -0.0046581 -0.0410693 -0.026477 -0.00679584 -0.00256094 0.000690445 -0.00128509 0.0334398 0.00802352 0.013611 0.00206391 -0.00329256 -0.00329656 -0.0110156 0.0138761 -0.011686 0.00183023 0.000714377 -0.00271211 -0.0145278 -0.0258524 -0.00400953 -0.000398829 0.0013776 0.00461186 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 390 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 132.988 0 0 newEnergyL 0 lastEnergy: 133.717 0 0 lastEnergyL: 0mActiveResiduals: 390 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -1.27047e-13 3.64677e-13 4.67259e-13 -2.29356e-12 0.0130415 -0.00859708 0.0023711 0.00122358 -0.00147005 -0.00237622 0.00473266 -0.0034627 -0.000522003 0.000164937 -0.00174336 -0.00293248 -0.00318855 -0.00324485 -0.00403335 0.000137315 -0.00119698 -0.00326688 -0.000534072 -0.00466677 0.00293158 1.09212e-05 -0.00161633 -0.00185509 -0.0193666 0.0019193 0.00949437 0.000550862 0.000722984 -0.000862449 0.0209713 0.0336926 -0.00185688 0.00263362 -0.000359511 -0.00589557 -0.0367943 0.00812007 0.0156246 0.00117001 0.00616029 -0.000963663 0.0207914 -0.0262749 -0.0132228 -0.00181528 -0.000340683 -0.000114226 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 390 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 129.346 0 0 newEnergyL 0 lastEnergy: 132.988 0 0 lastEnergyL: 0mActiveResiduals: 390 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 2.94474e-13 7.02559e-13 -1.64822e-12 -7.54652e-13 0.0123934 -0.00455248 0.0127782 -0.00110394 -0.00406247 0.00255029 -0.00526019 -0.00207607 0.00426922 0.000999228 -0.00326598 0.0024529 -0.000974483 -0.00423617 -0.00104814 0.00108189 -0.00429378 0.00327782 -0.018555 -0.0140467 -0.0012502 0.000135519 -0.00269516 0.00444752 0.00100344 0.0171778 0.00415702 0.00264554 -0.00391269 0.00263912 -0.00167967 0.0320055 -0.00418092 0.00355514 -4.64459e-05 0.0014171 -0.00208048 0.0400025 0.00982575 0.00331213 0.00327254 -0.0028004 0.00892841 -0.0667199 -0.0138431 -0.00610886 0.000445681 0.00816286 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 390 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 128.903 0 0 newEnergyL 0 lastEnergy: 129.346 0 0 lastEnergyL: 0mActiveResiduals: 390 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.35709e-12 1.56128e-12 -9.10426e-13 -1.73956e-12 0.038263 -0.018667 0.0228359 0.00513058 -0.00625424 -0.00520774 0.0164872 -0.00656608 -0.00263584 0.00254999 -0.00597074 -0.00695262 -0.00458612 0.0112191 0.0241093 0.00473866 -0.00358712 -0.00751303 -0.0146681 -0.00633046 0.00621903 0.001873 -0.00289733 -0.00734557 -0.0314134 0.00450964 -0.00467865 0.00267787 -0.00208834 -0.00426668 0.0276351 0.00284795 -0.00736196 0.00199248 -0.0022415 -0.00740749 -0.0233979 -0.036761 -0.00044224 0.00130084 0.00391386 0.00272955 -0.0275293 0.0333954 -0.00184355 0.006897 0.00378289 -0.00206145 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 390 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 124.487 0 0 newEnergyL 0 lastEnergy: 128.903 0 0 lastEnergyL: 0mActiveResiduals: 390 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 124.487 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 390 INF|LocalMapper.cpp[optimize,345]: End Energy: 124.487 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.573875 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.573875 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 187 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 187 with idx: 3 and allID: 886 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->187 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 187->161 INF|LocalMapper.cpp[marginalizeFrame,772]: 184<->187 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 187->184 INF|LocalMapper.cpp[marginalizeFrame,772]: 186<->187 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 187->186 INF|LocalMapper.cpp[marginalizeFrame,801]: 187 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 187 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 5648 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x385b9040 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 191 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 142 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 70 with distance 0.164Found rest min at: 141 with distance 0.052 overall min: 0.052 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 70 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 733 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 191 into DB 0.164 70 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 70 and real id(101) current kf: 191(890) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.96568 0.0653741 -0.251372 0.395594 -0.0591023 0.997725 0.0324281 0.232278 0.25292 -0.0164585 0.967347 1.96301 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 101 currFrame: 191 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.96568 0.0653741 -0.251372 0.395594 -0.0591023 0.997725 0.0324281 0.232278 0.25292 -0.0164585 0.967347 1.96301 avg 0.00186047 eye: 0.00597397 edge: 191 to 101 INF|Tracker.cpp[trackFrames,78]: initPose: 0.96568 0.0653741 -0.251372 0.395594 -0.0591023 0.997725 0.0324281 0.232278 0.25292 -0.0164585 0.967347 1.96301 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 191 to 101 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 478(1311875589.164868) and 890(1311875602.915480) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.96568 0.0653741 -0.251372 0.395594 -0.0591023 0.997725 0.0324281 0.232278 0.25292 -0.0164585 0.967347 1.96301 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 7): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:259/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 191 to 101 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 478(1311875589.164868) and 890(1311875602.915480) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.865927 0.420831 -0.270316 1.02173 -0.484356 0.840359 -0.2433 1.94239 0.124774 0.341609 0.931523 2.82089 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999582 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:87/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 191 to 101 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 478(1311875589.164868) and 890(1311875602.915480) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.876548 0.421271 -0.232798 0.826524 -0.474328 0.838175 -0.269214 2.07339 0.0817136 0.346402 0.934521 2.66719 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999161 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:89/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.870768 0.430149 -0.238191 0.860822 -0.485413 0.82923 -0.277043 2.13462 0.0783448 0.356861 0.930866 2.5894 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 100 end 103 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 8490 o[1]: 157 o[2]: 9 o[3]: 0 histWeights: 1 1 1.25 1.5overlap: 168.25 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 460 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 101 and 191 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 191 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 191 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 3619 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 891 keyframes 192 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 520 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!891 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 892 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.946808 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999697 -0.0221479 -0.0107851 0.144815 0.022673 0.998427 0.0512803 -0.236615 0.00963233 -0.0515093 0.998626 0.027666 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 191 to 139658114799968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.946808) and 890(1311875602.915480) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999697 -0.0221479 -0.0107851 0.144815 0.022673 0.998427 0.0512803 -0.236615 0.00963233 -0.0515093 0.998626 0.027666 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 5): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:225/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 191 to 139658114799968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.946808) and 890(1311875602.915480) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.998329 0.00907951 -0.0570698 0.372273 -0.00913911 0.999958 -0.000783424 0.0452456 0.0570602 0.00130368 0.99837 0.0115293 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:171/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 191 to 139658114799968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.946808) and 890(1311875602.915480) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999816 0.0132455 0.0138995 0.0170126 -0.0128668 0.999553 -0.0269915 0.202005 -0.0142508 0.0268077 0.999539 0.0504939 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!892 INF|Input.cpp[getImages,132]: mNbReceivedImages!893 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999405 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:110/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.971321 resInfo good: 460, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 644/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999556 0.000477916 0.0297941 -0.0746294 4.15526e-05 0.999848 -0.0174322 0.14869 -0.0297979 0.0174257 0.999404 0.0375404 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!891 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 473 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!892 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 893 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!893 INF|Input.cpp[getImages,132]: mNbReceivedImages!894 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875602.979550 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999001 0.000911521 0.0446786 -0.111494 0.000257138 0.999658 -0.0261443 0.222786 -0.0446871 0.0261297 0.998659 0.0581109 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 191 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.979550) and 890(1311875602.915480) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999001 0.000911521 0.0446786 -0.111494 0.000257138 0.999658 -0.0261443 0.222786 -0.0446871 0.0261297 0.998659 0.0581109 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:185/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 191 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.979550) and 890(1311875602.915480) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.994725 0.0728758 -0.0721858 0.622693 -0.0741765 0.997125 -0.0155002 0.213014 0.0708487 0.0207729 0.997271 0.181571 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 3): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:159/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 191 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875602.979550) and 890(1311875602.915480) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.993057 0.0929608 -0.072077 0.635041 -0.0954966 0.994897 -0.0325645 0.339885 0.0686819 0.0392215 0.996867 0.170125 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999263 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:102/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.54993 resInfo good: 460, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 587/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.99298 0.100489 -0.0623969 0.590895 -0.103423 0.993587 -0.0457056 0.421445 0.0574038 0.051838 0.997004 0.175349 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875602.979550 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875602.979550 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875602.979550 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 461 size: 376 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875602.979550 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -6.32108 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 877 keyframeId: 184 score: -15.8546 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 883 keyframeId: 186 score: -15.4976 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 887 keyframeId: 188 score: -9.87493 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 888 keyframeId: 189 score: -4.51245 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 889 keyframeId: 190 score: -3.96516 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 192 = 192 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbceda80 fh1 0x3ec60b00fh->id: 161 192 892goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbceda80 fh1 0x7f04b053d820fh->id: 184 192 892goodE: 13 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbceda80 fh1 0x7f04bbde81e0fh->id: 186 192 892goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbceda80 fh1 0x7f04b8541b20fh->id: 188 192 892goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbceda80 fh1 0x7f04c2d6a000fh->id: 189 192 892goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbceda80 fh1 0x7f04ca284480fh->id: 190 192 892goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbceda80 fh1 0x385b9040fh->id: 191 192 892goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew192 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 27 out of 28 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 28 newEdgePixels: 28 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 335 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 55 lastEnergy: 127.032 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 11 INF|LocalMapper.cpp[optimize,276]: Start Energy: 127.032 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.49804e-13 -1.06146e-12 -3.62711e-12 -1.15818e-12 -0.0776678 0.0319749 -0.0538338 -0.00855614 0.0140206 0.00800534 -0.0237481 0.0380091 -0.040306 -0.00446157 0.0119851 0.00774859 -0.073447 -0.00956378 -0.0637562 -0.010004 0.0164057 0.00956251 -0.0800744 0.0373762 -0.0562137 -0.00390783 0.0159297 0.00780575 -0.259836 0.0841419 -0.0455201 -0.000540423 0.0270359 0.0120135 -0.250954 0.0597373 -0.059133 -0.00204288 0.0226829 0.0143845 -0.253269 -0.128569 0.0545941 -0.0137164 0.0256281 0.023415 -0.137182 0.0985677 -0.00542336 0.00536404 0.0127673 0.0159053 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 335 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 115.565 0 0 newEnergyL 0 lastEnergy: 127.032 0 0 lastEnergyL: 0mActiveResiduals: 335 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -6.95344e-13 2.02591e-13 1.05848e-12 -1.52416e-14 -0.00110859 -0.000540988 -0.000547398 -0.000106858 0.000278338 -6.05413e-05 -0.00444808 -0.00931843 -0.000531173 -0.000568759 0.000565752 0.00108872 -0.035759 0.0254627 0.0353261 0.00310765 0.00523244 -0.000741033 0.0405856 0.0452478 0.0207712 0.00347237 -0.00183295 -0.0055935 -0.00734618 -0.010098 0.0134308 -6.96239e-06 2.03901e-05 0.00291769 -0.027586 0.0160013 0.0375414 0.000945165 0.00522019 -0.00197264 -0.0710574 0.00269411 0.0266092 0.00153286 0.00769807 0.00276008 -0.0190083 -0.0138269 0.0451009 0.000304506 0.00308495 0.00170989 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 335 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 111.884 0 0 newEnergyL 0 lastEnergy: 115.565 0 0 lastEnergyL: 0mActiveResiduals: 335 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -3.20283e-13 -4.07652e-13 -2.4207e-12 5.80536e-13 -0.0120319 -0.0210387 -0.00691706 -0.00161961 0.000112378 -0.00779882 -0.0196157 -0.00890174 -0.0027712 -0.00464103 -0.000174212 -0.00543168 0.00450739 0.00172091 -0.00749957 -0.00449441 -0.00292198 -0.0059386 -0.0039011 -0.0110153 -0.00608486 -0.00553541 -0.00255077 -0.00379608 0.0387484 0.011085 0.0109373 -0.00385205 -0.00598923 -0.00850792 -0.0468037 -0.00573097 -0.0274286 -0.00306186 -0.00145992 0.00124432 0.0416603 -0.0336673 -0.00267295 -0.00684788 -0.00766703 -0.00254835 -0.00653321 0.0748068 0.0247742 0.00220389 -0.0018347 -0.0083821 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 335 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 110.338 0 0 newEnergyL 0 lastEnergy: 111.884 0 0 lastEnergyL: 0mActiveResiduals: 335 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.40292e-12 4.20073e-13 6.92576e-13 -3.4952e-13 0.0133172 -0.0115824 0.00647005 0.00752916 -0.00226941 -0.00059883 0.0196787 -0.0205029 -0.00360972 0.00586171 -0.00288925 -0.00355383 -0.00692437 -0.00497445 0.00814848 0.00761003 -0.000195262 -0.00372883 -0.012337 0.0362503 0.0106927 0.00957126 0.00203809 -0.00917284 0.0139625 0.0294791 -0.013795 0.00798294 0.000344186 -0.0128134 0.0066721 0.020487 0.0252903 0.00699896 0.00372668 -0.0137753 -0.0395077 0.0123359 0.00696161 0.00690579 0.00586729 -0.00768241 -0.0026699 -0.0709745 -0.0219064 -0.000335747 0.000461496 -0.00435002 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 335 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 108.465 0 0 newEnergyL 0 lastEnergy: 110.338 0 0 lastEnergyL: 0mActiveResiduals: 335 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -5.76539e-13 -4.97152e-13 1.01445e-12 3.4974e-13 0.00294433 0.00698993 0.00293605 -0.00256467 -0.00259956 -0.00210102 -0.0215446 0.0122251 0.00751057 -0.00246491 -0.00182457 2.02706e-05 -0.000491776 -0.000421092 0.00305263 -0.00399168 -0.00414508 -0.000628891 -0.000330719 -0.0119784 0.0053233 -0.00423157 -0.00520578 0.00393885 0.0316975 0.0019528 -0.0012914 -0.00385054 -0.00550446 0.00260942 -0.011086 0.00182476 0.0113472 -0.00182749 -0.0014798 0.00745732 -0.0238579 -0.0405494 0.0082022 -0.00531055 -0.000636439 0.0114667 0.0200336 0.0288402 -0.0353363 -0.000300854 -0.00531713 0.00367476 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 335 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 107.943 0 0 newEnergyL 0 lastEnergy: 108.465 0 0 lastEnergyL: 0mActiveResiduals: 335 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 7.81195e-13 -1.54817e-13 -6.31447e-15 -4.04387e-13 0.00994379 -0.00873279 0.00488135 0.00661839 -0.00263649 0.00242573 0.00156067 -0.0141119 -0.00392952 0.0070877 -0.00204198 -0.000802345 -0.00537959 -0.00925334 -0.00527325 0.00774161 -0.0012341 -0.00152056 -0.00852293 0.0326185 -0.00253116 0.00926127 0.000652151 -0.00631908 -0.00931516 0.0117511 -0.00500129 0.00904964 0.00201991 -0.00416561 -0.0114463 0.0227073 -0.016905 0.00742188 0.00482159 -0.0102892 -0.0127679 0.00161958 -0.0224939 0.00604438 0.0035716 -0.00680439 0.0332404 -0.0407083 0.0552938 0.00407775 0.000705462 -0.00542254 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 335 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 109.519 0 0 newEnergyL 0 lastEnergy: 107.943 0 0 lastEnergyL: 0mActiveResiduals: 335 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 109.519 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 335 INF|LocalMapper.cpp[optimize,345]: End Energy: 109.519 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.584106 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.584106 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 184 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 184 with idx: 1 and allID: 877 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->184 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 184->161 INF|LocalMapper.cpp[marginalizeFrame,772]: 184<->184 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 186<->184 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 184->186 INF|LocalMapper.cpp[marginalizeFrame,772]: 188<->184 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 184->188 INF|LocalMapper.cpp[marginalizeFrame,801]: 184 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 184 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 5416 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04bbceda80 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 192 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 143 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 59 with distance 0.176Found rest min at: 142 with distance 0.09 overall min: 0.09 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 59 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 744 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 192 into DB 0.176 59 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 59 and real id(87) current kf: 192(892) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.788729 0.0208683 -0.614387 -1.65795 -0.0703082 0.995928 -0.0564315 -0.562826 0.610708 0.0877056 0.786984 1.73844 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 87 currFrame: 192 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.788729 0.0208683 -0.614387 -1.65795 -0.0703082 0.995928 -0.0564315 -0.562826 0.610708 0.0877056 0.786984 1.73844 avg 0.00197869 eye: 0.0131263 edge: 192 to 87 INF|Tracker.cpp[trackFrames,78]: initPose: 0.788729 0.0208683 -0.614387 -1.65795 -0.0703082 0.995928 -0.0564315 -0.562826 0.610708 0.0877056 0.786984 1.73844 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 192 to 87 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 399(1311875586.525678) and 892(1311875602.979550) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.788729 0.0208683 -0.614387 -1.65795 -0.0703082 0.995928 -0.0564315 -0.562826 0.610708 0.0877056 0.786984 1.73844 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 11,0.999491 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:292/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 192 to 87 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 399(1311875586.525678) and 892(1311875602.979550) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.659183 0.0127115 -0.751875 -1.13034 -0.185915 0.971572 -0.146569 -0.211512 0.728638 0.236401 0.642807 2.82636 Input.cpp[readImages,206]: Got image from sensor!893 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 6,0.999986 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:118/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 192 to 87 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 399(1311875586.525678) and 892(1311875602.979550) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.68572 0.0186932 -0.727625 -1.19789 -0.277005 0.931149 -0.23713 0.373786 0.673095 0.364161 0.643685 2.86084 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 0,0.999779 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:51/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.689407 0.0215561 -0.724053 -1.20373 -0.284834 0.927107 -0.243604 0.421255 0.666023 0.374177 0.645294 2.85414 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 86 end 89 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 8920 o[1]: 114 o[2]: 3 o[3]: 0 histWeights: 1 1 1.25 1.5overlap: 117.75 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 376 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 87 and 192 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 192 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 192 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 3571 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 893 keyframes 193 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 894 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 690 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875603.015295 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.998582 0.0421119 -0.0325714 0.260407 -0.0422586 0.999099 -0.00382655 0.0817129 0.0323809 0.00519754 0.999462 0.0627108 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 192 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.015295) and 892(1311875602.979550) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.998582 0.0421119 -0.0325714 0.260407 -0.0422586 0.999099 -0.00382655 0.0817129 0.0323809 0.00519754 0.999462 0.0627108 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 2,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:119/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 192 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.015295) and 892(1311875602.979550) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999935 -0.00982305 0.00584341 0.0233578 0.00978043 0.999926 0.00727797 -0.0276545 -0.00591447 -0.00722035 0.999956 -0.0472483 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:173/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 192 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.015295) and 892(1311875602.979550) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999706 -0.00411456 0.0238775 -0.0335086 0.00396968 0.999973 0.00611185 -0.00331205 -0.023902 -0.00601527 0.999696 0.000877299 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 17): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:348/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.630225 resInfo good: 376, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 759/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999839 0.00178654 0.0178648 0.00416329 -0.00187816 0.999985 0.00511336 0.012038 -0.0178554 -0.00514609 0.999827 0.0113843 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!893 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 479 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!894 INF|Input.cpp[getImages,132]: mNbReceivedImages!895 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!894 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 895 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875603.047198 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!895 INF|Input.cpp[getImages,132]: mNbReceivedImages!896 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999637 0.00264525 0.0267987 0.00632916 -0.0028514 0.999967 0.00765721 0.0180759 -0.0267776 -0.00773085 0.999612 0.0170249 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 192 to 14028288234497245184 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.047198) and 892(1311875602.979550) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999637 0.00264525 0.0267987 0.00632916 -0.0028514 0.999967 0.00765721 0.0180759 -0.0267776 -0.00773085 0.999612 0.0170249 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 3,0.999983 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:137/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 192 to 14028288234497245184 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.047198) and 892(1311875602.979550) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999357 0.024944 0.025765 0.0609652 -0.0244938 0.999544 -0.0176407 0.131784 -0.0261933 0.0169983 0.999512 0.123836 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999887 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:107/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 192 to 14028288234497245184 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.047198) and 892(1311875602.979550) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.998501 0.0448075 0.0314317 0.0716347 -0.0441576 0.998802 -0.0210739 0.178233 -0.0323384 0.0196543 0.999284 0.209038 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:118/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.0976 resInfo good: 376, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 479/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.998532 0.04424 0.0312667 0.0745329 -0.0434889 0.998758 -0.0243071 0.194053 -0.0323032 0.0229116 0.999215 0.216518 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875603.047198 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875603.047198 to keyframe with id: 14028288234497245184 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875603.047198 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 470 size: 268 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId14028288234497245184 timestamp: 1311875603.047198 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -4.98503 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 883 keyframeId: 186 score: -6.17512 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 887 keyframeId: 188 score: -6.35483 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 888 keyframeId: 189 score: -6.5048 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 889 keyframeId: 190 score: -8.86275 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 890 keyframeId: 191 score: -9.39441 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 193 = 193 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ca27cdc0 fh1 0x3ec60b00fh->id: 161 193 894goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ca27cdc0 fh1 0x7f04bbde81e0fh->id: 186 193 894goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ca27cdc0 fh1 0x7f04b8541b20fh->id: 188 193 894goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ca27cdc0 fh1 0x7f04c2d6a000fh->id: 189 193 894goodE: 14 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ca27cdc0 fh1 0x7f04ca284480fh->id: 190 193 894goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ca27cdc0 fh1 0x385b9040fh->id: 191 193 894goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04ca27cdc0 fh1 0x7f04bbceda80fh->id: 192 193 894goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew193 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 17 out of 21 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 21 newEdgePixels: 21 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 298 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 48 lastEnergy: 109.707 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 10 INF|LocalMapper.cpp[optimize,276]: Start Energy: 109.707 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -1.88114e-12 -1.19586e-12 5.57105e-13 3.4358e-12 -0.0139469 0.0350087 -0.00667075 -0.00981717 0.00728751 0.00808476 -0.0126335 0.0435681 0.0088455 -0.00388376 0.0100389 0.0110199 -0.0460734 5.44571e-05 -0.0213183 -0.00736901 0.0114304 0.0126713 -0.147097 0.0459449 -0.0313827 -0.00437557 0.0172541 0.0164931 -0.0620799 0.000898049 -0.0386797 -0.00587167 0.00516926 0.0221698 -0.0483381 0.0408582 -0.0348307 -0.00155351 0.00540597 0.0176163 -0.112625 0.0722742 -0.0761986 0.000811277 0.0116681 0.0192333 -0.141669 0.0846878 -0.0261927 0.00531034 0.0132461 0.0221298 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 298 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 105.55 0 0 newEnergyL 0 lastEnergy: 109.707 0 0 lastEnergyL: 0mActiveResiduals: 298 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -2.31648e-13 1.29687e-12 -1.36157e-12 -2.67771e-12 -0.000612241 -0.000356903 -0.000406006 -0.000100314 0.000177756 -4.08523e-05 -0.00579505 0.0018561 0.00434484 0.000380088 0.000764528 0.000319884 -0.0119651 -0.0081202 0.00947011 -0.000325737 0.000932291 0.00166182 0.00160806 0.00826158 -0.00219917 0.00104319 -0.000395875 -0.00136258 0.0150874 -0.0139835 -0.00585923 -0.00166012 -0.000814613 -0.00186938 0.0237594 0.0340859 0.0124257 0.00230355 1.49488e-05 -0.00527483 0.0453708 -0.00822101 0.00882588 0.000394408 -0.0033312 0.000659638 0.0505418 0.022811 -0.081605 0.00510317 -0.00936519 0.00794076 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 298 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 101.858 0 0 newEnergyL 0 lastEnergy: 105.55 0 0 lastEnergyL: 0mActiveResiduals: 298 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -3.22678e-14 -9.01654e-13 -1.21263e-12 2.21438e-12 -0.01802 0.0033812 -0.00542892 0.000425285 0.00622832 -0.00325855 0.00860951 -0.00187268 0.00451521 -0.00358971 0.00421542 -0.00356852 -0.00950437 -0.0169172 -0.0182509 -0.00530998 0.00528509 -0.00279637 -0.00555177 -0.00544922 -0.0154279 -0.0051322 0.00356262 -0.00285667 -0.0139269 0.00595947 0.00690348 -0.00324771 0.0039322 -0.00230003 0.0503252 -0.0305173 -0.011653 -0.00463069 -0.00356371 0.00274458 -0.0512445 0.0498881 0.0227845 0.00111968 0.00733681 -0.0011217 0.0424961 0.0012999 -0.00284164 -0.0028859 -0.00140756 -0.00136289 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 298 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 100.785 0 0 newEnergyL 0 lastEnergy: 101.858 0 0 lastEnergyL: 0mActiveResiduals: 298 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 3.15918e-13 -7.83115e-13 1.49665e-12 9.18659e-14 -0.00610234 -0.00772382 -0.0221398 -0.00278071 0.00409058 -0.00276505 -0.0181336 -0.00581428 -0.00831767 -0.00448877 0.00419949 -0.00106112 -0.0105545 0.00882552 0.00667859 -0.00300582 0.00323921 -0.000849908 -0.015588 -0.0178062 -0.0113158 -0.00500969 0.00268375 0.00135643 -0.0324324 0.00453327 -0.0172947 -0.00283033 0.00365426 0.00125913 -0.00727265 -0.0364787 -0.00874615 -0.00824143 0.00250831 -0.000780686 0.0818765 0.0159444 0.037522 -0.00248687 -0.00345716 -0.00734946 0.0229929 0.0449352 -6.65052e-05 0.00100159 -0.000588662 -0.00328974 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 298 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 100.571 0 0 newEnergyL 0 lastEnergy: 100.785 0 0 lastEnergyL: 0mActiveResiduals: 298 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -1.88963e-13 6.13778e-14 -1.51721e-13 7.11151e-13 -0.00126942 0.00149507 0.00608876 -0.00624231 -0.000323736 -0.00222038 -0.00420628 0.0099007 0.0061507 -0.00633144 -0.00175019 0.00103188 0.0164911 -0.0248469 -0.0164072 -0.00979056 -0.00354573 0.00206112 0.0140769 0.00718433 0.0112343 -0.006355 -0.00227488 0.00325417 0.0858248 -0.0436911 -0.00690031 -0.0121701 -0.00868165 0.00356204 -0.0425576 0.0116662 -0.00439628 -0.00419936 0.00130972 0.00943625 -0.0496045 -0.0384924 0.0137512 -0.00708507 0.0025652 0.0114583 -0.0169038 0.0769706 -0.00531071 -0.000178193 0.000932847 -0.00106502 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 298 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 101.098 0 0 newEnergyL 0 lastEnergy: 100.571 0 0 lastEnergyL: 0mActiveResiduals: 298 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 8.83961e-13 -7.84378e-13 1.62029e-12 -7.77341e-13 0.00472049 0.000477464 -0.0171704 0.00766176 0.00269849 0.00209874 -0.00445927 0.000998422 -0.0222208 0.00791743 0.00356589 -0.00217008 -0.0304588 0.00909902 0.00895201 0.00888951 0.00669413 -0.00150606 -0.0519399 -0.0244794 -0.0089576 0.00580613 0.0089512 -0.00164731 -0.0584754 0.045825 -0.0304874 0.011666 0.00881125 -0.00590228 0.0195453 -0.0333428 -0.0308784 0.00223248 0.00284484 -0.0071487 0.112013 0.0448164 0.0401798 0.00795285 -0.00227278 -0.017793 0.025072 -0.0388301 0.0425089 0.00379499 0.00419998 -0.00367104 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 298 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 101.048 0 0 newEnergyL 0 lastEnergy: 101.098 0 0 lastEnergyL: 0mActiveResiduals: 298 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 101.048 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 298 INF|LocalMapper.cpp[optimize,345]: End Energy: 101.048 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.599668 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.599668 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 191 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 191 with idx: 5 and allID: 890 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->191 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 191->161 INF|LocalMapper.cpp[marginalizeFrame,772]: 186<->191 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 191->186 INF|LocalMapper.cpp[marginalizeFrame,772]: 188<->191 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 191->188 INF|LocalMapper.cpp[marginalizeFrame,801]: 191 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 191 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 5226 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04ca27cdc0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 193 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 144 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 70 with distance 0.166Found rest min at: 143 with distance 0.08 overall min: 0.08 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 70 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 741 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 193 into DB 0.166 70 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 70 and real id(101) current kf: 193(894) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.974379 -0.0896206 -0.206287 -0.224143 0.108051 0.990933 0.0798604 -0.314382 0.19726 -0.100104 0.975227 1.48089 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 101 currFrame: 193 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.974379 -0.0896206 -0.206287 -0.224143 0.108051 0.990933 0.0798604 -0.314382 0.19726 -0.100104 0.975227 1.48089 avg 0.00514113 eye: 0.0119908 edge: 193 to 101 INF|Tracker.cpp[trackFrames,78]: initPose: 0.974379 -0.0896206 -0.206287 -0.224143 0.108051 0.990933 0.0798604 -0.314382 0.19726 -0.100104 0.975227 1.48089 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 193 to 101 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 478(1311875589.164868) and 894(1311875603.047198) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.974379 -0.0896206 -0.206287 -0.224143 0.108051 0.990933 0.0798604 -0.314382 0.19726 -0.100104 0.975227 1.48089 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 14,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:246/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 193 to 101 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 478(1311875589.164868) and 894(1311875603.047198) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.907565 -0.128649 -0.399719 0.86417 0.185622 0.976769 0.107084 -0.697199 0.376657 -0.171382 0.910361 1.78642 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 8,0.999737 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:110/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 193 to 101 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 478(1311875589.164868) and 894(1311875603.047198) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.953065 -0.146848 -0.264771 0.211513 0.202163 0.95965 0.195456 -1.1111 0.225385 -0.239809 0.944295 2.10558 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999643 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:82/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.951897 -0.147175 -0.268761 0.235765 0.202178 0.960749 0.189963 -1.07674 0.230254 -0.235162 0.944289 2.0871 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 100 end 103 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!895 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 10060 o[1]: 0 o[2]: 0 o[3]: 0 histWeights: 1 1 1.25 1.5overlap: 0 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 268 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 101 and 193 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 193 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 193 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 3653 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 895 keyframes 194 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 489 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 896 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!896 INF|Input.cpp[getImages,132]: mNbReceivedImages!897 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875603.079365 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999537 0.0289859 0.0092229 0.0469642 -0.0289028 0.999542 -0.00901551 0.0785905 -0.00947999 0.00874477 0.999917 0.132061 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 193 to 139658114799968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.079365) and 894(1311875603.047198) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999537 0.0289859 0.0092229 0.0469642 -0.0289028 0.999542 -0.00901551 0.0785905 -0.00947999 0.00874477 0.999917 0.132061 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999578 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:138/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 193 to 139658114799968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.079365) and 894(1311875603.047198) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999979 0.00295482 0.00568055 0.031008 -0.00292348 0.999981 -0.00551756 0.0295393 -0.00569674 0.00550084 0.999969 -0.0307126 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 2): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:108/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 193 to 139658114799968 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.079365) and 894(1311875603.047198) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999953 -0.00452385 0.00856199 0.0148049 0.00444551 0.999948 0.00914617 -0.0305962 -0.00860292 -0.00910768 0.999922 -0.0648624 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,1 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:149/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.668876 resInfo good: 251, 17 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 500/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999914 -0.00163214 0.0129748 0.0175991 0.00158841 0.999993 0.0033803 0.00145752 -0.0129803 -0.00335941 0.99991 -0.0170834 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!895 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 452 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!896 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 897 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875603.115158 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999808 -0.00246452 0.0194595 0.0263143 0.00236612 0.999984 0.0050781 0.00217517 -0.0194717 -0.00503108 0.999798 -0.0257122 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 193 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.115158) and 894(1311875603.047198) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999808 -0.00246452 0.0194595 0.0263143 0.00236612 0.999984 0.0050781 0.00217517 -0.0194717 -0.00503108 0.999798 -0.0257122 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999429 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:104/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 193 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.115158) and 894(1311875603.047198) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999558 0.0188587 0.0229832 0.0414114 -0.0187595 0.999814 -0.00452588 0.0571657 -0.0230643 0.00409273 0.999726 0.00180539 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 3): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:108/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 193 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.115158) and 894(1311875603.047198) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999263 0.0155601 0.0350773 -0.00292913 -0.0156153 0.999877 0.00129839 0.0416419 -0.0350528 -0.00184518 0.999384 0.00118431 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 0,0.999279 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:42/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.906774 resInfo good: 233, 35 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 350/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.99896 0.0209607 0.0404842 -0.0197595 -0.0211275 0.99977 0.00369751 0.0412192 -0.0403974 -0.004549 0.999173 0.00890125 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!896 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 454 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!897 INF|Input.cpp[getImages,132]: mNbReceivedImages!898 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!897 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 898 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875603.144739 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!898 INF|Input.cpp[getImages,132]: mNbReceivedImages!899 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.996739 0.0435015 0.0679631 -0.0554793 -0.0438327 0.999033 0.00338947 0.081835 -0.0677499 -0.00635742 0.997682 0.0358514 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 193 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.144739) and 894(1311875603.047198) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.996739 0.0435015 0.0679631 -0.0554793 -0.0438327 0.999033 0.00338947 0.081835 -0.0677499 -0.00635742 0.997682 0.0358514 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,1 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:243/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 193 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.144739) and 894(1311875603.047198) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999627 -0.0108932 0.0250265 0.0737499 0.0104632 0.999797 0.0172473 -0.034936 -0.0252093 -0.016979 0.999538 -0.153452 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,1 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:105/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 193 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.144739) and 894(1311875603.047198) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999247 -0.00532661 0.0384429 0.0411958 0.00465421 0.999835 0.0175592 -0.0141452 -0.0385301 -0.0173671 0.999107 -0.106218 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 3): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:115/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.20457 resInfo good: 251, 17 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 566/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.999132 -0.00727243 0.0410123 0.0438691 0.00651502 0.999806 0.0185713 -0.0183374 -0.0411395 -0.018288 0.998986 -0.0768425 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875603.144739 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875603.144739 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875603.144739 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 688 size: 339 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875603.144739 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -5.35186 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 883 keyframeId: 186 score: -6.66719 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 887 keyframeId: 188 score: -6.90042 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 888 keyframeId: 189 score: -7.00008 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 889 keyframeId: 190 score: -5.769 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 892 keyframeId: 192 score: -5.79601 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 194 = 194 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb3a300 fh1 0x3ec60b00fh->id: 161 194 897goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb3a300 fh1 0x7f04bbde81e0fh->id: 186 194 897goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb3a300 fh1 0x7f04b8541b20fh->id: 188 194 897goodE: 18 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb3a300 fh1 0x7f04c2d6a000fh->id: 189 194 897goodE: 15 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb3a300 fh1 0x7f04ca284480fh->id: 190 194 897goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb3a300 fh1 0x7f04bbceda80fh->id: 192 194 897goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x2bb3a300 fh1 0x7f04ca27cdc0fh->id: 193 194 897goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew194 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 11 out of 11 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 11 newEdgePixels: 11 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 275 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 47 lastEnergy: 94.7581 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 8 INF|LocalMapper.cpp[optimize,276]: Start Energy: 94.7581 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -7.88246e-14 9.30434e-13 -9.47246e-13 1.31354e-12 0.0197272 0.00236958 0.0392675 0.000965136 -0.0124496 0.00597303 0.0345938 -0.0193881 0.0016239 0.00453981 -0.0122185 0.00601014 0.0300053 -0.0652534 -0.0264057 0.000921348 -0.0128824 0.00860693 0.056942 0.0384398 0.00920199 0.00964241 -0.0135536 -0.000344176 0.0673525 -0.0187779 0.0364085 0.00642719 -0.0128818 0.00382647 -0.115812 0.0343275 -0.0241046 0.0111362 0.000456905 0.00954804 0.00282743 -0.0168508 -0.0304623 0.00498464 -0.0100612 0.00507133 0.0588297 0.0593921 0.0159893 0.0109847 -0.0124032 -0.0007369 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 275 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 87.5488 0 0 newEnergyL 0 lastEnergy: 94.7581 0 0 lastEnergyL: 0mActiveResiduals: 275 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -1.35829e-12 -1.71738e-13 4.30417e-12 -1.16961e-13 0.00128168 -0.000224552 -0.000880054 -4.02367e-05 -0.0003023 0.000171154 -0.0146863 0.0144187 0.0231033 0.0016387 0.00213732 1.46227e-05 -0.016212 0.0108162 0.027277 0.00163819 0.00222746 0.000482197 -0.00646537 0.0174827 0.0167415 0.00178568 0.00166319 -0.000675236 -0.0272445 0.0189712 -0.0171729 9.72244e-05 0.00283726 -0.00200315 -0.00843756 -0.0190272 0.00541924 -0.00130838 0.00111753 0.00319475 0.00991811 0.141775 0.0775645 0.0125138 0.00281587 -0.00545041 0.217451 0.0358206 -0.0863996 0.00375372 -0.0212513 0.000450587 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 275 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 88.9242 0 0 newEnergyL 0 lastEnergy: 87.5488 0 0 lastEnergyL: 0mActiveResiduals: 275 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.25177e-12 1.01872e-12 -3.78443e-12 -6.84059e-13 0.000190908 0.0188204 0.00969927 -0.00050772 0.00165365 0.00210597 0.0113959 0.0168886 0.00396461 4.84017e-05 0.00082796 0.00155791 0.00119074 -0.0377417 -0.0123304 -0.00534056 0.00189844 0.00238693 0.00312361 0.000498564 -0.0157936 -0.00226099 0.000982194 0.00268618 0.0446269 -0.011406 0.0251519 -0.000565491 -0.00252245 0.00539033 0.011996 0.0485651 -0.0370115 0.00264399 -0.000238438 -0.00103941 0.0220908 -0.0180273 0.00325128 -0.00228471 -0.0016364 0.00474783 -0.0898597 -0.0142567 0.036119 -0.00311606 0.0106735 0.00133433 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 275 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 89.867 0 0 newEnergyL 0 lastEnergy: 88.9242 0 0 lastEnergyL: 0mActiveResiduals: 275 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.4486e-12 2.90192e-13 9.68491e-13 -2.18202e-12 0.00696531 -0.0215697 -0.0257315 0.000761306 0.00104652 -0.00137723 -0.0247861 -0.0203591 -0.00605405 0.000718377 0.00285437 -0.000959634 0.00825582 0.0350658 0.0108536 0.00596895 0.000310825 -0.0034663 -0.00763806 -0.00213773 0.00026856 0.00224744 0.00280834 -0.00316923 -0.0492848 0.000243825 -0.0406548 -0.000391806 0.00630929 -0.00535987 -0.0138531 -0.0159321 0.0651385 -0.000694367 0.00496862 -0.00452431 0.0433223 -0.0150988 -0.0155345 0.0011564 -0.00196888 -0.00343564 0.0489094 0.038963 -0.0050755 0.00573606 -0.00302002 -0.00707584 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 275 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 88.8572 0 0 newEnergyL 0 lastEnergy: 89.867 0 0 lastEnergyL: 0mActiveResiduals: 275 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 9.35571e-13 -1.1693e-12 -3.21835e-12 1.68927e-12 -0.025732 0.0212318 0.00484015 0.00522509 0.00495281 -0.000525563 0.00310206 0.015613 -0.00074868 0.00255238 0.00298407 -0.00378669 -0.0122119 -0.0272596 0.00135847 -0.00194523 0.00455049 -0.00302351 -0.0183271 -0.0045462 -0.00781873 -9.2732e-05 0.00456495 -0.00347489 -0.0361002 -0.00268762 0.0362314 0.00248638 0.00658095 -0.00052372 0.114341 0.0666002 -0.0652311 0.00735932 -0.00928154 -0.00466108 0.0327178 -0.0380602 -0.0316581 -0.00417132 -0.00171028 -0.00424971 -0.0671725 -0.0275845 0.0471967 -0.00269402 0.00971311 -0.00274352 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 275 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 85.1213 0 0 newEnergyL 0 lastEnergy: 88.8572 0 0 lastEnergyL: 0mActiveResiduals: 275 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 1.40603e-13 1.54353e-13 8.52585e-13 -6.30271e-13 -0.014359 -0.00388459 -0.00461996 -0.00543219 0.000927226 0.00298045 -0.00452839 -0.0123608 -0.00767301 -0.003794 0.0012788 0.00540468 0.0136577 0.00824585 -0.000793598 -0.000461451 -0.000647266 0.00487834 -0.0247137 0.0127318 0.0135109 -0.000110957 0.000684717 0.00617618 0.0208636 -0.0438361 -0.0296455 -0.00685307 -0.00547641 0.00592078 -0.0486659 0.0532445 0.0187975 0.00370682 0.00385387 0.0050754 0.0190255 -0.00786927 0.00493128 -0.00315554 -0.00141969 0.000309115 0.0370233 -0.00473291 -0.0141853 -0.00193742 -0.00395443 0.00368151 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 275 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 84.6443 0 0 newEnergyL 0 lastEnergy: 85.1213 0 0 lastEnergyL: 0mActiveResiduals: 275 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 84.6443 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 275 INF|LocalMapper.cpp[optimize,345]: End Energy: 84.6443 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.561994 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.561994 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 189 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 189 with idx: 3 and allID: 888 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->189 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 189->161 INF|LocalMapper.cpp[marginalizeFrame,772]: 186<->189 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 189->186 INF|LocalMapper.cpp[marginalizeFrame,772]: 188<->189 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 189->188 INF|LocalMapper.cpp[marginalizeFrame,801]: 189 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 189 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 5317 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x2bb3a300 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 194 Input.cpp[readImages,206]: Got image from sensor!898 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 145 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 70 with distance 0.156Found rest min at: 144 with distance 0.098 overall min: 0.098 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 70 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 748 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 194 into DB 0.156 70 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 70 and real id(101) current kf: 194(897) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.961027 -0.0854119 -0.262929 -0.191029 0.0999778 0.994081 0.0425023 -0.242516 0.257742 -0.0671329 0.963879 1.56247 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 101 currFrame: 194 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.961027 -0.0854119 -0.262929 -0.191029 0.0999778 0.994081 0.0425023 -0.242516 0.257742 -0.0671329 0.963879 1.56247 avg 0.00570326 eye: 0.00822498 edge: 194 to 101 INF|Tracker.cpp[trackFrames,78]: initPose: 0.961027 -0.0854119 -0.262929 -0.191029 0.0999778 0.994081 0.0425023 -0.242516 0.257742 -0.0671329 0.963879 1.56247 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 194 to 101 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 478(1311875589.164868) and 897(1311875603.144739) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.961027 -0.0854119 -0.262929 -0.191029 0.0999778 0.994081 0.0425023 -0.242516 0.257742 -0.0671329 0.963879 1.56247 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 7,0.999325 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:152/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 194 to 101 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 478(1311875589.164868) and 897(1311875603.144739) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.966475 -0.121546 -0.226168 -0.179903 0.185319 0.939894 0.286805 -1.63212 0.177714 -0.319103 0.930909 2.50936 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999221 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:84/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 194 to 101 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 478(1311875589.164868) and 897(1311875603.144739) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.968013 -0.113919 -0.223549 -0.189748 0.17755 0.940558 0.289527 -1.61933 0.177278 -0.319957 0.930699 2.44539 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 10,0.9993 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:134/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.96894 -0.103015 -0.224819 -0.187161 0.166422 0.94407 0.284669 -1.59005 0.182919 -0.313241 0.931891 2.35404 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 100 end 103 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 10282 o[1]: 0 o[2]: 0 o[3]: 0 histWeights: 1 1 1.25 1.5overlap: 0 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 339 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 101 and 194 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 194 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 194 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 3527 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 899 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 898 keyframes 195 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 457 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875603.176660 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999879 -0.0151324 0.00351033 0.0126283 0.0151013 0.999848 0.00870477 -0.040035 -0.00364152 -0.00865071 0.999956 -0.0408615 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 194 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.176660) and 897(1311875603.144739) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999879 -0.0151324 0.00351033 0.0126283 0.0151013 0.999848 0.00870477 -0.040035 -0.00364152 -0.00865071 0.999956 -0.0408615 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 8,0.999999 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:217/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 194 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.176660) and 897(1311875603.144739) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999772 0.00990796 0.0188923 -0.0141153 -0.00986124 0.999948 -0.00256446 0.037723 -0.0189168 0.00237757 0.999818 0.0411155 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999976 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:127/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 194 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.176660) and 897(1311875603.144739) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999838 -0.00215867 0.0178585 -0.00883104 0.00210452 0.999993 0.00305017 0.00135225 -0.0178649 -0.0030121 0.999836 0.0101341 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999438 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:127/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.633656 resInfo good: 339, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 577/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999823 0.00252924 0.0186215 -0.00487665 -0.00257829 0.999993 0.00261044 0.0146075 -0.0186148 -0.00265799 0.999823 0.022082 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!898 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 570 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!899 INF|Input.cpp[getImages,132]: mNbReceivedImages!900 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!899 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 900 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875603.215077 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!900 INF|Input.cpp[getImages,132]: mNbReceivedImages!901 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 3 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999603 0.00377519 0.0279327 -0.00714667 -0.00388554 0.999985 0.00389753 0.0219376 -0.0279176 -0.00400452 0.999602 0.0331415 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 194 to 4552328041388310528 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.215077) and 897(1311875603.144739) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999603 0.00377519 0.0279327 -0.00714667 -0.00388554 0.999985 0.00389753 0.0219376 -0.0279176 -0.00400452 0.999602 0.0331415 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999827 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:181/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 194 to 4552328041388310528 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.215077) and 897(1311875603.144739) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999586 -0.00296819 0.028632 -0.011006 0.00290987 0.999994 0.00207828 0.00486256 -0.028638 -0.0019941 0.999588 -0.00509776 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 5): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:162/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 194 to 4552328041388310528 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.215077) and 897(1311875603.144739) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999581 -0.0116445 0.0265088 -0.00282428 0.0115082 0.99992 0.00528588 -0.0139511 -0.0265682 -0.00497859 0.999635 -0.0334484 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 3,0.999728 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:105/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.799219 resInfo good: 336, 3 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 560/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999585 -0.0080906 0.0276647 0.00117919 0.00787669 0.999938 0.00783244 -0.0141171 -0.0277264 -0.00761128 0.999587 -0.0164193 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!899 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 471 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!900 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 901 Input.cpp[readImages,192]: readImages loop! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|Input.cpp[getImages,128]: getimages!901 INF|Input.cpp[getImages,132]: mNbReceivedImages!902 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875603.246535 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 11 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999152 -0.0187538 0.0366496 0.00718942 0.0182826 0.999746 0.0131483 -0.0429694 -0.0368869 -0.0124671 0.999242 -0.0548322 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 194 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.246535) and 897(1311875603.144739) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999152 -0.0187538 0.0366496 0.00718942 0.0182826 0.999746 0.0131483 -0.0429694 -0.0368869 -0.0124671 0.999242 -0.0548322 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 6,0.999671 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:723/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 194 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.246535) and 897(1311875603.144739) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999375 -0.0172403 0.0308618 -0.0561175 0.0165967 0.999642 0.0209902 -0.0276012 -0.0312127 -0.0204649 0.999303 -0.25369 INF|Tracker.cpp[trackFrameOnLvl,777]: (1, 3): FINISHED pyramid level 1 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:563/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 194 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.246535) and 897(1311875603.144739) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.992834 -0.0868377 0.0820962 -0.302175 0.0812781 0.994314 0.0688003 -0.363714 -0.0876038 -0.0616346 0.994247 -0.138744 INF|Tracker.cpp[trackFrameOnLvl,777]: (0, 2): FINISHED pyramid level 0 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:474/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.3705 resInfo good: 244, 95 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 2168/2 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.996451 -0.0566548 0.0622547 -0.218212 0.0544517 0.997848 0.0365344 -0.151032 -0.0641905 -0.0330149 0.997391 -0.226903 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875603.246535 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875603.246535 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875603.246535 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 1500 size: 223 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875603.246535 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -5.57616 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 883 keyframeId: 186 score: -6.73523 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 887 keyframeId: 188 score: -6.92949 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 889 keyframeId: 190 score: -5.04329 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 892 keyframeId: 192 score: -5.45607 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 894 keyframeId: 193 score: -5.30997 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 195 = 195 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b0f327c0 fh1 0x3ec60b00fh->id: 161 195 900goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b0f327c0 fh1 0x7f04bbde81e0fh->id: 186 195 900goodE: 6 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b0f327c0 fh1 0x7f04b8541b20fh->id: 188 195 900goodE: 17 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b0f327c0 fh1 0x7f04ca284480fh->id: 190 195 900goodE: 5 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b0f327c0 fh1 0x7f04bbceda80fh->id: 192 195 900goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b0f327c0 fh1 0x7f04ca27cdc0fh->id: 193 195 900goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b0f327c0 fh1 0x2bb3a300fh->id: 194 195 900goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew195 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 14 out of 15 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 15 newEdgePixels: 15 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 242 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 78 lastEnergy: 96.5211 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 16 INF|LocalMapper.cpp[optimize,276]: Start Energy: 96.5211 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -9.50448e-14 -5.3769e-13 -1.44096e-12 1.14934e-12 0.0319624 -0.0146024 0.0165241 -3.45633e-05 -0.00839164 -0.00325599 -0.00481121 -0.00152976 0.01243 0.0006153 -0.00612234 -0.00209427 0.0147719 -0.0191715 0.000568065 7.68926e-06 -0.00928328 0.00205279 0.0254329 0.0262111 0.0532695 0.00559746 -0.00560512 -0.000297781 0.00744904 -0.0148561 -0.0511911 -4.59638e-05 -0.00800682 0.00291205 0.00325511 0.087568 0.00415449 0.00825259 -0.00499898 -0.00515713 0.0487662 0.0307686 -0.0213158 0.00295303 -0.0103053 -0.00213524 -0.00975986 0.127797 -0.0495391 0.0169846 -0.0064618 0.00574295 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 242 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 86.425 0 0 newEnergyL 0 lastEnergy: 96.5211 0 0 lastEnergyL: 0mActiveResiduals: 242 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: -7.37485e-13 4.36943e-13 1.14852e-12 3.33405e-14 0.000692231 2.14535e-05 -0.000482954 -2.4745e-05 -0.000156838 8.08828e-05 -0.000914716 0.00249438 0.00130374 0.000234698 0.000159336 -0.000134614 0.00130251 0.0242072 0.0110262 0.00180628 0.000737141 -0.00245682 0.00604315 -0.00250309 -0.0175422 -0.00295483 0.000562389 -0.00536185 -0.0337666 0.0165684 0.0440691 0.00108886 0.00430772 -0.000378549 0.0238438 -0.0205158 0.0523621 -0.000865823 -0.000509592 0.00248471 0.0436748 0.0150236 0.0196848 -0.00153725 -0.00223966 -0.00980732 -0.278142 0.158009 -0.0132174 0.0206996 0.020531 0.0107832 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 242 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 81.5867 0 0 newEnergyL 0 lastEnergy: 86.425 0 0 lastEnergyL: 0mActiveResiduals: 242 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -2.34617e-12 1.32572e-12 -3.27196e-13 -1.91285e-12 0.00267816 0.00141436 0.0234583 0.009966 -0.00521909 -0.00258715 -0.00408147 -0.0044052 0.0149219 0.006869 -0.00399949 -0.00738499 -0.00893744 -0.0126454 0.0173724 0.00553432 -0.00338599 -0.00618058 0.0143926 -0.0389753 0.0479626 0.00505174 -0.00133444 -0.00622007 0.0840759 -0.0645355 0.00209302 4.87707e-05 -0.00976522 -0.00993721 0.00771177 -0.0236123 -0.00618559 0.00145508 -0.0023859 -0.0138073 0.049458 -0.0701806 0.0139699 -0.000927219 -0.00660619 -0.00482198 -0.189905 0.197268 -0.0935057 0.0156723 0.010681 -0.0228523 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 242 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 79.7802 0 0 newEnergyL 0 lastEnergy: 81.5867 0 0 lastEnergyL: 0mActiveResiduals: 242 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 1.22806e-12 -1.09327e-12 1.44343e-12 1.05524e-12 0.0114563 -0.0459675 0.00850121 -0.00585444 -0.00162645 -0.00707979 0.0217697 -0.0194582 0.000260312 -0.0074991 -0.00483576 -0.0028399 0.0100295 0.0122453 -0.00936313 -0.00586895 -0.00343166 -0.00456667 0.084553 -0.0222197 0.00434051 -0.00787756 -0.00857752 -0.00165204 -0.156268 0.000451408 -0.0270057 -0.0049142 0.0111908 0.00645084 -0.04696 0.02786 0.0401934 -0.00115644 0.00324806 0.00244604 -0.00147204 0.0382828 -0.0426253 6.13451e-05 -0.00345096 0.0036816 0.0757483 0.00921199 0.0329763 -0.00745324 -0.0048986 -0.00646259 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 242 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 77.9825 0 0 newEnergyL 0 lastEnergy: 79.7802 0 0 lastEnergyL: 0mActiveResiduals: 242 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -3.96383e-13 1.44371e-12 -8.33566e-13 -2.05824e-13 0.00360793 0.0375421 -0.000442013 -0.00295836 -0.000583063 0.00727039 -0.00883988 0.0177946 -0.0116208 0.000138353 0.00148412 0.00727818 -0.0167944 -0.0227962 -0.0202539 -0.0028785 0.00159496 0.00890204 -0.044623 0.0380299 -0.0147462 0.00330187 0.00169173 0.00895536 0.123009 0.0282247 0.00541192 0.0026543 -0.0105163 0.00525762 -0.107703 0.0392225 0.0320462 0.00171595 0.0116266 0.00286905 -0.0383268 -0.0334183 0.0494374 -0.00432549 0.0059655 0.00340331 0.107902 -0.0950038 -0.0468342 -0.00840184 -0.0113098 0.00757354 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 242 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 76.7949 0 0 newEnergyL 0 lastEnergy: 77.9825 0 0 lastEnergyL: 0mActiveResiduals: 242 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: 9.79842e-13 -5.22759e-13 -1.67807e-12 -1.80032e-12 -0.021435 -0.0244486 -0.00733484 0.00173964 0.00365436 -0.00041613 -0.000556047 -0.00790528 0.00398604 0.00258304 0.00394512 -0.00114548 -0.000802841 0.0181091 0.000174031 0.00511128 0.00400889 -0.00364244 -0.0455682 -0.0279374 0.01266 -0.000589244 0.00538627 -0.00549197 0.0201537 -0.00524666 -0.0146449 0.00160317 -0.000854273 -0.00471119 0.0284979 -0.0523129 -0.0401806 0.000485955 -0.00485676 0.00477755 -0.00575576 0.0385721 -0.00412566 0.0068308 -0.00015641 -0.00196346 0.0168368 0.0613578 0.0225709 0.00445436 0.00192335 -0.0129473 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 242 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 75.5843 0 0 newEnergyL 0 lastEnergy: 76.7949 0 0 lastEnergyL: 0mActiveResiduals: 242 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 75.5843 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 242 INF|LocalMapper.cpp[optimize,345]: End Energy: 75.5843 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.577036 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.577036 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 188 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 188 with idx: 2 and allID: 887 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->188 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 188->161 INF|LocalMapper.cpp[marginalizeFrame,772]: 186<->188 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 188->186 INF|LocalMapper.cpp[marginalizeFrame,772]: 188<->188 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 190<->188 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 188->190 INF|LocalMapper.cpp[marginalizeFrame,801]: 188 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 188 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 13618 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04b0f327c0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 195 Input.cpp[readImages,206]: Got image from sensor!901 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 146 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 70 with distance 0.158Found rest min at: 145 with distance 0.086 overall min: 0.086 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 70 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 1221 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 195 into DB 0.158 70 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 70 and real id(101) current kf: 195(900) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.950123 -0.0385124 -0.309488 -0.181369 0.0279879 0.998871 -0.0383763 0.144384 0.310617 0.0278003 0.950129 1.73203 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 101 currFrame: 195 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.950123 -0.0385124 -0.309488 -0.181369 0.0279879 0.998871 -0.0383763 0.144384 0.310617 0.0278003 0.950129 1.73203 avg 0.00636649 eye: 0.0240654 edge: 195 to 101 INF|Tracker.cpp[trackFrames,78]: initPose: 0.950123 -0.0385124 -0.309488 -0.181369 0.0279879 0.998871 -0.0383763 0.144384 0.310617 0.0278003 0.950129 1.73203 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 195 to 101 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 478(1311875589.164868) and 900(1311875603.246535) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.950123 -0.0385124 -0.309488 -0.181369 0.0279879 0.998871 -0.0383763 0.144384 0.310617 0.0278003 0.950129 1.73203 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 9,0.999292 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:205/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 195 to 101 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 478(1311875589.164868) and 900(1311875603.246535) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.962507 0.266515 0.0505011 -1.50148 -0.268644 0.910788 0.313522 -1.05247 0.0375626 -0.315334 0.948237 4.11349 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 9,0.999375 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:156/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 195 to 101 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 478(1311875589.164868) and 900(1311875603.246535) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.909056 0.182743 0.374462 -2.79592 -0.339687 0.845486 0.412026 -1.41857 -0.241307 -0.501755 0.83067 5.63695 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 4,0.999985 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:134/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.910307 0.177905 0.373753 -2.79061 -0.330835 0.855362 0.398627 -1.35929 -0.248776 -0.486523 0.8375 5.61353 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 100 end 103 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 902 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 10156 o[1]: 0 o[2]: 0 o[3]: 0 histWeights: 1 1 1.25 1.5overlap: 0 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 223 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 101 and 195 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 195 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 195 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 5470 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 901 keyframes 196 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 1843 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875603.276761 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!902 INF|Input.cpp[getImages,132]: mNbReceivedImages!903 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999625 -0.0271113 0.00397231 -0.0157253 0.0269659 0.999093 0.0329624 -0.180073 -0.00486236 -0.0328429 0.999449 -0.0646683 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 195 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.276761) and 900(1311875603.246535) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999625 -0.0271113 0.00397231 -0.0157253 0.0269659 0.999093 0.0329624 -0.180073 -0.00486236 -0.0328429 0.999449 -0.0646683 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 5): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:156/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 195 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.276761) and 900(1311875603.246535) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.981955 -0.0025807 0.189097 -0.620012 -0.00800628 0.998443 0.0552018 -0.231649 -0.188945 -0.0557197 0.980406 0.856261 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 4,0.999791 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:118/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 195 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.276761) and 900(1311875603.246535) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.983217 0.0143252 0.181879 -0.53353 -0.0260853 0.997708 0.0624326 -0.226797 -0.180568 -0.0661291 0.981337 0.912644 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.999999 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:104/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.54128 resInfo good: 223, 0 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 480/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.982609 0.0101389 0.185412 -0.538471 -0.0246868 0.996777 0.0763231 -0.292089 -0.184041 -0.079573 0.979692 0.939053 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875603.276761 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875603.276761 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875603.276761 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 638 size: 364 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875603.276761 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -5.75893 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 883 keyframeId: 186 score: -4.76616 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 889 keyframeId: 190 score: -5.5516 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 892 keyframeId: 192 score: -7.3441 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 894 keyframeId: 193 score: -12.8844 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 897 keyframeId: 194 score: -12.9379 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 196 = 196 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b96103e0 fh1 0x3ec60b00fh->id: 161 196 901goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b96103e0 fh1 0x7f04bbde81e0fh->id: 186 196 901goodE: 7 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b96103e0 fh1 0x7f04ca284480fh->id: 190 196 901goodE: 11 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b96103e0 fh1 0x7f04bbceda80fh->id: 192 196 901goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b96103e0 fh1 0x7f04ca27cdc0fh->id: 193 196 901goodE: 3 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b96103e0 fh1 0x2bb3a300fh->id: 194 196 901goodE: 0 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04b96103e0 fh1 0x7f04b0f327c0fh->id: 195 196 901goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew196 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 9 out of 13 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 13 newEdgePixels: 13 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 163 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 49 lastEnergy: 64.2465 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 5 INF|LocalMapper.cpp[optimize,276]: Start Energy: 64.2465 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -2.07948e-12 -5.44141e-13 3.19332e-13 2.0124e-12 0.00356288 0.0318549 -0.023885 -0.00282018 0.00377059 0.00287312 0.00426039 0.00457382 -0.0184853 -0.00405673 0.00189646 0.00334029 0.0267638 0.0214825 -0.0260211 -0.00108012 -0.000865252 0.00618277 -0.0364285 0.00357744 -0.0280013 -0.00234807 0.0054467 0.00613858 0.115213 -0.0540118 -0.126947 -0.00929193 -0.0109454 0.00598881 0.00192346 -0.0281859 -0.109249 -0.00459645 -0.000553165 0.0091521 0.0518223 0.101241 -0.0961549 0.00796591 -0.00583761 0.00619904 0.305027 -0.00965956 -0.125029 -0.00433006 -0.023219 -0.00162443 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 163 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 58.0063 0 0 newEnergyL 0 lastEnergy: 64.2465 0 0 lastEnergyL: 0mActiveResiduals: 163 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 1.86004e-12 -2.09145e-12 -3.20333e-12 1.12985e-12 -5.0283e-05 -8.64292e-05 -0.000164141 -3.3154e-05 4.45112e-05 -5.58164e-05 -0.00519553 0.00353899 0.00199381 0.00121001 0.000195499 0.00130254 0.0262028 -0.0105782 0.0040869 -0.00166664 -0.00201617 -0.00200431 0.0277856 0.0320095 0.00860747 0.00289073 -0.00245917 -0.00154456 -0.063009 -0.00203583 0.0426799 0.000321704 0.00771345 0.000799429 -0.0221849 -0.0268807 0.0305346 -0.00187028 0.00237919 0.00257469 -0.0138601 -0.0318001 0.0553578 -0.0018706 0.00279407 0.00204529 0.141759 0.0515206 -0.0773909 0.000136593 -0.0122974 -0.00998568 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 163 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 55.8873 0 0 newEnergyL 0 lastEnergy: 58.0063 0 0 lastEnergyL: 0mActiveResiduals: 163 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: 5.02473e-13 9.6198e-13 8.44225e-13 -5.00414e-13 0.0195925 0.0635153 0.0135035 0.0252008 -0.0288452 -0.00620005 -0.087503 0.058855 -0.0021737 0.0233504 -0.0265291 -0.0157455 0.0870777 -0.0172252 0.0731237 0.0179412 -0.0208656 -0.0217187 0.0728163 -0.0505677 0.0209202 0.0117101 -0.0270044 -0.0204304 0.133708 -0.0235676 -0.0833417 0.0112052 -0.0359463 -0.0212941 0.0541497 -0.00653654 -0.0396189 0.0125679 -0.0276803 -0.0200774 0.0572774 -0.0160381 0.0269262 0.0115475 -0.0261255 -0.0173174 -0.312795 -0.00262085 0.0568122 0.011997 0.00980769 -0.00253127 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 163 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 63.4421 0 0 newEnergyL 0 lastEnergy: 55.8873 0 0 lastEnergyL: 0mActiveResiduals: 163 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: -3.39232e-13 1.57553e-13 1.56297e-12 -9.08842e-13 -0.0171917 -0.070738 0.00550164 -0.0157132 0.0239059 -0.0152629 0.0784943 -0.0190433 0.00844423 -0.0246874 0.0183142 -0.0074463 -0.0860922 -0.0306486 -0.0568205 -0.0283521 0.0177321 0.00347787 -0.0357498 0.00667421 -0.0362063 -0.0239503 0.0178093 0.000648555 -0.0649439 -0.0108843 0.0423191 -0.0232654 0.0232098 0.000584605 -0.0292569 0.000670632 0.0425363 -0.0223977 0.020048 -0.000176271 -0.107016 0.0041435 -0.0105 -0.02451 0.0247987 -0.00213292 0.230311 0.105512 -0.0432307 -0.0213668 -0.00257861 -0.0278137 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 163 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 58.608 0 0 newEnergyL 0 lastEnergy: 63.4421 0 0 lastEnergyL: 0mActiveResiduals: 163 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: 2.55559e-13 9.75786e-13 2.55624e-12 -1.75249e-12 0.0110024 -0.0157434 0.013554 0.00186869 0.00214542 -0.0042155 0.020325 0.00277353 0.00790005 7.20103e-05 0.00443805 -0.00490983 -0.0311948 0.0152113 0.00836157 0.000689828 0.00312494 -0.00755883 0.0314725 -0.0176459 0.0154773 -0.00120724 -0.00147344 -0.00377374 -0.0476929 -0.0135099 0.0265682 -0.000897696 0.00477258 -0.00194681 -0.0360087 0.00116807 0.00503098 0.000591585 0.00334842 -0.000294327 -0.0220578 -0.034168 -0.0386245 -0.00283214 0.000333576 -0.00129971 0.0522185 0.0476327 -0.027546 -0.000228367 -0.0054861 -0.0141006 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 163 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 54.9643 0 0 newEnergyL 0 lastEnergy: 58.608 0 0 lastEnergyL: 0mActiveResiduals: 163 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -2.16218e-12 -7.65919e-14 1.11292e-12 6.89749e-13 -0.0103283 0.00974091 -0.00420062 -0.00237726 0.00677522 0.000649576 0.0111155 0.0177301 0.00957808 -0.00196077 0.00761849 0.00119036 -0.0313973 -0.019161 -0.00305963 -0.00563869 0.00421302 0.00415237 -0.0452586 -0.0134675 -0.0048806 -0.00551208 0.00727096 0.00272948 0.0321688 -0.0217685 -0.0116231 -0.00536083 0.000996233 0.00407109 0.0118065 -0.0288721 0.00734521 -0.00648575 0.00313202 0.00181926 0.0186098 0.00342804 -0.0248212 -0.00212824 0.000930395 0.00298998 0.0156158 0.0498597 0.011353 0.00423374 -0.000225668 0.00229875 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 163 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 54.4902 0 0 newEnergyL 0 lastEnergy: 54.9643 0 0 lastEnergyL: 0mActiveResiduals: 163 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 54.4902 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 163 INF|LocalMapper.cpp[optimize,345]: End Energy: 54.4902 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.587261 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.587261 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 194 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 194 with idx: 5 and allID: 897 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->194 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 194->161 INF|LocalMapper.cpp[marginalizeFrame,772]: 186<->194 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 194->186 INF|LocalMapper.cpp[marginalizeFrame,772]: 190<->194 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 194->190 INF|LocalMapper.cpp[marginalizeFrame,801]: 194 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 194 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 5569 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04b96103e0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 196 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 147 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 71 with distance 0.17Found rest min at: 146 with distance 0.048 overall min: 0.048 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 71 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 839 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 196 into DB 0.17 71 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 71 and real id(103) current kf: 196(901) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.908226 -0.0450553 -0.416048 1.0538 0.016277 0.997238 -0.0724621 0.807962 0.418164 0.0590399 0.906451 1.02838 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 103 currFrame: 196 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.908226 -0.0450553 -0.416048 1.0538 0.016277 0.997238 -0.0724621 0.807962 0.418164 0.0590399 0.906451 1.02838 avg 0.0105977 eye: 0.0112465 edge: 196 to 103 INF|Tracker.cpp[trackFrames,78]: initPose: 0.908226 -0.0450553 -0.416048 1.0538 0.016277 0.997238 -0.0724621 0.807962 0.418164 0.0590399 0.906451 1.02838 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 196 to 103 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 487(1311875589.464475) and 901(1311875603.276761) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.908226 -0.0450553 -0.416048 1.0538 0.016277 0.997238 -0.0724621 0.807962 0.418164 0.0590399 0.906451 1.02838 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 4,0.999542 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:142/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 196 to 103 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 487(1311875589.464475) and 901(1311875603.276761) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.892036 -0.218075 -0.395872 1.58403 0.2163 0.975059 -0.0497359 0.235987 0.396845 -0.0412607 0.916958 3.58463 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 1,0.999987 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:116/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 196 to 103 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 487(1311875589.464475) and 901(1311875603.276761) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.892177 -0.217847 -0.39568 1.58695 0.216063 0.975114 -0.0496864 0.234834 0.396657 -0.0411627 0.917043 3.58054 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 5,0.999083 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:147/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.889293 -0.233495 -0.39324 1.60495 0.229996 0.971536 -0.0567463 0.240522 0.395296 -0.0399793 0.917683 3.62598 INF|Mapper.cpp[getSurroundingFrames,126]: Surrounding frames start: 102 end 105 INF|Mapper.cpp[getSurroundingFrames,133]: lock surrounding frames INF|LoopCloser.cpp[assessLoopQuality,216]: frameData.getEdgesGood().empty(): 1 Input.cpp[readImages,206]: Got image from sensor!902 INF|Tracker.cpp[histogramVotingVerification,452]: o[0]: 11284 o[1]: 2 o[2]: 0 o[3]: 0 histWeights: 1 1 1.25 1.5overlap: 2 INF|Tracker.cpp[histogramVotingVerification,454]: Total: 364 INF|LoopCloser.cpp[checkPotentialLoop,340]: Loop assessment not valid for 103 and 196 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 196 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 196 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 5106 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 902 keyframes 197 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 903 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 475 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875603.314790 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 196 to 4526824896005833538 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.314790) and 901(1311875603.276761) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 1 0 0 0 0 1 0 0 0 0 1 0 INF|Tracker.cpp[trackFrameOnLvl,777]: (2, 1): FINISHED pyramid level 2 (stepsize too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:122/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 196 to 4526824896005833538 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.314790) and 901(1311875603.276761) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.999971 -0.00598041 0.00461997 0.0243998 0.0059827 0.999982 -0.000480643 -0.00814048 -0.00461702 0.00050827 0.999989 -0.00165105 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 5,0.999711 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:130/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 196 to 4526824896005833538 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.314790) and 901(1311875603.276761) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.999861 -0.0148265 0.00757199 0.00459446 0.0148082 0.999887 0.0024634 -0.0240736 -0.00760766 -0.00235093 0.999968 -0.0265715 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 6,0.999129 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:172/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 0.582116 resInfo good: 350, 14 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 536/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Ok T_ref_N: 0.999943 -0.00789504 0.00714088 0.0182904 0.00789669 0.999969 -0.000203232 0.00706637 -0.00713905 0.00025961 0.999974 -0.00895503 INF|PangolinDSOViewer.cpp[publishCamPose,731]: publishCamPose!902 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!903 INF|Input.cpp[getImages,132]: mNbReceivedImages!904 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 715 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!903 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 904 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875603.346716 Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!904 INF|Input.cpp[getImages,132]: mNbReceivedImages!905 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.999773 -0.0157875 0.0142828 0.0364601 0.0157941 0.999875 -0.000350063 0.0142788 -0.0142755 0.000575567 0.999898 -0.0180386 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 196 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.346716) and 901(1311875603.276761) on lvl: 2 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 2: 0.999773 -0.0157875 0.0142828 0.0364601 0.0157941 0.999875 -0.000350063 0.0142788 -0.0142755 0.000575567 0.999898 -0.0180386 INF|Tracker.cpp[trackFrameOnLvl,765]: (2, 5,0.999841 ): FINISHED pyramid level 2 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:103/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 196 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.346716) and 901(1311875603.276761) on lvl: 1 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 1: 0.989382 -0.0219343 -0.143674 0.7788 0.0333335 0.996441 0.0774205 -0.375543 0.141465 -0.0813876 0.986592 -0.343108 INF|Tracker.cpp[trackFrameOnLvl,765]: (1, 3,0.999337 ): FINISHED pyramid level 1 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:85/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 196 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.346716) and 901(1311875603.276761) on lvl: 0 INF|Tracker.cpp[trackFrameOnLvl,734]: Transformation before 0: 0.989151 -0.0270144 -0.144396 0.816307 0.0391525 0.995872 0.0818923 -0.400163 0.141588 -0.0866573 0.986125 -0.289606 INF|Tracker.cpp[trackFrameOnLvl,765]: (0, 2,0.99991 ): FINISHED pyramid level 0 (last residual reduction too small). INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:88/0 INF|Tracker.cpp[analyseTrackingResult,811]: opticalFlowThreshold: 1.78908 resInfo good: 276, 88 INF|System.cpp[trackNewestFrame,327]: Time for tracking: 397/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: NewKeyframe T_ref_N: 0.988525 -0.0338522 -0.147218 0.841959 0.0482811 0.994251 0.0955691 -0.480858 0.143137 -0.10158 0.984476 -0.269262 INF|Mapper.cpp[addKeyFrameHeaderAndId,394]: addKeyFrameHeaderAndId timestamp: 1311875603.346716 INF|DataStructures.cpp[makeKeyFrame,99]: Making 1311875603.346716 to keyframe with id: 0 INF|DataStructures.cpp[computeValidEdgePixels,207]: computingValidEdgePixels for 1311875603.346716 INF|DataStructures.cpp[computeValidEdgePixels,235]: Time for edge list computation: 508 size: 163 INF|Mapper.cpp[addKeyFrameToAll,454]: addKeyFrameHeaderAndId0 timestamp: 1311875603.346716 INF|Mapper.cpp[addKeyFrameToAll,459]: lock addKeyFrameToAll frames mode! INF|LocalMapper.cpp[flagFramesForMarginalization,1005]: flagFramesForMarginalization7 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 794 keyframeId: 161 score: -7.57658 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 883 keyframeId: 186 score: -5.83883 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 889 keyframeId: 190 score: -7.12835 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 892 keyframeId: 192 score: -13.5729 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 894 keyframeId: 193 score: -10.4939 FTL|LocalMapper.cpp[flagFramesForMarginalization,1036]: frameIdAll: 900 keyframeId: 195 score: -11.5751 INF|WindowedOptimizer.cpp[takeData,246]: takeData: 197 = 197 INF|LocalMapper.cpp[addNewResidualsForOldPoints,88]: addNewResidualsForOldPoints! INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbce86c0 fh1 0x3ec60b00fh->id: 161 197 903goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbce86c0 fh1 0x7f04bbde81e0fh->id: 186 197 903goodE: 8 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbce86c0 fh1 0x7f04ca284480fh->id: 190 197 903goodE: 12 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbce86c0 fh1 0x7f04bbceda80fh->id: 192 197 903goodE: 2 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbce86c0 fh1 0x7f04ca27cdc0fh->id: 193 197 903goodE: 4 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbce86c0 fh1 0x7f04b0f327c0fh->id: 195 197 903goodE: 1 INF|LocalMapper.cpp[addNewResidualsForOldPoints,93]: refFrameNew: 0x7f04bbce86c0 fh1 0x7f04b96103e0fh->id: 196 197 903goodE: 0 INF|LocalMapper.cpp[activatePointsMT,943]: Making new distance map for refFrameNew197 INF|LocalMapper.cpp[activateEdges_Reductor,929]: Added: 15 out of 16 immature points to active points INF|LocalMapper.cpp[activatePointsMT,973]: optEdgePixels.size: 16 newEdgePixels: 16 INF|LocalMapper.cpp[localMappingLinear,601]: Window poses before optimize: INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 208 ERR|LocalMapper.cpp[optimize,259]: Time for linearize and calcEnergy: 34 lastEnergy: 77.0148 0 0 ERR|LocalMapper.cpp[optimize,266]: Time for applyRes_Reductor: 4 INF|LocalMapper.cpp[optimize,276]: Start Energy: 77.0148 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,282]: Iteration: 0 lastX: -3.34138e-13 -1.60795e-14 -3.50412e-12 2.52418e-12 -0.002627 0.0134619 -0.0285337 -0.00894595 -0.00389507 0.0247068 -0.0427022 -0.0386998 0.00489042 0.00559367 -0.000415615 0.0259239 0.0183548 0.0748849 -0.0145693 0.0178828 5.47398e-06 0.0233804 0.0236464 0.0274967 -0.00578781 0.016004 -0.00156626 0.0241395 -0.0413513 0.0305755 -0.0647354 0.0154429 0.000948283 0.0252886 -0.0458678 0.0158828 0.0347902 0.0170482 0.00721928 0.0218755 0.0636798 0.0857792 -0.0135005 0.0201122 -0.00305817 0.0161611 -0.0991919 -0.0225396 -0.191241 0.0128686 0.00218621 0.0325508 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 208 INF|LocalMapper.cpp[optimize,306]: 0: new Energy: 70.2641 0 0 newEnergyL 0 lastEnergy: 77.0148 0 0 lastEnergyL: 0mActiveResiduals: 208 INF|LocalMapper.cpp[optimize,282]: Iteration: 1 lastX: 2.38812e-12 -1.31299e-12 1.1617e-12 1.06175e-13 -0.000249309 -0.000698387 -2.84694e-06 -7.58712e-05 -9.95988e-05 0.000255604 0.0113074 -0.0050684 -0.0188685 -0.000449628 -0.00203585 0.000845995 -0.0176816 0.0283364 -0.0132546 0.00221325 0.0015271 -0.00166091 -0.0291557 0.0241571 0.0229811 0.000381405 0.00462728 -0.00429543 -0.0550306 0.0371906 0.036767 0.00218118 0.00759001 -0.00490392 0.0180548 0.0800795 -0.00985654 0.00503024 -0.00166627 -0.00560578 -0.0817743 0.109395 0.00812246 0.00841893 0.00705827 -0.00377547 0.0425379 0.103925 -0.0158541 0.0101835 -0.00380068 0.0015994 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 208 INF|LocalMapper.cpp[optimize,306]: 1: new Energy: 69.5328 0 0 newEnergyL 0 lastEnergy: 70.2641 0 0 lastEnergyL: 0mActiveResiduals: 208 INF|LocalMapper.cpp[optimize,282]: Iteration: 2 lastX: -1.93499e-12 1.79922e-12 4.98522e-13 -6.84395e-13 0.0181078 0.0429448 0.0113237 0.0141486 -0.00799174 -0.00424208 -0.0308515 0.0381849 0.0102223 0.010718 -0.00669496 -0.0104467 0.0770365 -0.0129444 0.0246826 0.00553001 -0.00564561 -0.0131353 0.0929645 0.0139034 0.00642517 0.00888202 -0.0122583 -0.00962114 0.0524542 -0.041784 -0.0987307 0.00287656 -0.0131839 -0.00300209 -0.0978766 0.0813336 0.0156308 0.0108808 0.0050572 -0.011108 0.0191051 -0.00818176 -0.0357372 -0.0042857 -0.00161604 -0.0184515 -0.106386 -0.0969809 0.118689 -0.0173037 0.014221 -0.0238354 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 208 INF|LocalMapper.cpp[optimize,306]: 2: new Energy: 66.9986 0 0 newEnergyL 0 lastEnergy: 69.5328 0 0 lastEnergyL: 0mActiveResiduals: 208 INF|LocalMapper.cpp[optimize,282]: Iteration: 3 lastX: 4.91081e-13 6.44721e-13 -4.50977e-13 -1.80616e-12 -0.0366036 0.000318334 0.033554 0.0223973 -0.00628474 0.0205471 0.0148401 -0.0542241 0.00548128 0.0293728 -0.00400026 0.00656867 -0.00840595 -0.0406413 0.0236261 0.0263323 0.00553781 -0.0120974 -0.0175608 -0.0166345 0.00031647 0.0261791 0.00411486 -0.0109661 -0.0084165 0.0179946 0.00887263 0.0293641 4.90698e-05 -0.00760288 0.0270445 0.0142554 0.042207 0.0270834 0.000420695 -0.0171766 -0.0488138 0.0253217 0.139914 0.0289945 0.0091948 -0.011624 0.0276418 0.000709843 -0.266084 0.0305748 -0.0171989 0.00655251 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 208 INF|LocalMapper.cpp[optimize,306]: 3: new Energy: 68.0044 0 0 newEnergyL 0 lastEnergy: 66.9986 0 0 lastEnergyL: 0mActiveResiduals: 208 INF|LocalMapper.cpp[optimize,282]: Iteration: 4 lastX: -3.84877e-13 -6.60473e-13 3.20056e-13 2.10582e-12 0.00125322 -0.0184261 0.00566691 -0.0193634 0.00577196 -0.00929832 0.0313745 0.00498221 0.000973708 -0.0231538 0.00252998 0.00152718 -0.0610409 0.0405695 -0.00429413 -0.0164165 0.000413683 0.014254 -0.064347 0.0117007 0.0101397 -0.0168408 0.00409962 0.0146726 -0.021318 -0.0291476 -0.00064184 -0.0223513 0.00190437 0.00886172 0.0167466 -0.103241 -0.0177068 -0.022969 -0.00326463 0.0231531 0.0049562 0.00243086 -0.0427496 -0.01718 -0.00410059 0.00705886 0.0703118 0.0934309 0.0364816 -0.00672743 -0.00372057 0.00627357 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 208 INF|LocalMapper.cpp[optimize,306]: 4: new Energy: 64.7711 0 0 newEnergyL 0 lastEnergy: 68.0044 0 0 lastEnergyL: 0mActiveResiduals: 208 INF|LocalMapper.cpp[optimize,282]: Iteration: 5 lastX: -1.34153e-12 7.62868e-13 8.18091e-13 1.51948e-13 0.00143138 -5.91162e-05 -0.031806 -0.0204711 0.00817909 -0.00171967 -0.0185018 0.010608 0.00657053 -0.0191403 0.00805502 0.00809944 -0.00672193 0.0140704 -0.024811 -0.0160911 0.000163996 0.0210722 0.0727988 -0.0157263 -0.0122562 -0.0192339 -0.00322428 0.013567 -0.0350632 0.00426444 0.00128849 -0.0145797 0.00762705 0.0179887 -0.0674869 0.0215567 -0.0111135 -0.0134359 0.0097874 0.0146847 -0.0173075 0.0192347 -0.014145 -0.00757955 0.00313486 0.0216394 0.0986218 -0.0201981 0.0666354 -0.01156 -0.00104926 0.0141613 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 208 INF|LocalMapper.cpp[optimize,306]: 5: new Energy: 64.2548 0 0 newEnergyL 0 lastEnergy: 64.7711 0 0 lastEnergyL: 0mActiveResiduals: 208 INF|LocalMapper.cpp[optimize,334]: Last Energy after break: 64.2548 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[linearizeAll,483]: linearizeAll! 208 INF|LocalMapper.cpp[optimize,345]: End Energy: 64.2548 0 0 lastEnergyL: 0 INF|LocalMapper.cpp[optimize,356]: statistics_lastFineTrackRMSE: 0.574031 INF|LocalMapper.cpp[localMappingLinear,604]: Window poses after optimize: INF|LocalMapper.cpp[localMappingLinear,606]: RMSE: 0.574031 INF|LocalMapper.cpp[removeOutliers,680]: dropPointsF in removeOutliers! INF|LocalMapper.cpp[flagPointsForRemoval,658]: before: removeOutOfBounds INF|LocalMapper.cpp[flagPointsForRemoval,665]: after: removeOutOfBounds INF|LocalMapper.cpp[localMappingLinear,613]: dropPointsF after flagPointsForRemoval! INF|LocalMapper.cpp[localMappingLinear,627]: Window poses before updatePosesAfterLocalMapper: INF|Mapper.cpp[updatePosesAfterLocalMapper,720]: Waiting for lock! updatePosesAfterLocalMapper INF|LocalMapper.cpp[localMappingLinear,634]: Window poses after updatePosesAfterLocalMapper: INF|LocalMapper.cpp[marginalizeFrame,728]: marginalizeFrame: 192 data: 0 INF|LocalMapper.cpp[marginalizeFrame,764]: Marginalizing frame: 192 with idx: 3 and allID: 892 frame is in DB: 1 inloop: 0 INF|LocalMapper.cpp[marginalizeFrame,772]: 161<->192 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 0 for 192->161 INF|LocalMapper.cpp[marginalizeFrame,772]: 186<->192 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 1 for 192->186 INF|LocalMapper.cpp[marginalizeFrame,772]: 190<->192 isInFernDb: 1, inLoop: 0 INF|LocalMapper.cpp[marginalizeFrame,780]: Adding constraint 2 for 192->190 INF|LocalMapper.cpp[marginalizeFrame,801]: 192 with: 3 enough constraints! INF|LocalMapper.cpp[marginalizeFrame,833]: Marginalizing frame: 192 size: 8 INF|LocalMapper.cpp[marginalizeFrame,835]: After marginalizing frame size: 7 INF|Mapper.cpp[addKeyFrameToAll,481]: Time for local mapping: 4744 INF|Mapper.cpp[addKeyFrameToAll,485]: loopCloserLinear0x7f04bbce86c0 INF|LoopCloser.cpp[loopCloserLinear,91]: nnNeighbor: -1 distance: inf newFrame: 197 INF|fernrelocaliser.cpp[ProcessFrame,149]: before findMostSimilar: -1 -1 INF|fernrelocaliser.cpp[ProcessFrame,150]: before code: INF|RelocDatabase.cpp[computeDistancesToKeyframes,62]: mTotalEntries 148 INF|fernrelocaliser.cpp[ProcessFrame,196]: Found matching at: 70 with distance 0.182Found rest min at: 147 with distance 0.062 overall min: 0.062 time: 0 INF|fernrelocaliser.cpp[ProcessFrame,218]: ret: 70 INF|LoopCloser.cpp[loopCloserLinear,95]: Time for frame processing: 741 INF|LoopCloser.cpp[loopCloserLinear,128]: Not inserted keyframe 197 into DB 0.182 70 INF|LoopCloser.cpp[loopCloserLinear,130]: Loop Closure: Neighbor id db: 70 and real id(101) current kf: 197(903) INF|LoopCloser.cpp[checkPotentialLoop,248]: T_cand_curr_init: 0.922209 -0.0817489 -0.377953 0.102427 -0.00933878 0.972405 -0.233112 1.2019 0.38658 0.218507 0.895997 1.1659 INF|LoopCloser.cpp[optimizeLoopClosure,176]: Optimizing refFrame: 101 currFrame: 197 INF|LoopCloser.cpp[optimizeLoopClosure,188]: Choose R,T init! Init: 0.922209 -0.0817489 -0.377953 0.102427 -0.00933878 0.972405 -0.233112 1.2019 0.38658 0.218507 0.895997 1.1659 avg 0.0166096 eye: 0.022764 edge: 197 to 101 INF|Tracker.cpp[trackFrames,78]: initPose: 0.922209 -0.0817489 -0.377953 0.102427 -0.00933878 0.972405 -0.233112 1.2019 0.38658 0.218507 0.895997 1.1659 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 197 to 101 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 478(1311875589.164868) and 903(1311875603.346716) on lvl: 2 FTL|Tracker.cpp[trackFrameOnLvl,724]: LOST because pixel < 200 INF|Tracker.cpp[trackFrames,88]: Problems with tracking on lvl: 2: Lost INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:10/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 197 to 101 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 478(1311875589.164868) and 903(1311875603.346716) on lvl: 1 FTL|Tracker.cpp[trackFrameOnLvl,724]: LOST because pixel < 200 INF|Tracker.cpp[trackFrames,88]: Problems with tracking on lvl: 1: Lost INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:8/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 197 to 101 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 478(1311875589.164868) and 903(1311875603.346716) on lvl: 0 FTL|Tracker.cpp[trackFrameOnLvl,724]: LOST because pixel < 200 INF|Tracker.cpp[trackFrames,88]: Problems with tracking on lvl: 0: Lost INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:9/0 INF|LoopCloser.cpp[optimizeLoopClosure,203]: Tracked T_l_c: 0.922209 -0.0817489 -0.377953 0.102427 -0.00933878 0.972405 -0.233112 1.2019 0.38658 0.218507 0.895997 1.1659 ERR|LoopCloser.cpp[checkPotentialLoop,345]: Bad loop closure 197 and 101 INF|LoopCloser.cpp[loopCloserLinear,138]: Not a valid loop, adding keyframe 197 to DB INF|fernrelocaliser.cpp[insertFrame,116]: Inserting: 197 INF|Mapper.cpp[addKeyFrameToAll,489]: Time for loop closer: 893 INF|Mapper.cpp[addKeyFrameToAll,496]: STATUS: frames: 904 keyframes 198 INF|PangolinDSOViewer.cpp[pushLiveFrame,778]: Time for pushingLiveFrame: 527 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!904 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 905 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,192]: readImages loop! INF|Input.cpp[getImages,128]: getimages!905 INF|Input.cpp[getImages,132]: mNbReceivedImages!906 INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875603.384544 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.997859 -0.00377577 -0.0652984 0.373168 0.00676288 0.998938 0.0455852 -0.216009 0.0650569 -0.0459292 0.996824 -0.0824725 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 197 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.384544) and 903(1311875603.346716) on lvl: 2 FTL|Tracker.cpp[trackFrameOnLvl,724]: LOST because pixel < 200 INF|Tracker.cpp[trackFrames,88]: Problems with tracking on lvl: 2: Lost INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:10/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 197 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.384544) and 903(1311875603.346716) on lvl: 1 FTL|Tracker.cpp[trackFrameOnLvl,724]: LOST because pixel < 200 INF|Tracker.cpp[trackFrames,88]: Problems with tracking on lvl: 1: Lost INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:8/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 197 to 0 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.384544) and 903(1311875603.346716) on lvl: 0 FTL|Tracker.cpp[trackFrameOnLvl,724]: LOST because pixel < 200 INF|Tracker.cpp[trackFrames,88]: Problems with tracking on lvl: 0: Lost INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:11/0 INF|Tracker.cpp[findInitAndTrackFrames,155]: Tracking lost! INF|System.cpp[trackNewestFrame,327]: Time for tracking: 100/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Lost T_ref_N: 1 0 0 0 0 1 0 0 0 0 1 0 ERR|System.cpp[trackNewestFrame,349]: Tracking LOST! nFramesTracker: 904 lost in last frame: 0 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! Input.cpp[readImages,206]: Got image from sensor!905 Input.cpp[readImages,215]: mInputFrameQueue: 1 Input.cpp[readImages,218]: mNbOfImages: 906 INF|System.cpp[startSystem,229]: input is still active! INF|System.cpp[startSystem,231]: Got frame! INF|DataStructures.cpp[computeOptimizationStructure,141]: Adding distancetransform for frame: 1311875603.414505 INF|System.cpp[trackNewestFrame,313]: Time for computing poses: 4 INF|Tracker.cpp[trackFrames,78]: initPose: 0.991448 -0.00454033 -0.130422 0.751737 0.0164697 0.995757 0.0905357 -0.433024 0.129457 -0.0919094 0.987316 -0.130485 INF|Tracker.cpp[trackFrames,82]: Tracking level: 2 from 197 to 4552328041388310528 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.414505) and 903(1311875603.346716) on lvl: 2 FTL|Tracker.cpp[trackFrameOnLvl,724]: LOST because pixel < 200 INF|Tracker.cpp[trackFrames,88]: Problems with tracking on lvl: 2: Lost INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 2:11/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 1 from 197 to 4552328041388310528 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.414505) and 903(1311875603.346716) on lvl: 1 FTL|Tracker.cpp[trackFrameOnLvl,724]: LOST because pixel < 200 INF|Tracker.cpp[trackFrames,88]: Problems with tracking on lvl: 1: Lost INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 1:8/0 INF|Tracker.cpp[trackFrames,82]: Tracking level: 0 from 197 to 4552328041388310528 INF|Tracker.cpp[trackFrameOnLvl,718]: Computing rel. transformation between: 0(1311875603.414505) and 903(1311875603.346716) on lvl: 0 FTL|Tracker.cpp[trackFrameOnLvl,724]: LOST because pixel < 200 INF|Tracker.cpp[trackFrames,88]: Problems with tracking on lvl: 0: Lost INF|Tracker.cpp[trackFrames,97]: Time for tracking at lvl: 0:11/0 INF|Tracker.cpp[findInitAndTrackFrames,155]: Tracking lost! INF|System.cpp[trackNewestFrame,327]: Time for tracking: 105/0 INF|System.cpp[trackNewestFrame,336]: Tracking Status: Lost T_ref_N: 1 0 0 0 0 1 0 0 0 0 1 0 ERR|System.cpp[trackNewestFrame,349]: Tracking LOST! nFramesTracker: 905 lost in last frame: 1 INF|Mapper.cpp[setToRelocalisationMode,182]: Deleting only a few kfs! INF|Mapper.cpp[setToRelocalisationMode,196]: lock relocalisation mode! INF|LocalMapper.h[stopLocalMapping,68]: Stopping mStopLocalMapping INF|LocalMapper.cpp[resetLocalMapper,1253]: resetLocalMapper: INF|LocalMapper.cpp[resetLocalMapper,1257]: resetLocalMapper: INF|LocalMapper.cpp[resetLocalMapper,1264]: resetLocalMapper: INF|LocalMapper.cpp[resetLocalMapper,1280]: frame: 0x3ec60b00 INF|LocalMapper.cpp[resetLocalMapper,1298]: Adding constraint 0 for 161->186 INF|LocalMapper.cpp[resetLocalMapper,1318]: 161 with: 1 enough constraints! INF|LocalMapper.cpp[resetLocalMapper,1280]: frame: 0x7f04bbde81e0 INF|LocalMapper.cpp[resetLocalMapper,1298]: Adding constraint 1 for 186->161 INF|LocalMapper.cpp[resetLocalMapper,1318]: 186 with: 2 enough constraints! INF|LocalMapper.cpp[resetLocalMapper,1280]: frame: 0x7f04ca284480 INF|LocalMapper.cpp[resetLocalMapper,1280]: frame: 0x7f04ca27cdc0 INF|LocalMapper.cpp[resetLocalMapper,1280]: frame: 0x7f04b0f327c0 INF|LocalMapper.cpp[resetLocalMapper,1280]: frame: 0x7f04b96103e0 INF|LocalMapper.cpp[resetLocalMapper,1280]: frame: 0x7f04bbce86c0 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 0 fId: 0 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 1 fId: 1 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 2 fId: 3 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 3 fId: 6 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 4 fId: 8 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 5 fId: 9 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 6 fId: 11 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 7 fId: 12 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 8 fId: 14 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 9 fId: 15 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 10 fId: 16 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 11 fId: 17 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 12 fId: 18 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 13 fId: 19 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 14 fId: 20 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 15 fId: 21 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 16 fId: 23 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 17 fId: 25 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 18 fId: 27 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 19 fId: 29 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 20 fId: 31 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 21 fId: 35 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 22 fId: 37 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 23 fId: 39 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 24 fId: 42 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 25 fId: 46 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 26 fId: 52 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 27 fId: 56 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 28 fId: 70 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 29 fId: 85 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 30 fId: 94 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 31 fId: 103 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 32 fId: 111 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 33 fId: 121 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 34 fId: 132 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 35 fId: 138 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 36 fId: 144 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 37 fId: 150 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 38 fId: 158 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 39 fId: 163 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 40 fId: 172 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 41 fId: 175 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 42 fId: 177 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 43 fId: 182 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 44 fId: 184 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 45 fId: 187 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 46 fId: 193 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 47 fId: 199 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 48 fId: 204 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 49 fId: 208 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 50 fId: 216 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 51 fId: 221 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 52 fId: 227 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 53 fId: 231 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 54 fId: 234 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 55 fId: 238 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 56 fId: 242 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 57 fId: 245 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 58 fId: 250 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 59 fId: 255 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 60 fId: 259 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 61 fId: 263 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 62 fId: 266 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 63 fId: 270 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 64 fId: 275 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 65 fId: 281 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 66 fId: 284 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 67 fId: 289 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 68 fId: 295 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 69 fId: 300 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 70 fId: 306 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 71 fId: 314 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 72 fId: 322 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 73 fId: 328 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 74 fId: 332 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 75 fId: 337 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 76 fId: 341 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 77 fId: 347 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 78 fId: 352 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 79 fId: 358 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 80 fId: 362 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 81 fId: 367 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 82 fId: 372 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 83 fId: 378 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 84 fId: 384 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 85 fId: 390 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 86 fId: 394 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 87 fId: 399 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 88 fId: 405 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 89 fId: 412 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 90 fId: 426 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 91 fId: 432 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 92 fId: 436 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 93 fId: 440 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 94 fId: 443 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 95 fId: 446 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 96 fId: 450 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 97 fId: 454 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 98 fId: 459 tillId: 884 Input.cpp[readImages,192]: readImages loop! INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 99 fId: 465 tillId: 884 INF|Input.cpp[getImages,128]: getimages!906 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 100 fId: 473 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 101 fId: 478 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 102 fId: 482 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 103 fId: 487 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 104 fId: 491 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 105 fId: 495 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 106 fId: 500 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 107 fId: 506 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 108 fId: 518 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 109 fId: 526 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 110 fId: 533 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 111 fId: 538 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 112 fId: 543 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 113 fId: 549 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 114 fId: 554 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 115 fId: 557 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 116 fId: 561 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 117 fId: 565 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 118 fId: 567 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 119 fId: 570 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 120 fId: 575 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 121 fId: 577 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 122 fId: 580 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 123 fId: 582 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 124 fId: 585 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 125 fId: 589 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 126 fId: 593 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 127 fId: 596 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 128 fId: 599 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 129 fId: 603 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 130 fId: 607 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 131 fId: 611 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 132 fId: 615 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 133 fId: 619 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 134 fId: 624 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 135 fId: 634 tillId: 884 INF|Input.cpp[getImages,132]: mNbReceivedImages!907 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 136 fId: 641 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 137 fId: 646 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 138 fId: 651 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 139 fId: 657 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 140 fId: 664 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 141 fId: 667 tillId: 884 INF|Mapper.cpp[setToRelocalisationMode,202]: kf before delete: 142 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c.j: 134 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 144/ c.j: 145 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 145/ c.j: 116 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 145/ c.j: 134 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 145/ c.j: 146 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 146/ c.j: 116 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 146/ c.j: 134 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 146/ c.j: 147 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 147/ c.j: 116 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 147/ c.j: 134 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 147/ c.j: 148 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 148/ c.j: 116 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 148/ c.j: 134 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 148/ c.j: 149 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 149/ c.j: 116 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 149/ c.j: 134 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 149/ c.j: 150 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 150/ c.j: 116 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 150/ c.j: 134 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 150/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 151/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 151/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 151/ c.j: 165 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 152/ c.j: 116 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 152/ c.j: 134 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 152/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 153/ c.j: 116 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 153/ c.j: 134 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 153/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 154/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 154/ c.j: 165 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 154/ c.j: 183 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 155/ c.j: 116 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 155/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 155/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 156/ c.j: 116 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 156/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 156/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 157/ c.j: 116 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 157/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 157/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 158/ c.j: 116 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 158/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 158/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 159/ c.j: 116 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 159/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 159/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 160/ c.j: 116 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 160/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 160/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 161/ c.j: 186 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 162/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 162/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 162/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 163/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 163/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 163/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 164/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 164/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 164/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 165/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 165/ c.j: 184 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 165/ c.j: 185 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 166/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 166/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 166/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 167/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 167/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 167/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 168/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 168/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 168/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 169/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 169/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 169/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 170/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 170/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 170/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 171/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 171/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 171/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 172/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 172/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 172/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 173/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 173/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 173/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 174/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 174/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 174/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 175/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 175/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 175/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 176/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 176/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 176/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 177/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 177/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 177/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 181/ c.j: 151 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 181/ c.j: 154 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 181/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 183/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 183/ c.j: 165 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 183/ c.j: 184 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 184/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 184/ c.j: 186 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 185/ c.j: 161 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 185/ c.j: 184 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 185/ c.j: 186 INF|LocalMapper.cpp[reAddConnectionsFromFrames,1224]: c.i 186/ c.j: 161 Segmentation fault (core dumped) yhzhao@yhzhao:~/test_git/RESLAM$ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~