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
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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!
