jskinn / dso-python Goto Github PK

loading data from ../sequence_13/images.zip!
loading calibration from ../sequence_13/camera.txt!
loading gammaCalib from ../sequence_13/pcalib.txt!
loading vignette from ../sequence_13/vignette.png!

=============== PRESET Settings: ===============
DEFAULT settings:
- no  real-time enforcing
- 2000 active points
- 5-7 active frames
- 1-6 LM iteration each KF
- original image resolution
==============================================
PHOTOMETRIC MODE WITH CALIBRATION!
got 1800 entries and 1800 files!
Reading Calibration from file ../sequence_13/camera.txt ... found!
found ATAN camera model, building rectifier.
Creating FOV undistorter
Input resolution: 1280 1024
In: 0.349153 0.436593 0.493140 0.499021 0.933271


Found fx=0.349153, fy=0.436593, cx=0.493140, cy=0.499021.
 I'm assuming this is the "relative" calibration file format,and will rescale this by image width / height to fx=446.915840, fy=447.071232, cx=630.719200, cy=510.497504.

Out: 0.400000 0.530000 0.500000 0.500000 0.000000
Output resolution: 640 480

Rectified Kamera Matrix:
  256     0 319.5
    0 254.4 239.5
    0     0     1

Reading Photometric Calibration from file ../sequence_13/pcalib.txt
Reading Vignette Image from ../sequence_13/vignette.png
Successfully read photometric calibration!
got 1800 images and 1800 timestamps and 1800 exposures.!
ImageFolderReader: got 1800 files in ../sequence_13/images.zip!
using pyramid levels 0 to 3. coarsest resolution: 80 x 60!
START PANGOLIN!
X11 Error: GLXBadFBConfig
Pangolin X11: Indirect GLX rendering context obtained
Initialization: keep 21.7% (need 2000, have 9201)!
INITIALIZE FROM INITIALIZER (2047 pts)!
SPARSITY:  MinActDist 2.100000 (need 2000 points, have 2047 points)!
OPTIMIZE 2047 pts, 2047 active res, 0 lin res!
Initial Error           A(539373.606970)=(AV inf). Num: A(0) + M(0); ab 0.000000 0.000000!
STEPS: A 0.0; B 2.7; R 12.4; T 33.7.    REJECT 0 (L -1.00, dir nan, ss 1.0):    A(678364.091956)=(AV 8.686). Num: A(1124) + M(0); ab -0.000020 -0.228851!
STEPS: A 0.0; B 1.2; R 3.8; T 12.8.     ACCEPT 1 (L -1.60, dir 0.97, ss 1.0):   A(590887.398140)=(AV 7.222). Num: A(1416) + M(0); ab -0.000030 -0.122949!
STEPS: A 0.0; B 0.3; R 0.9; T 2.3.      ACCEPT 2 (L -2.20, dir 0.52, ss 1.0):   A(531791.727600)=(AV 6.847). Num: A(1418) + M(0); ab -0.000032 -0.094246!
STEPS: A 0.0; B 0.0; R 0.8; T 2.0.      ACCEPT 3 (L -2.81, dir 0.89, ss 1.0):   A(518311.553136)=(AV 6.810). Num: A(1397) + M(0); ab -0.000031 -0.091141!
STEPS: A 0.0; B 0.5; R 0.2; T 0.6.      ACCEPT 4 (L -3.41, dir 0.55, ss 1.0):   A(512591.349404)=(AV 6.785). Num: A(1392) + M(0); ab -0.000029 -0.136543!
LOG 8: 6.773 fine. Res: 1392 A, 0 L, 0 M; (0 / 0) forceDrop. a=-0.000029, b=-0.136543. Window 8 (2)
Segmentation fault (core dumped)