1.html

<pre>
    num_seq = 1
    file name: dataset-MH01_mono
    Loading images for sequence 0...LOADED!
    
    -------
    
    ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
    ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
    This program comes with ABSOLUTELY NO WARRANTY;
    This is free software, and you are welcome to redistribute it
    under certain conditions. See LICENSE.txt.
    
    Input sensor was set to: Monocular
    Loading settings from ./Examples/Monocular/EuRoC.yaml
    Camera1.k3 optional parameter does not exist...
        -Loaded camera 1
        -Loaded image info
        -Loaded ORB settings
    Viewer.imageViewScale optional parameter does not exist...
        -Loaded viewer settings
    System.LoadAtlasFromFile optional parameter does not exist...
    System.SaveAtlasToFile optional parameter does not exist...
        -Loaded Atlas settings
    System.thFarPoints optional parameter does not exist...
        -Loaded misc parameters
    ----------------------------------
    SLAM settings: 
        -Camera 1 parameters (Pinhole): [ 458.65399169921875 457.29598999023438 367.21499633789062 248.375 ]
        -Camera 1 distortion parameters: [  -0.28340810537338257 0.073959067463874817 0.00019359000725671649 1.7618711353861727e-05 ]
        -Original image size: [ 752 , 480 ]
        -Current image size: [ 600 , 350 ]
        -Camera 1 parameters after resize: [  365.94735717773438 333.44500732421875 292.99069213867188 181.10678100585938 ]
        -Sequence FPS: 20
        -Features per image: 1000
        -ORB scale factor: 1.2000000476837158
        -ORB number of scales: 8
        -Initial FAST threshold: 20
        -Min FAST threshold: 7
    
    
    Loading ORB Vocabulary. This could take a while...
    Vocabulary loaded!
    
    Initialization of Atlas from scratch 
    Creation of new map with id: 0
    Creation of new map with last KF id: 0
    Seq. Name: 
    There are 1 cameras in the atlas
    Camera 0 is pinhole
    First KF:0; Map init KF:0
    New Map created with 271 points
    Shutdown
    
     TIME STATS in ms (mean$\pm$std)
    OpenCV version: 4.2.0
    ---------------------------
    Tracking
    
    ORB Extraction: 35.919$\pm$8.1442
    Pose Prediction: 7.1588$\pm$2.1136
    LM Track: 14.891$\pm$6.0091
    New KF decision: 0.12734$\pm$0.093816
    Total Tracking: 62.565$\pm$15.482
    
    
    
    Local Mapping
    
    KF Insertion: 21.131$\pm$12.235
    MP Culling: 0.2205$\pm$0.10632
    MP Creation: 105.4$\pm$59.997
    LBA: 519.68$\pm$498.02
    KF Culling: 56.578$\pm$45.32
    Total Local Mapping: 699.11$\pm$579.93
    ---------------------------
    
    LBA complexity (mean$\pm$std)
    LBA Edges: 21600$\pm$14943
    LBA KF optimized: 38.466$\pm$25.737
    LBA KF fixed: 53.919$\pm$48.381
    LBA MP: -nan$\pm$-nan
    
    LBA executions: 296
    LBA aborts: 29
    ---------------------------
    
    Map complexity
    KFs in map: 234
    MPs in map: 8946
    ---------------------------
    
    Place Recognition (mean$\pm$std)
    Database Query: 1.3909$\pm$1.0095
    SE3 estimation: 10.651$\pm$15.942
    Total Place Recognition: 11.986$\pm$16.512
    
    
    Loop Closing (mean$\pm$std)
    Loop Fusion: -nan$\pm$-nan
    Essential Graph: -nan$\pm$-nan
    Total Loop Closing: -nan$\pm$-nan
    
    Num exec: 0
    Number of KFs: -nan$\pm$-nan
    
    Map Merging (mean$\pm$std)
    Merge Maps: -nan$\pm$-nan
    Welding BA: -nan$\pm$-nan
    Optimization Ess.: -nan$\pm$-nan
    Total Map Merging: -nan$\pm$-nan
    
    Num exec: 0
    Number of KFs: -nan$\pm$-nan
    Number of MPs: -nan$\pm$-nan
    
    Full GBA (mean$\pm$std)
    GBA: -nan$\pm$-nan
    Map Update: -nan$\pm$-nan
    Total Full GBA: -nan$\pm$-nan
    
    Num exec: 0
    Num abort: 0
    Number of KFs: -nan$\pm$-nan
    Number of MPs: -nan$\pm$-nan
    
    Saving trajectory to f_dataset-MH01_mono.txt ...
    There are 1 maps in the atlas
      Map 0 has 234 KFs
    
    End of saving trajectory to f_dataset-MH01_mono.txt ...
    
    Saving keyframe trajectory to kf_dataset-MH01_mono.txt ...
    </pre>