笔记——输出信息

Input sensor was set to: Monocular

Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!


Camera Parameters:
- fx: 311.204
- fy: 312.853
- cx: 633.37
- cy: 349.392
- k1: 0.081844
- k2: 0.00687138
- p1: -0.000841546
- p2: -0.00100432
- fps: 30
- color order: RGB (ignored if grayscale)

ORB Extractor Parameters:
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7

-------
Start processing sequence ...
Images in the sequence: 9376


(ORB-SLAM2: Current Frame:6506): GLib-GIO-CRITICAL **: g_dbus_connection_register_object: assertion 'G_IS_DBUS_CONNECTION (connection)' failed

(ORB-SLAM2: Current Frame:6506): GLib-GIO-CRITICAL **: g_dbus_connection_register_object: assertion 'G_IS_DBUS_CONNECTION (connection)' failed

(ORB-SLAM2: Current Frame:6506): GLib-GIO-CRITICAL **: g_dbus_connection_get_unique_name: assertion 'G_IS_DBUS_CONNECTION (connection)' failed
New Map created with 87 points
Wrong initialization, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New Map created with 95 points
Wrong initialization, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New Map created with 85 points
Wrong initialization, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New Map created with 93 points
Wrong initialization, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New Map created with 94 points
Wrong initialization, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New Map created with 114 points
hose loading methodLoop detected!
Local Mapping STOP
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
Local Mapping RELEASE
Starting Global Bundle Adjustment
Global Bundle Adjustment finished
Updating map ...
Local Mapping STOP
Local Mapping RELEASE
Map updated!
into shutdown.
mpLocalMapper finish.
mpLoopCloser finish.
mpViewer = 0xf62260
mpViewer finish.
mpViewer = 0xf62260
mpViewr->isFinisher0
-------

median tracking time: 0.0514219
mean tracking time: 0.0695737

Saving keyframe trajectory to KeyFrameTrajectory.txt ...

trajectory saved!

转载于:https://www.cnblogs.com/wongyi/p/8619180.html

  • 0
    点赞
  • 0
    收藏
    觉得还不错? 一键收藏
  • 0
    评论
评论
添加红包

请填写红包祝福语或标题

红包个数最小为10个

红包金额最低5元

当前余额3.43前往充值 >
需支付:10.00
成就一亿技术人!
领取后你会自动成为博主和红包主的粉丝 规则
hope_wisdom
发出的红包
实付
使用余额支付
点击重新获取
扫码支付
钱包余额 0

抵扣说明:

1.余额是钱包充值的虚拟货币,按照1:1的比例进行支付金额的抵扣。
2.余额无法直接购买下载,可以购买VIP、付费专栏及课程。

余额充值