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output.txt
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output.txt
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[0m[ INFO] [1679660292.440431470]: Opening /home/zheng/projects/ni_slam_ws/src/ni_slam/bag/icl_ofkt1_without_first_frame.bag[0m
Waiting 1 seconds after advertising topics... done.
Hit space to toggle paused, or 's' to step.
[RUNNING] Bag Time: 1678417386.019812 Duration: 0.000000 / 32.133333 [RUNNING] Bag Time: 1678417386.049242 Duration: 0.029430 / 32.133333 [0m[ INFO] [1679660292.668996035]: Get axonometric image_height parameter: 360[0m
[0m[ INFO] [1679660292.670279957]: Get axonometric image_width parameter: 480[0m
[0m[ INFO] [1679660292.670633445]: Get depth image_height parameter: 480[0m
[0m[ INFO] [1679660292.670990680]: Get depth image_width parameter: 640[0m
[0m[ INFO] [1679660292.671266264]: Get filename prefix: /home/zheng/projects/ni_slam_ws/src/ni_slam/bag/icl_ofkt1_without_first_frame[0m
[0m[ INFO] [1679660292.671614600]: Get filename prefix: /home/zheng/datasets/public_dataset/ICL-NUIM/of_kt1/associate_gt.txt[0m
[0m[ INFO] [1679660292.671912939]: Get max time diff for topics: 0.030000[0m
[0m[ INFO] [1679660292.672199938]: Get PSR bound: 50.000000[0m
[0m[ INFO] [1679660292.672489353]: Get Visualization flag: true[0m
[0m[ INFO] [1679660292.672709224]: Get queue_size_cloud parameter: 1000[0m
[0m[ INFO] [1679660292.672916632]: Get queue_size_imu parameter: 10[0m
[0m[ INFO] [1679660292.673093815]: Get queue_size_sync parameter: 1000[0m
[0m[ INFO] [1679660292.703495316]: Get rotation imu: [0.000000, 0.000000, 0.000000][0m
[0m[ INFO] [1679660292.704044754]: Get adaptive parameter mu: 0.800000[0m
[0m[ INFO] [1679660292.704558831]: Get parent frame: world[0m
[0m[ INFO] [1679660292.704854897]: Get child frame: ni_slam[0m
[0m[ INFO] [1679660292.705242725]: Get refined_frame/publish_flag: false[0m
[0m[ INFO] [1679660292.705703534]: Get keypose_with_covariance publish_flag: True[0m
[0m[ INFO] [1679660292.705925430]: Get twist_with_covariance publish_flag: False[0m
Callback:: 6.633116 Hz
--------------processing 1.png-------------------
translation is: 0, 0, 0,
rotation is: 0
[RUNNING] Bag Time: 1678417386.083340 Duration: 0.063528 / 32.133333 --------------processing 2.png-------------------
**************************mode0: [-0.000260546, -0.999978, 0.00654312]
totally 14469 points
**************************mode8: [-0.00186943, -0.00576416, -0.999981]
totally 29128 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.963097
-0.131582
-0.234799
axis-angle:
0.00281979
-0.000385252
-0.000687454
translation is: 0, 0, 0,
rotation is: 0.00292784
[RUNNING] Bag Time: 1678417386.114410 Duration: 0.094599 / 32.133333 [0m[ INFO] [1679660293.787782333, 1678417386.126531701]: (0,0); Res: 0.008333m Timing: 0.0293s = 34.17Hz; Dt: 0.0333s PSR: -nan;[0m
--------------processing 3.png-------------------
**************************mode0: [-0.000592061, -0.999998, 0.00108788]
totally 14772 points
**************************mode8: [-0.00177996, -0.00103476, -0.999997]
totally 28968 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.97373
-0.12542
0.190053
axis-angle:
-0.00255691
0.000329339
-0.000499059
translation is: 0, 0, 0,
rotation is: 0.00262589
[RUNNING] Bag Time: 1678417386.146652 Duration: 0.126841 / 32.133333 [0m[ INFO] [1679660293.822807065, 1678417386.161438788]: (304,252); Res: 0.008333m Timing: 0.0330s = 30.26Hz; Dt: 0.0333s PSR: 07.7;[0m
--------------processing 4.png-------------------
**************************mode0: [0.000135454, -0.999997, 0.00177237]
totally 14809 points
**************************mode8: [6.245e-19, -4.79616e-16, -0.999999]
totally 29134 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.873588
-0.416418
0.251875
axis-angle:
-0.00300893
0.00143428
-0.000867543
translation is: 0, 0, 0,
rotation is: 0.00344434
[RUNNING] Bag Time: 1678417386.181561 Duration: 0.161749 / 32.133333 [0m[ INFO] [1679660293.860352704, 1678417386.195002715]: (0,0); Res: 0.008333m Timing: 0.0354s = 28.24Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 5.png-------------------
[RUNNING] Bag Time: 1678417386.215752 Duration: 0.195940 / 32.133333 **************************mode0: [0.000594339, -0.999997, 0.00176201]
totally 15036 points
**************************mode7: [7.97972e-19, -1.19904e-16, -0.999999]
totally 29232 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.783652
-0.37798
0.492972
axis-angle:
-0.00297633
0.00143558
-0.00187232
translation is: 0, 0, 0,
rotation is: 0.00379803
[0m[ INFO] [1679660293.896829687, 1678417386.238628379]: (0,0); Res: 0.008333m Timing: 0.0343s = 29.15Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 6.png-------------------
[RUNNING] Bag Time: 1678417386.248688 Duration: 0.228877 / 32.133333 **************************mode0: [0.00113833, -0.999998, -0.00019791]
totally 15052 points
**************************mode8: [4.12864e-18, -5.32907e-17, -0.999999]
totally 28821 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.829665
-0.412895
0.375731
axis-angle:
-0.00297554
0.00148082
-0.00134754
translation is: 0, 0, 0,
rotation is: 0.00358644
[0m[ INFO] [1679660293.942027125, 1678417386.281169056]: (0,0); Res: 0.008333m Timing: 0.0430s = 23.24Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 7.png-------------------
[RUNNING] Bag Time: 1678417386.281169 Duration: 0.261357 / 32.133333 **************************mode0: [0.000721062, -0.999995, -0.00288072]
totally 15332 points
**************************mode8: [2.84495e-18, 0.000224265, -0.999999]
totally 28962 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.941143
-0.272796
0.199582
axis-angle:
-0.00860898
0.00249536
-0.00182565
translation is: 0, 0, 0,
rotation is: 0.00914737
[RUNNING] Bag Time: 1678417386.316345 Duration: 0.296533 / 32.133333 [0m[ INFO] [1679660293.990390267, 1678417386.327868788]: (0,0); Res: 0.008333m Timing: 0.0432s = 23.16Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 8.png-------------------
[RUNNING] Bag Time: 1678417386.347994 Duration: 0.328182 / 32.133333 **************************mode0: [0.000819242, -0.999998, -0.00138718]
totally 15049 points
**************************mode8: [0.000828605, 0.00583423, -0.999982]
totally 28818 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.905242
-0.363574
0.21989
axis-angle:
-0.00368097
0.00147839
-0.000894136
translation is: 0, 0, 0,
rotation is: 0.00406628
[0m[ INFO] [1679660294.036231601, 1678417386.371233832]: (0,0); Res: 0.008333m Timing: 0.0433s = 23.11Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 9.png-------------------
[RUNNING] Bag Time: 1678417386.381295 Duration: 0.361483 / 32.133333 **************************mode0: [0.00118797, -0.999998, -0.000643416]
totally 15043 points
**************************mode8: [-1.12757e-19, 2.13596e-16, -0.999999]
totally 28810 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.851577
-0.42032
0.313285
axis-angle:
-0.0029845
0.00147309
-0.00109796
translation is: 0, 0, 0,
rotation is: 0.00350467
[0m[ INFO] [1679660294.078690471, 1678417386.417301946]: (0,0); Res: 0.008333m Timing: 0.0396s = 25.26Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 10.png-------------------
[RUNNING] Bag Time: 1678417386.417302 Duration: 0.397490 / 32.133333 **************************mode0: [0.000858063, -0.999997, -0.00188237]
totally 15053 points
**************************mode8: [0.000225975, 0.00209361, -0.999997]
totally 28923 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.926918
-0.294292
0.232841
axis-angle:
-0.00558633
0.00177363
-0.00140328
translation is: 0, 0, 0,
rotation is: 0.00602678
[RUNNING] Bag Time: 1678417386.450825 Duration: 0.431013 / 32.133333 [0m[ INFO] [1679660294.129364150, 1678417386.462239728]: (0,0); Res: 0.008333m Timing: 0.0475s = 21.06Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 11.png-------------------
[RUNNING] Bag Time: 1678417386.482366 Duration: 0.462554 / 32.133333 **************************mode0: [0.00124824, -0.999998, -0.000726191]
totally 15047 points
**************************mode8: [6.8522e-19, 0.00059659, -0.999999]
totally 28876 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.898627
-0.392796
0.195401
axis-angle:
-0.00328904
0.00143766
-0.000715183
translation is: 0, 0, 0,
rotation is: 0.00366007
translation is: 0, 0, 0,
rotation is: 0
[RUNNING] Bag Time: 1678417386.519457 Duration: 0.499645 / 32.133333 R_gt_last: 1 0 0
0 1 0
0 0 1
R cur: 0.999995, -0.0028098, 0.00095607, -0.000627059
gt axis-angle: -0.00561961
0.00191214
-0.00125412
[0m[ INFO] [1679660294.192694693, 1678417386.529514698]: (0,0); Res: 0.008125m Timing: 0.0606s = 16.51Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 12.png-------------------
[RUNNING] Bag Time: 1678417386.549639 Duration: 0.529827 / 32.133333 **************************mode0: [2.77556e-19, -0.999999, 0.000291078]
totally 14763 points
**************************mode8: [1.43115e-18, 1.77375e-17, -0.999999]
totally 28791 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 2 (axis is _v2)**
axis-angle:
-6.37121e-20
-6.57868e-07
0.00219269
translation is: 0, 0, 0,
rotation is: 0.00219269
[0m[ INFO] [1679660294.238838375, 1678417386.572797159]: (0,0); Res: 0.008125m Timing: 0.0427s = 23.43Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 13.png-------------------
[RUNNING] Bag Time: 1678417386.582869 Duration: 0.563058 / 32.133333 **************************mode0: [-0.00041011, -0.999995, 0.00291699]
totally 14743 points
**************************mode8: [0.0010547, -0.00602205, -0.99998]
totally 28709 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 2 (axis is _v2)**
axis-angle:
-1.28615e-19
-1.14822e-06
0.00441977
translation is: 0, 0, 0,
rotation is: 0.00441977
[RUNNING] Bag Time: 1678417386.614585 Duration: 0.594773 / 32.133333 [0m[ INFO] [1679660294.289886814, 1678417386.614585322]: (0,0); Res: 0.008125m Timing: 0.0484s = 20.65Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 14.png-------------------
[RUNNING] Bag Time: 1678417386.652817 Duration: 0.633005 / 32.133333 **************************mode0: [-0.00117577, -0.999989, 0.00433981]
totally 14560 points
**************************mode7: [-0.000607237, -0.00603937, -0.999981]
totally 28591 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.926643
-0.139655
0.349041
axis-angle:
0.00350096
-0.000527633
0.00131871
translation is: 0, 0, 0,
rotation is: 0.00377811
[0m[ INFO] [1679660294.338401117, 1678417386.672956210]: (0,0); Res: 0.008125m Timing: 0.0455s = 21.98Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 15.png-------------------
[RUNNING] Bag Time: 1678417386.683018 Duration: 0.663206 / 32.133333 **************************mode0: [-0.00193872, -0.999981, 0.00574536]
totally 14464 points
**************************mode8: [-0.00144478, -0.0060518, -0.99998]
totally 28569 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.919668
-0.217062
0.327252
axis-angle:
0.00601098
-0.00141872
0.00213893
translation is: 0, 0, 0,
rotation is: 0.00653603
[0m[ INFO] [1679660294.382349907, 1678417386.715886166]: (0,0); Res: 0.008125m Timing: 0.0413s = 24.21Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 16.png-------------------
[RUNNING] Bag Time: 1678417386.715886 Duration: 0.696074 / 32.133333 **************************mode0: [-0.00273087, -0.999979, 0.00575311]
totally 14468 points
**************************mode8: [-0.00114172, -0.00454135, -0.999988]
totally 28544 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.912976
-0.222051
0.342298
axis-angle:
0.0061876
-0.00150493
0.00231989
translation is: 0, 0, 0,
rotation is: 0.00677739
[RUNNING] Bag Time: 1678417386.743094 Duration: 0.723283 / 32.133333 [0m[ INFO] [1679660294.427595375, 1678417386.765266202]: (0,0); Res: 0.008125m Timing: 0.0415s = 24.07Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 17.png-------------------
[RUNNING] Bag Time: 1678417386.785391 Duration: 0.765579 / 32.133333 **************************mode0: [-0.00290361, -0.999977, 0.00594206]
totally 14472 points
**************************mode8: [-0.00197809, -0.00605516, -0.999979]
totally 28604 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.917605
-0.289452
0.272429
axis-angle:
0.0061557
-0.00194177
0.00182757
translation is: 0, 0, 0,
rotation is: 0.00670844
[0m[ INFO] [1679660294.471713407, 1678417386.805511890]: (0,0); Res: 0.008125m Timing: 0.0415s = 24.07Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 18.png-------------------
[RUNNING] Bag Time: 1678417386.815572 Duration: 0.795760 / 32.133333 **************************mode0: [-7.37161e-05, -0.999983, 0.0056769]
totally 14476 points
**************************mode7: [-0.00190185, -0.00446718, -0.999987]
totally 28527 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.906636
-0.393849
0.15131
axis-angle:
0.00535988
-0.00232837
0.000894522
translation is: 0, 0, 0,
rotation is: 0.00591184
[RUNNING] Bag Time: 1678417386.852348 Duration: 0.832537 / 32.133333 [0m[ INFO] [1679660294.521114094, 1678417386.852348406]: (0,0); Res: 0.008125m Timing: 0.0459s = 21.77Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 19.png-------------------
[RUNNING] Bag Time: 1678417386.882781 Duration: 0.862969 / 32.133333 **************************mode0: [0.00139354, -0.999982, 0.00563513]
totally 14584 points
**************************mode9: [-0.00228154, -0.00507144, -0.999984]
totally 28717 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.915242
-0.400948
-0.0396482
axis-angle:
0.00475436
-0.00208278
-0.000205959
translation is: 0, 0, 0,
rotation is: 0.00519465
[0m[ INFO] [1679660294.571974914, 1678417386.908105192]: (0,0); Res: 0.008125m Timing: 0.0481s = 20.79Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 20.png-------------------
[RUNNING] Bag Time: 1678417386.918165 Duration: 0.898353 / 32.133333 **************************mode0: [0.00284436, -0.999989, 0.00346923]
totally 14744 points
**************************mode8: [-0.00273929, -0.00605711, -0.999977]
totally 28788 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.86031
-0.391701
-0.326248
axis-angle:
0.0017953
-0.000817401
-0.000680816
translation is: 0, 0, 0,
rotation is: 0.0020868
[RUNNING] Bag Time: 1678417386.948344 Duration: 0.928532 / 32.133333 [0m[ INFO] [1679660294.630088388, 1678417386.961925192]: (0,0); Res: 0.008125m Timing: 0.0545s = 18.34Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 21.png-------------------
[RUNNING] Bag Time: 1678417386.982046 Duration: 0.962234 / 32.133333 **************************mode0: [0.00346862, -0.99999, 0.00229848]
totally 14787 points
**************************mode8: [-0.00372614, -0.00598274, -0.999974]
totally 28750 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 2 (axis is _v2)**
axis-angle:
1.32835e-19
1.43596e-06
-0.00480313
translation is: 0, 0, 0,
rotation is: 0.00480313
[RUNNING] Bag Time: 1678417387.016136 Duration: 0.996324 / 32.133333 translation is: 0, 0, 0,
rotation is: 0
R_gt_last: 0.999997 0.00124874 0.00191565
-0.00125948 0.999983 0.00561837
-0.00190861 -0.00562077 0.999982
R cur: 0.999997, -0.000887515, 0.000257359, -0.0020332
gt axis-angle: 0.00384813
-0.00138711
-0.00281252
[0m[ INFO] [1679660294.700582568, 1678417387.038974314]: (0,0); Res: 0.008125m Timing: 0.0667s = 14.99Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 22.png-------------------
[RUNNING] Bag Time: 1678417387.049056 Duration: 1.029244 / 32.133333 **************************mode0: [0.00396222, -0.999989, 0.00200211]
totally 14841 points
**************************mode8: [-1.04083e-19, -8.7083e-18, -0.999999]
totally 29241 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 1 (no rotation)**
translation is: 0, 0, 0,
rotation is: 0
[RUNNING] Bag Time: 1678417387.080920 Duration: 1.061108 / 32.133333 [0m[ INFO] [1679660294.750403056, 1678417387.080920004]: (0,0); Res: 0.008125m Timing: 0.0459s = 21.77Hz; Dt: 0.0333s PSR: nan;[0m
Callback:: 21.455499 Hz
--------------processing 23.png-------------------
**************************mode0: [0.00476702, -0.999987, 0.00126488]
totally 14893 points
**************************mode8: [6.93889e-20, -4.70725e-16, -0.999999]
totally 29264 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 2 (axis is _v2)**
axis-angle:
-2.91027e-20
-5.37104e-19
-0.00190427
translation is: 0, 0, 0,
rotation is: 0.00190427
[RUNNING] Bag Time: 1678417387.115463 Duration: 1.095652 / 32.133333 [0m[ INFO] [1679660294.795484294, 1678417387.128095369]: (0,0); Res: 0.008125m Timing: 0.0417s = 24.00Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 24.png-------------------
[RUNNING] Bag Time: 1678417387.148234 Duration: 1.128422 / 32.133333 **************************mode0: [0.00520257, -0.999985, 0.00106091]
totally 14907 points
**************************mode8: [2.56739e-18, 1.95399e-16, -0.999999]
totally 29135 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 2 (axis is _v2)**
axis-angle:
-3.22479e-20
-6.25689e-19
-0.00219089
translation is: 0, 0, 0,
rotation is: 0.00219089
[0m[ INFO] [1679660294.838501371, 1678417387.175397493]: (0,0); Res: 0.008125m Timing: 0.0406s = 24.66Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 25.png-------------------
[RUNNING] Bag Time: 1678417387.185458 Duration: 1.165647 / 32.133333 **************************mode0: [0.0047625, -0.999988, 0.000516336]
totally 14899 points
**************************mode8: [-0.00561802, 0.00106011, -0.999983]
totally 29206 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 2 (axis is _v2)**
axis-angle:
-4.00014e-20
-6.84496e-19
-0.00241521
translation is: 0, 0, 0,
rotation is: 0.00241521
[RUNNING] Bag Time: 1678417387.215639 Duration: 1.195827 / 32.133333 [0m[ INFO] [1679660294.883853179, 1678417387.215639227]: (0,0); Res: 0.008125m Timing: 0.0425s = 23.51Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 26.png-------------------
**************************mode0: [0.00545523, -0.999983, 0.00148369]
totally 14874 points
**************************mode8: [-3.60822e-18, 1.77636e-17, -0.999999]
totally 29274 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 2 (axis is _v2)**
axis-angle:
-3.72341e-20
-6.42558e-19
-0.00225818
translation is: 0, 0, 0,
rotation is: 0.00225818
[RUNNING] Bag Time: 1678417387.247983 Duration: 1.228171 / 32.133333 [0m[ INFO] [1679660294.928914488, 1678417387.263030742]: (0,0); Res: 0.008125m Timing: 0.0418s = 23.91Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 27.png-------------------
[RUNNING] Bag Time: 1678417387.283157 Duration: 1.263345 / 32.133333 **************************mode0: [0.00621018, -0.999978, 0.00181053]
totally 14854 points
**************************mode8: [-0.00605739, -0.00189189, -0.999979]
totally 29208 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 2 (axis is _v2)**
axis-angle:
-4.60325e-20
-7.84013e-19
-0.00271606
translation is: 0, 0, 0,
rotation is: 0.00271606
[0m[ INFO] [1679660294.973458552, 1678417387.308719854]: (0,0); Res: 0.008125m Timing: 0.0416s = 24.03Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 28.png-------------------
[RUNNING] Bag Time: 1678417387.318782 Duration: 1.298970 / 32.133333 **************************mode0: [0.00638093, -0.999978, 0.00114486]
totally 14869 points
**************************mode8: [-1.2039e-17, 3.64153e-16, -0.999999]
totally 29301 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 2 (axis is _v2)**
axis-angle:
-5.41601e-20
-9.43851e-19
-0.00330033
translation is: 0, 0, 0,
rotation is: 0.00330033
[RUNNING] Bag Time: 1678417387.351931 Duration: 1.332119 / 32.133333 [0m[ INFO] [1679660295.018693947, 1678417387.351930817]: (0,0); Res: 0.008125m Timing: 0.0424s = 23.56Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 29.png-------------------
[RUNNING] Bag Time: 1678417387.382971 Duration: 1.363159 / 32.133333 **************************mode0: [0.00685906, -0.999975, 0.00109227]
totally 14837 points
**************************mode8: [4.51028e-19, 1.5099e-16, -0.999999]
totally 29220 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 2 (axis is _v2)**
axis-angle:
-6.22569e-20
-1.09841e-18
-0.00382813
translation is: 0, 0, 0,
rotation is: 0.00382813
[0m[ INFO] [1679660295.066048976, 1678417387.404437028]: (0,0); Res: 0.008125m Timing: 0.0438s = 22.81Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 30.png-------------------
[RUNNING] Bag Time: 1678417387.414500 Duration: 1.394689 / 32.133333 **************************mode0: [0.00727713, -0.999971, 0.00182503]
totally 14774 points
**************************mode8: [4.77048e-19, 2.61995e-16, -0.999999]
totally 29228 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 2 (axis is _v2)**
axis-angle:
-6.85441e-20
-1.21746e-18
-0.00420351
translation is: 0, 0, 0,
rotation is: 0.00420351
[0m[ INFO] [1679660295.112546935, 1678417387.450605001]: (0,0); Res: 0.008125m Timing: 0.0435s = 22.97Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 31.png-------------------
[RUNNING] Bag Time: 1678417387.450605 Duration: 1.430793 / 32.133333 **************************mode0: [0.00792768, -0.999965, 0.0024518]
totally 14777 points
**************************mode8: [2.4633e-18, 1.82111e-16, -0.999999]
totally 29210 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 2 (axis is _v2)**
axis-angle:
-7.27433e-20
-1.30111e-18
-0.00449932
[RUNNING] Bag Time: 1678417387.486039 Duration: 1.466227 / 32.133333 translation is: 0, 0, 0,
rotation is: 0.00449932
translation is: 0, 0, 0,
rotation is: 0
R_gt_last: 0.999992 0.00406593 0.000518325
-0.00406684 0.99999 0.00177398
-0.000511107 -0.00177607 0.999998
R cur: 0.99999, -0.000984925, 0.000139998, -0.00429289
gt axis-angle: -0.000193192
-0.000231103
-0.00451966
[0m[ INFO] [1679660295.173441317, 1678417387.506153838]: (0,0); Res: 0.008125m Timing: 0.0572s = 17.47Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 32.png-------------------
[RUNNING] Bag Time: 1678417387.516213 Duration: 1.496401 / 32.133333 **************************mode0: [0.00853839, -0.999962, 0.000395929]
totally 14932 points
**************************mode8: [-0.00203563, 0.00112694, -0.999996]
totally 29264 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 2 (axis is _v2)**
axis-angle:
-1.64831e-20
-5.85292e-19
-0.00206337
translation is: 0, 0, 0,
rotation is: 0.00206337
[RUNNING] Bag Time: 1678417387.549154 Duration: 1.529342 / 32.133333 [0m[ INFO] [1679660295.221684102, 1678417387.549154250]: (0,0); Res: 0.008125m Timing: 0.0445s = 22.47Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 33.png-------------------
[RUNNING] Bag Time: 1678417387.581604 Duration: 1.561792 / 32.133333 **************************mode0: [0.00983952, -0.99995, 0.00140881]
totally 14895 points
**************************mode9: [3.76435e-18, 3.9968e-16, -0.999999]
totally 29379 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 2 (axis is _v2)**
axis-angle:
-1.68865e-20
-5.97143e-19
-0.00208
translation is: 0, 0, 0,
rotation is: 0.00208
[0m[ INFO] [1679660295.271657898, 1678417387.606190397]: (0,0); Res: 0.008125m Timing: 0.0465s = 21.50Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 34.png-------------------
[RUNNING] Bag Time: 1678417387.616251 Duration: 1.596439 / 32.133333 **************************mode0: [0.0103685, -0.999945, 0.0012084]
totally 14945 points
**************************mode7: [-9.97465e-19, -7.99533e-17, -0.999999]
totally 29337 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 2 (axis is _v2)**
axis-angle:
-2.08053e-20
-7.25085e-19
-0.00257094
translation is: 0, 0, 0,
rotation is: 0.00257094
[RUNNING] Bag Time: 1678417387.648357 Duration: 1.628545 / 32.133333 [0m[ INFO] [1679660295.323108470, 1678417387.648357165]: (0,0); Res: 0.008125m Timing: 0.0490s = 20.43Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 35.png-------------------
[RUNNING] Bag Time: 1678417387.681566 Duration: 1.661754 / 32.133333 **************************mode0: [0.0105324, -0.999943, -0.000523358]
totally 15054 points
**************************mode8: [5.46437e-19, 3.37204e-16, -0.999999]
totally 29206 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 2 (axis is _v2)**
axis-angle:
-3.01726e-20
-1.06176e-18
-0.00376887
translation is: 0, 0, 0,
rotation is: 0.00376887
[0m[ INFO] [1679660295.371795504, 1678417387.706673081]: (0,0); Res: 0.008125m Timing: 0.0453s = 22.05Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 36.png-------------------
[RUNNING] Bag Time: 1678417387.716736 Duration: 1.696924 / 32.133333 **************************mode0: [0.0104573, -0.999943, -0.00149611]
totally 15100 points
**************************mode8: [4.23272e-18, 7.48627e-05, -0.999999]
totally 29084 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.647065
-0.62089
0.442495
axis-angle:
-0.00258338
0.00247887
-0.00176664
translation is: 0, 0, 0,
rotation is: 0.00399245
[0m[ INFO] [1679660295.415969860, 1678417387.747754200]: (0,0); Res: 0.008125m Timing: 0.0417s = 24.00Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 37.png-------------------
[RUNNING] Bag Time: 1678417387.747754 Duration: 1.727942 / 32.133333 **************************mode0: [0.0102339, -0.999946, -0.00100397]
totally 15075 points
**************************mode8: [0.00217049, 0.000894404, -0.999996]
totally 29025 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.405535
-0.862903
0.301561
axis-angle:
-0.00242037
0.0051501
-0.00179982
translation is: 0, 0, 0,
rotation is: 0.00596834
[RUNNING] Bag Time: 1678417387.782046 Duration: 1.762234 / 32.133333 [0m[ INFO] [1679660295.461891285, 1678417387.794951639]: (0,0); Res: 0.008125m Timing: 0.0423s = 23.62Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 38.png-------------------
[RUNNING] Bag Time: 1678417387.815096 Duration: 1.795284 / 32.133333 **************************mode0: [0.00998032, -0.999949, -0.00105714]
totally 15210 points
**************************mode8: [0.0059366, 0.00213942, -0.999979]
totally 29024 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.331225
-0.931178
0.152309
axis-angle:
-0.00243647
0.0068497
-0.00112037
translation is: 0, 0, 0,
rotation is: 0.00735596
[0m[ INFO] [1679660295.504247330, 1678417387.840477560]: (0,0); Res: 0.008125m Timing: 0.0397s = 25.16Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 39.png-------------------
[RUNNING] Bag Time: 1678417387.850538 Duration: 1.830727 / 32.133333 **************************mode0: [0.00811022, -0.999952, -0.00532092]
totally 15485 points
**************************mode8: [0.00819128, 0.00639764, -0.999945]
totally 28888 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.620118
-0.784498
-0.00416935
axis-angle:
-0.00672262
0.00850464
4.51994e-05
translation is: 0, 0, 0,
rotation is: 0.0108409
[RUNNING] Bag Time: 1678417387.885888 Duration: 1.866076 / 32.133333 [0m[ INFO] [1679660295.550709370, 1678417387.885887850]: (0,0); Res: 0.008125m Timing: 0.0435s = 22.99Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 40.png-------------------
**************************mode0: [0.00569809, -0.999953, -0.00774346]
totally 15578 points
**************************mode8: [0.00826417, 0.00824356, -0.999931]
totally 28841 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.695983
-0.701451
-0.153538
axis-angle:
-0.00894296
0.00901321
0.00197287
translation is: 0, 0, 0,
rotation is: 0.0128494
[RUNNING] Bag Time: 1678417387.916229 Duration: 1.896417 / 32.133333 [0m[ INFO] [1679660295.595228633, 1678417387.928542088]: (0,0); Res: 0.008125m Timing: 0.0405s = 24.69Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 41.png-------------------
[RUNNING] Bag Time: 1678417387.950781 Duration: 1.930970 / 32.133333 **************************mode0: [0.00407371, -0.999975, -0.00564526]
totally 15463 points
**************************mode8: [0.00948327, 0.00702105, -0.999929]
totally 28704 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.58232
-0.766515
-0.270849
axis-angle:
-0.00738456
0.00972038
0.00343471
translation is: 0, 0, 0,
rotation is: 0.0126813
translation is: 0, 0, 0,
rotation is: 0
R_gt_last: 0.999963 0.00858542 0.00028845
-0.00858597 0.999961 0.00196863
-0.000271537 -0.00197103 0.999998
R cur: 0.999968, -0.00522284, 0.00555516, -0.00229127
gt axis-angle: -0.00852292
0.01079
0.00401253
[0m[ INFO] [1679660295.646466787, 1678417387.981781447]: (0,0); Res: 0.008125m Timing: 0.0483s = 20.71Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 42.png-------------------
[RUNNING] Bag Time: 1678417387.981781 Duration: 1.961970 / 32.133333 **************************mode0: [0.00184212, -0.999977, -0.0063021]
totally 15339 points
**************************mode8: [0.00980168, 0.0066495, -0.999929]
totally 28809 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 1 (no rotation)**
translation is: 0, 0, 0,
rotation is: 0
[RUNNING] Bag Time: 1678417388.015737 Duration: 1.995925 / 32.133333 [0m[ INFO] [1679660295.692067067, 1678417388.028351487]: (0,0); Res: 0.008125m Timing: 0.0421s = 23.73Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 43.png-------------------
[RUNNING] Bag Time: 1678417388.048471 Duration: 2.028659 / 32.133333 **************************mode0: [0.0023477, -0.999984, -0.00485442]
totally 15329 points
**************************mode8: [0.0110398, 0.00696447, -0.999914]
totally 28999 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.179588
0.499851
0.847288
axis-angle:
0.000481011
0.00133881
0.00226939
translation is: 0, 0, 0,
rotation is: 0.00267842
[0m[ INFO] [1679660295.734633735, 1678417388.071277276]: (0,0); Res: 0.008125m Timing: 0.0400s = 25.00Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 44.png-------------------
[RUNNING] Bag Time: 1678417388.081367 Duration: 2.061555 / 32.133333 **************************mode0: [0.00232679, -0.999985, -0.00471384]
totally 15324 points
**************************mode8: [0.0130804, 0.00499421, -0.999901]
totally 28758 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.588643
0.76126
0.271998
axis-angle:
0.00237621
0.00307302
0.00109799
translation is: 0, 0, 0,
rotation is: 0.00403675
[0m[ INFO] [1679660295.782356240, 1678417388.116647758]: (0,0); Res: 0.008125m Timing: 0.0449s = 22.29Hz; Dt: 0.0333s PSR: nan;[0m
Callback:: 21.313674 Hz
--------------processing 45.png-------------------
[RUNNING] Bag Time: 1678417388.116648 Duration: 2.096836 / 32.133333 **************************mode0: [0.00476486, -0.999984, -0.00286778]
totally 15310 points
**************************mode8: [0.0151158, 0.00439096, -0.999875]
totally 28704 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.540807
0.824625
-0.165895
axis-angle:
0.00317377
0.00483938
-0.00097357
translation is: 0, 0, 0,
rotation is: 0.00586858
[RUNNING] Bag Time: 1678417388.149132 Duration: 2.129320 / 32.133333 [0m[ INFO] [1679660295.828141555, 1678417388.162687307]: (0,0); Res: 0.008125m Timing: 0.0421s = 23.75Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 46.png-------------------
[RUNNING] Bag Time: 1678417388.182815 Duration: 2.163003 / 32.133333 **************************mode0: [0.00761603, -0.999959, -0.00462213]
totally 15388 points
**************************mode8: [0.0168345, 0.00616846, -0.999838]
totally 28752 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.172103
0.876629
-0.449336
axis-angle:
0.00139184
0.00708952
-0.00363389
translation is: 0, 0, 0,
rotation is: 0.00808726
[0m[ INFO] [1679660295.874519958, 1678417388.208403158]: (0,0); Res: 0.008125m Timing: 0.0431s = 23.22Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 47.png-------------------
[RUNNING] Bag Time: 1678417388.218465 Duration: 2.198653 / 32.133333 **************************mode0: [0.010753, -0.999921, -0.00627742]
totally 15470 points
**************************mode8: [0.0191465, 0.00795166, -0.999784]
totally 28885 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.0368682
-0.883301
0.467354
axis-angle:
-0.000390195
0.00934844
-0.00494626
translation is: 0, 0, 0,
rotation is: 0.0105835
[RUNNING] Bag Time: 1678417388.249702 Duration: 2.229890 / 32.133333 [0m[ INFO] [1679660295.923240009, 1678417388.261263483]: (0,0); Res: 0.008125m Timing: 0.0460s = 21.76Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 48.png-------------------
[RUNNING] Bag Time: 1678417388.281387 Duration: 2.261575 / 32.133333 **************************mode0: [0.0132552, -0.999885, -0.0072825]
totally 15572 points
**************************mode8: [0.0194249, 0.0080988, -0.999778]
totally 28864 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.0603073
-0.753041
0.655204
axis-angle:
-0.000819048
0.0102272
-0.00889849
translation is: 0, 0, 0,
rotation is: 0.0135812
[0m[ INFO] [1679660295.964768236, 1678417388.304939746]: (0,0); Res: 0.008125m Timing: 0.0390s = 25.64Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 49.png-------------------
[RUNNING] Bag Time: 1678417388.315002 Duration: 2.295190 / 32.133333 **************************mode0: [0.0178887, -0.999813, -0.00725882]
totally 15818 points
**************************mode8: [0.0206534, 0.0119826, -0.999714]
totally 28874 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.24546
-0.614866
0.749459
axis-angle:
-0.00441356
0.0110558
-0.0134759
translation is: 0, 0, 0,
rotation is: 0.0179808
[0m[ INFO] [1679660296.008259464, 1678417388.348448220]: (0,0); Res: 0.008125m Timing: 0.0404s = 24.74Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 50.png-------------------
[RUNNING] Bag Time: 1678417388.348448 Duration: 2.328636 / 32.133333 **************************mode0: [0.0212155, -0.999739, -0.00831601]
totally 15989 points
**************************mode8: [0.0212074, 0.0152341, -0.999658]
totally 28813 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.351952
-0.539448
0.764935
axis-angle:
-0.00778907
0.0119386
-0.0169288
translation is: 0, 0, 0,
rotation is: 0.0221311
[RUNNING] Bag Time: 1678417388.382524 Duration: 2.362712 / 32.133333 [0m[ INFO] [1679660296.054234736, 1678417388.382524208]: (0,0); Res: 0.008125m Timing: 0.0427s = 23.44Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 51.png-------------------
[RUNNING] Bag Time: 1678417388.416606 Duration: 2.396794 / 32.133333 **************************mode0: [0.0241815, -0.999657, -0.00995562]
totally 16004 points
**************************mode8: [0.0210332, 0.0165309, -0.999641]
totally 28820 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.358524
-0.469895
0.806634
axis-angle:
-0.00893145
0.0117059
-0.0200947
translation is: 0, 0, 0,
rotation is: 0.0249117
translation is: 0, 0, 0,
rotation is: 0
R_gt_last: 0.999928 0.00452437 0.0111339
-0.00464042 0.999935 0.0104199
-0.011086 -0.0104708 0.999884
R cur: 0.999811, -0.00978096, 0.0113885, -0.0123917
gt axis-angle: -0.00903236
0.011753
-0.0201912
[0m[ INFO] [1679660296.112155635, 1678417388.449315252]: (0,0); Res: 0.008125m Timing: 0.0550s = 18.18Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 52.png-------------------
[RUNNING] Bag Time: 1678417388.449315 Duration: 2.429503 / 32.133333 **************************mode0: [0.0274964, -0.999546, -0.012234]
totally 16143 points
**************************mode8: [0.0205426, 0.0170002, -0.999643]
totally 29083 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 2 (axis is _v2)**
axis-angle:
5.34321e-05
4.19365e-05
-0.0025201
translation is: 0, 0, 0,
rotation is: 0.00252102
[RUNNING] Bag Time: 1678417388.481073 Duration: 2.461261 / 32.133333 [0m[ INFO] [1679660296.159019466, 1678417388.496966114]: (0,0); Res: 0.008125m Timing: 0.0436s = 22.96Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 53.png-------------------
[RUNNING] Bag Time: 1678417388.517090 Duration: 2.497278 / 32.133333 **************************mode0: [0.0302071, -0.999364, -0.0188958]
totally 16368 points
**************************mode8: [0.0203394, 0.0202893, -0.999586]
totally 29070 points
=====================================================================================
mode equal to 2
=====================================================================================
**in case 3**
N: 0.52366
0.16534
0.835729
axis-angle:
-0.00325578
-0.00102798
-0.00519602
translation is: 0, 0, 0,
rotation is: 0.00621735
[0m[ INFO] [1679660296.211897377, 1678417388.548005651]: (0,0); Res: 0.008125m Timing: 0.0483s = 20.68Hz; Dt: 0.0333s PSR: nan;[0m
--------------processing 54.png-------------------
[RUNNING] Bag Time: 1678417388.548006 Duration: 2.528194 / 32.133333 **************************mode0: [0.0317002, -0.99926, -0.0217159]