├── .gitignore ├── LICENSE.md ├── README.md ├── common ├── Logger.py ├── __init__.py ├── criterion.py ├── optimizer.py ├── pose_utils.py ├── train.py ├── vis_utils.py └── visdom_utils.py ├── data ├── 7Scenes │ ├── chess │ │ ├── dso_poses │ │ │ ├── seq-01.txt │ │ │ ├── seq-02.txt │ │ │ ├── seq-03.txt │ │ │ ├── seq-04.txt │ │ │ ├── seq-05.txt │ │ │ └── seq-06.txt │ │ ├── pose_stats.txt │ │ ├── seq-01 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-02 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-03 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-04 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-05 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-06 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ └── stats.txt │ ├── crop_size.txt │ ├── fire │ │ ├── dso_poses │ │ │ ├── seq-01.txt │ │ │ ├── seq-02.txt │ │ │ ├── seq-03.txt │ │ │ └── seq-04.txt │ │ ├── pose_stats.txt │ │ ├── seq-01 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-02 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-03 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-04 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ └── stats.txt │ ├── heads │ │ ├── dso_poses │ │ │ ├── seq-01.txt │ │ │ └── seq-02.txt │ │ ├── pose_stats.txt │ │ ├── seq-01 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-02 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ └── stats.txt │ ├── office │ │ ├── dso_poses │ │ │ ├── seq-01.txt │ │ │ ├── seq-02.txt │ │ │ ├── seq-03.txt │ │ │ ├── seq-04.txt │ │ │ ├── seq-05.txt │ │ │ ├── seq-06.txt │ │ │ ├── seq-07.txt │ │ │ ├── seq-08.txt │ │ │ ├── seq-09.txt │ │ │ ├── seq-09_rev.txt │ │ │ └── seq-10.txt │ │ ├── pose_stats.txt │ │ ├── seq-01 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-02 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-03 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-04 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-05 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-06 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-07 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-08 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-09 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-10 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ └── stats.txt │ ├── pumpkin │ │ ├── dso_poses │ │ │ ├── seq-01.txt │ │ │ ├── seq-02.txt │ │ │ ├── seq-03.txt │ │ │ ├── seq-06.txt │ │ │ ├── seq-07.txt │ │ │ ├── seq-08.txt │ │ │ └── seq-10.txt │ │ ├── pose_stats.txt │ │ ├── seq-01 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-02 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-03 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-06 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-07 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-08 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ └── stats.txt │ ├── redkitchen │ │ ├── dso_poses │ │ │ ├── seq-01.txt │ │ │ ├── seq-02.txt │ │ │ ├── seq-03.txt │ │ │ ├── seq-04.txt │ │ │ ├── seq-05.txt │ │ │ ├── seq-06.txt │ │ │ ├── seq-07.txt │ │ │ ├── seq-08.txt │ │ │ ├── seq-11.txt │ │ │ ├── seq-12.txt │ │ │ ├── seq-13.txt │ │ │ └── seq-14.txt │ │ ├── pose_stats.txt │ │ ├── seq-01 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-02 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-03 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-04 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-05 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-06 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-07 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-08 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-11 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-12 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-13 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-14 │ │ │ ├── dso_vo_stats.pkl │ │ │ ├── libviso2_vo_stats.pkl │ │ │ └── orbslam_vo_stats.pkl │ │ └── stats.txt │ └── stairs │ │ ├── dso_poses │ │ ├── seq-01.txt │ │ ├── seq-02.txt │ │ ├── seq-03.txt │ │ ├── seq-04.txt │ │ ├── seq-05.txt │ │ └── seq-06.txt │ │ ├── pose_stats.txt │ │ ├── seq-01 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-02 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-03 │ │ ├── dso_vo_stats.pkl │ │ ├── libviso2_vo_stats.pkl │ │ └── orbslam_vo_stats.pkl │ │ ├── seq-04 │ │ ├── dso_vo_stats.pkl │ │ └── libviso2_vo_stats.pkl │ │ ├── seq-05 │ │ ├── dso_vo_stats.pkl │ │ └── libviso2_vo_stats.pkl │ │ ├── seq-06 │ │ ├── dso_vo_stats.pkl │ │ └── libviso2_vo_stats.pkl │ │ └── stats.txt ├── README.txt ├── RobotCar │ ├── crop_size.txt │ ├── full │ │ ├── 2014-11-28-12-07-13 │ │ │ ├── gps_vo_stats.pkl │ │ │ └── stereo_vo_stats.pkl │ │ ├── 2014-12-02-15-30-08 │ │ │ ├── gps_vo_stats.pkl │ │ │ └── stereo_vo_stats.pkl │ │ ├── 2014-12-09-13-21-02 │ │ │ ├── gps_vo_stats.pkl │ │ │ └── stereo_vo_stats.pkl │ │ ├── 2014-12-12-10-45-15 │ │ │ ├── gps_vo_stats.pkl │ │ │ └── stereo_vo_stats.pkl │ │ ├── pose_stats.txt │ │ └── stats.txt │ ├── loop │ │ ├── 2014-05-14-13-46-12 │ │ │ ├── gps_vo_stats.pkl │ │ │ └── stereo_vo_stats.pkl │ │ ├── 2014-05-14-13-50-20 │ │ │ ├── gps_vo_stats.pkl │ │ │ └── stereo_vo_stats.pkl │ │ ├── 2014-06-23-15-36-04 │ │ │ ├── gps_vo_stats.pkl │ │ │ └── stereo_vo_stats.pkl │ │ ├── 2014-06-23-15-41-25 │ │ │ ├── gps_vo_stats.pkl │ │ │ └── stereo_vo_stats.pkl │ │ ├── 2014-06-26-08-53-56 │ │ │ ├── gps_vo_stats.pkl │ │ │ └── stereo_vo_stats.pkl │ │ ├── 2014-06-26-09-24-58 │ │ │ ├── gps_vo_stats.pkl │ │ │ └── stereo_vo_stats.pkl │ │ ├── pose_stats.txt │ │ └── stats.txt │ ├── loop_1seq │ │ ├── 2014-05-14-13-46-12 │ │ ├── 2014-05-14-13-50-20 │ │ ├── 2014-06-23-15-36-04 │ │ ├── 2014-06-23-15-41-25 │ │ ├── 2014-06-26-08-53-56 │ │ ├── 2014-06-26-09-24-58 │ │ ├── pose_stats.txt │ │ └── stats.txt │ ├── loop_2seq │ │ ├── 2014-05-14-13-46-12 │ │ ├── 2014-05-14-13-50-20 │ │ ├── 2014-06-23-15-36-04 │ │ ├── 2014-06-23-15-41-25 │ │ ├── 2014-06-26-08-53-56 │ │ ├── 2014-06-26-09-24-58 │ │ ├── pose_stats.txt │ │ └── stats.txt │ ├── loop_3seq │ │ ├── 2014-05-14-13-46-12 │ │ ├── 2014-05-14-13-50-20 │ │ ├── 2014-06-23-15-36-04 │ │ ├── 2014-06-23-15-41-25 │ │ ├── 2014-06-26-08-53-56 │ │ ├── 2014-06-26-09-24-58 │ │ ├── pose_stats.txt │ │ └── stats.txt │ └── loop_4seq │ │ ├── 2014-05-14-13-46-12 │ │ ├── 2014-05-14-13-50-20 │ │ ├── 2014-06-23-15-36-04 │ │ ├── 2014-06-23-15-41-25 │ │ ├── 2014-06-26-08-53-56 │ │ ├── 2014-06-26-09-24-58 │ │ ├── pose_stats.txt │ │ └── stats.txt └── deepslam_data │ ├── .gitignore │ └── RobotCar │ ├── full │ ├── 2014-11-28-12-07-13 │ ├── 2014-12-02-15-30-08 │ ├── 2014-12-09-13-21-02 │ ├── 2014-12-12-10-45-15 │ ├── test_split.txt │ └── train_split.txt │ ├── loop │ ├── 2014-05-14-13-46-12 │ ├── 2014-05-14-13-50-20 │ ├── 2014-06-23-15-36-04 │ ├── 2014-06-23-15-41-25 │ ├── 2014-06-26-08-53-56 │ ├── 2014-06-26-09-24-58 │ ├── test_split.txt │ └── train_split.txt │ ├── loop_1seq │ ├── 2014-05-14-13-46-12 │ ├── 2014-05-14-13-50-20 │ ├── 2014-06-23-15-36-04 │ ├── 2014-06-23-15-41-25 │ ├── 2014-06-26-08-53-56 │ ├── 2014-06-26-09-24-58 │ ├── test_split.txt │ └── train_split.txt │ ├── loop_2seq │ ├── 2014-05-14-13-46-12 │ ├── 2014-05-14-13-50-20 │ ├── 2014-06-23-15-36-04 │ ├── 2014-06-23-15-41-25 │ ├── 2014-06-26-08-53-56 │ ├── 2014-06-26-09-24-58 │ ├── test_split.txt │ └── train_split.txt │ ├── loop_3seq │ ├── 2014-05-14-13-46-12 │ ├── 2014-05-14-13-50-20 │ ├── 2014-06-23-15-36-04 │ ├── 2014-06-23-15-41-25 │ ├── 2014-06-26-08-53-56 │ ├── 2014-06-26-09-24-58 │ ├── test_split.txt │ └── train_split.txt │ └── loop_4seq │ ├── 2014-05-14-13-46-12 │ ├── 2014-05-14-13-50-20 │ ├── 2014-06-23-15-36-04 │ ├── 2014-06-23-15-41-25 │ ├── 2014-06-26-08-53-56 │ ├── 2014-06-26-09-24-58 │ ├── test_split.txt │ └── train_split.txt ├── dataset_loaders ├── .gitignore ├── README.md ├── __init__.py ├── composite.py ├── robotcar.py ├── seven_scenes.py ├── time_imload.py └── utils.py ├── environment.yml ├── figures ├── 7Scenes_heads_mapnet+pgo.png ├── RobotCar_loop_mapnet+pgo.png ├── mapnet.png └── train.png ├── models ├── __init__.py ├── posenet.py └── vidloc.py └── scripts ├── .gitignore ├── __init__.py ├── align_vo_poses.py ├── align_vo_poses_7scenes.sh ├── calc_pose_stats.py ├── calc_pose_stats_7scenes.sh ├── configs ├── README.md ├── mapnet++_7Scenes.ini ├── mapnet++_RobotCar.ini ├── mapnet.ini ├── pgo_inference_7Scenes.ini ├── pgo_inference_RobotCar.ini └── posenet.ini ├── dataset_mean.py ├── dataset_mean_7Scenes.sh ├── eval.py ├── make_robotcar_symlinks.sh ├── plot_activations.py ├── plot_vo_poses.py ├── process_7_scenes.sh ├── process_robotcar_gps.py ├── process_robotcar_images.py ├── reverse_vo_poses.py ├── set_paths.py ├── test_vo.py └── train.py /common/Logger.py: -------------------------------------------------------------------------------- 1 | """ 2 | Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | """ 5 | 6 | import sys 7 | 8 | class Logger(object): 9 | def __init__(self, filename="Default.log"): 10 | self.terminal = sys.stdout 11 | bufsize = 0 12 | self.log = open(filename, "w", bufsize) 13 | 14 | def delink(self): 15 | self.log.close() 16 | 17 | def writeTerminalOnly(self, message): 18 | self.terminal.write(message) 19 | 20 | def write(self, message): 21 | self.terminal.write(message) 22 | self.log.write(message) 23 | 24 | def flush(self): 25 | pass 26 | 27 | 28 | class AverageMeter(object): 29 | """Computes and stores the average and current value""" 30 | 31 | def __init__(self): 32 | self.reset() 33 | 34 | def reset(self): 35 | self.val = 0 36 | self.avg = 0 37 | self.sum = 0 38 | self.count = 0 39 | 40 | def update(self, val, n=1): 41 | self.val = val 42 | self.sum += val * n 43 | self.count += n 44 | self.avg = self.sum / self.count 45 | 46 | -------------------------------------------------------------------------------- /common/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/geomapnet/13615aa1427199839eb80b149f58d839076557fb/common/__init__.py -------------------------------------------------------------------------------- /common/optimizer.py: -------------------------------------------------------------------------------- 1 | """ 2 | Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | """ 5 | 6 | import torch.optim as optim 7 | 8 | class Optimizer: 9 | """ 10 | Wrapper around torch.optim + learning rate 11 | """ 12 | def __init__(self, params, method, base_lr, weight_decay, **kwargs): 13 | self.method = method 14 | self.base_lr = base_lr 15 | 16 | if self.method == 'sgd': 17 | self.lr_decay = kwargs.pop('lr_decay') 18 | self.lr_stepvalues = sorted(kwargs.pop('lr_stepvalues')) 19 | self.learner = optim.SGD(params, lr=self.base_lr, 20 | weight_decay=weight_decay, **kwargs) 21 | elif self.method == 'adam': 22 | self.learner = optim.Adam(params, lr=self.base_lr, 23 | weight_decay=weight_decay, **kwargs) 24 | elif self.method == 'rmsprop': 25 | self.learner = optim.RMSprop(params, lr=self.base_lr, 26 | weight_decay=weight_decay, **kwargs) 27 | 28 | def adjust_lr(self, epoch): 29 | if self.method != 'sgd': 30 | return self.base_lr 31 | 32 | decay_factor = 1 33 | for s in self.lr_stepvalues: 34 | if epoch < s: 35 | break 36 | decay_factor *= self.lr_decay 37 | 38 | lr = self.base_lr * decay_factor 39 | 40 | for param_group in self.learner.param_groups: 41 | param_group['lr'] = lr 42 | 43 | return lr 44 | 45 | def mult_lr(self, f): 46 | for param_group in self.learner.param_groups: 47 | param_group['lr'] *= f 48 | -------------------------------------------------------------------------------- /common/vis_utils.py: -------------------------------------------------------------------------------- 1 | """ 2 | Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | """ 5 | 6 | import matplotlib.pyplot as plt 7 | import numpy as np 8 | from PIL import Image 9 | 10 | def show_batch(batch): 11 | npimg = batch.numpy() 12 | plt.imshow(np.transpose(npimg, (1,2,0)), interpolation='nearest') 13 | plt.show() 14 | 15 | def show_stereo_batch(l_batch, r_batch): 16 | l_npimg = np.transpose(l_batch.numpy(), (1,2,0)) 17 | r_npimg = np.transpose(r_batch.numpy(), (1,2,0)) 18 | plt.imshow(np.concatenate((l_npimg, r_npimg), axis=1), interpolation='nearest') 19 | plt.show() 20 | 21 | def vis_tsne(embedding, images, ax=None): 22 | """ 23 | 24 | :param embedding: 25 | :param images: list of PIL images 26 | :param ax: 27 | :return: 28 | """ 29 | if ax is None: 30 | fig = plt.figure() 31 | ax = fig.add_subplot(111) 32 | 33 | embedding -= np.min(embedding, axis=0) 34 | embedding /= np.max(embedding, axis=0) 35 | S = 5000 36 | s = 250 37 | canvas = np.zeros((S, S, 3), dtype=np.uint8) 38 | for pos, im in zip(embedding[:, [1, 2]], images): 39 | x, y = (pos * S).astype(np.int) 40 | im.thumbnail((s, s), Image.ANTIALIAS) 41 | x = min(x, S-im.size[0]) 42 | y = min(y, S-im.size[1]) 43 | canvas[y:y+im.size[1], x:x+im.size[0], :] = np.array(im) 44 | 45 | ax.imshow(canvas) 46 | plt.show(block=True) 47 | 48 | if __name__ == '__main__': 49 | import cPickle 50 | with open('../data/embedding_data_robotcar_vidvoo.pkl', 'rb') as f: 51 | print 'Reading data...' 52 | embedding, images = cPickle.load(f) 53 | print 'done' 54 | 55 | vis_tsne(embedding, images) 56 | -------------------------------------------------------------------------------- /common/visdom_utils.py: -------------------------------------------------------------------------------- 1 | """ 2 | Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | """ 5 | 6 | from runpy import run_module 7 | from mock import patch 8 | import sys 9 | import os.path as osp 10 | 11 | def start_server(logdir, port): 12 | """ 13 | Starts the Visdom server (worker function intended for multiprocessing) 14 | :param logdir: logging directory to save the envs 15 | :param port: port to run Visdom server 16 | :return: 17 | """ 18 | with patch.object(sys, 'argv', ['visdom.server', '-port', '{:d}'.format(port), 19 | '-env_path', '{:s}/'.format(logdir)]): 20 | print 'Running the Visdom server with logdir={:s} on port {:d}'.\ 21 | format(logdir, port) 22 | log_filename = osp.join(logdir, 'visdom_log.txt') 23 | with open(log_filename, 'w') as sys.stderr: 24 | run_module('visdom.server', run_name='__main__') 25 | -------------------------------------------------------------------------------- /data/7Scenes/chess/pose_stats.txt: -------------------------------------------------------------------------------- 1 | 0.0000000 0.0000000 0.0000000 2 | 1.0000000 1.0000000 1.0000000 3 | -------------------------------------------------------------------------------- /data/7Scenes/chess/seq-01/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.772501711419223 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xf6Te9\xa2\xf1\xef?\xf0\x8a\xaf!\x8b4\x99\xbf\xeb\x82g\xe4\x8e\x90\xab?C\x16B\x1fI\xdf\x87?\x85\xcdL\x17\xee%\xef?gJ\xc5\x0f\x99L\xcd?L\xbb\xc8\x175\xb7\xad\xbf\xf1XEs\xe1*\xcd\xbf\xa2\xb2\r\xecK\x1a\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x00|w \x97\x14\xac?\r\xf5\xd8\xe7\xb2\xfc\xd4?\xca7\xcb\xe5\xc8@\xdd?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/chess/seq-01/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.10365094116193155 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xf7\xc6#\xd8\x03\x19\xef?\xf30p\xd7\x80\xf8\xc3\xbf\xa5\xc1r\xd3\x18\xa1\xc6\xbf\xfd\x08\x0b(\xea\xb7\xcb?5l\xbf\xde\x17d\xec?\\\x8f\x10\x8fU\x12\xda?&\x9c\xec2"\xe2\xb7?C\xd5\x17\xd1c\xc9\xdb\xbfH8!\xfb\xef\xab\xec?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'%X\x1b\xdbz\xd9\n@\x9e27\x98\x80*\x14@\xc1\xff\n\x82\x07v\x13@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/chess/seq-01/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.8153161494928267 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xe5\x02\x12\xda\xcc\xda\xef?w\xb9\xbd\x8bF\x14\xb2\xbf*\xc8\x85\xaf\xfaV\xb0?X\xe9.\xc4\x8a\xbe\xa8?\x16\xb1\xb64\xe2{\xee?\xce].\xbe\xf77\xd3?\xf9%k3\xa1\xfe\xb4\xbf\xfd\x8a\x822\x16\xef\xd2\xbf\x83+\xfb\xf4gt\xee?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S"\x02\x9b\xda'>\xca\xb1?f\xb3\x83\x7f]\x95\xd2?hW\x87\xda\x90g\xda?" 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/chess/seq-02/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.1802279252567558 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S"8Aaqm\xdd\xea?HS\x03\xd9dr\xd0?\x9a\xd6\xb3q\xf5\xa2\xde\xbf\xca\xdb\xe4\xd7\xcd\xcd\xa7\xbfU\n=\x90\x97-\xed?'\xa8\x0b\xee\x02\x1c\xda?sT$<\x80R\xe1?\xf7\xb7\x85\x8a\xca~\xd4\xbfMU\x8a\xc7\xd1\xe0\xe8?" 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'l\xe8\x99\xa5\x0b\xac\xe8\xbf@0*;\x17\x04\xdc?\xbar\x9f\x07G\xb9\xc7?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/chess/seq-02/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.026998931887710763 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xaa\xa4qG~\x8e\xe6\xbf@%\x04\xden\x01\xe5\xbf\x121\x87\xb4Q3\xd1\xbfa\xc9\xa3\x05\xfcj\xe3\xbfj\xfd\xbc\xfe\xcf(\xd7?+\xb2\xbe:t\xa5\xe6?Ao\xb6y\xc6\x81\xd7\xbf5\xd7\xb1v\x94.\xe5?a\xc3P\xc1\xab\xe8\xe4\xbf' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xce\x04>\xbf\xc4\xe1?\xc0\xe0|\xa8\x10&\xca\xe6?\x00\xe2\x19\n\x91\xba\x16@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/chess/seq-02/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.5934801952875814 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x9d\xe5\xf0\xdb\x00\x06\xee?\xb0\xbev\xad\x1b\xf1\xa7\xbf\xa7\xe3\x1e\xf6\xed\xf0\xd5?B]X\x08 \x89\xc3\xbf\x89\xb5\xf3\x00X\xaa\xea?8\xc1}\x9d\xc7\x00\xe1?2#\x06!\xa3\xdf\xd3\xbf"\x9db\x15\x8e\xa0\xe1\xbf4\xd2\x17&<\xca\xe8?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xf6!m\x7f\xbd\x93\xca?N\xb8\t\xe0$\xa6\xda?O\xd0\xad\xde\x90\xd2\xba?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/chess/seq-03/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.4681154075117786 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xe9Dsz\xce\x91\xe4?\x9ec\x06\xc7-F\xc0?\xb6\xd7\xa8rR,\xe8\xbf\xf0\x9a\xcd\x01L\xb4\xae?Q\x0f3g*1\xef?o\x86^p\x01\x88\xcb?\x9a\xbbQ\xdf\x19p\xe8?0&\x1c\xd3\xe2~\xc7\xbf\xde\x9a1\x9bd\xce\xe3?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xe8\x0c\x7fX\xed\xab\xb1\xbf\xf1\xd2\xba\x91OS\xe0?n\x95\xbd\xc5h\x08\xc5?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/chess/seq-03/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.07177412712380127 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x14\x14\xd7Xi\x9d\xee?@\xb1s\xff\xf6\xcb\xd1?G3\xf8\xf8t\xfa\xb5\xbf?\xfa\xc9\x13Y\xe7\xc6\xbf\xa1V\x8bG8n\xe9?r\x86\x1d\xb2\x8c\x8f\xe2?\xa3[\xc1\xcb\xd0`\xcd?0\xd5$\x9f\x08D\xe1\xbf.\xd6\x91\xb6\t\xec\xe9?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xb8<\xbe8\xeb \x17\xc0l\xa2\x1e\xdc\xd7\xb6\x0e\xc0\xb6\x905\x15g\xc2\x1e@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/chess/seq-03/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.9967070236120643 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'uv\x1b\r\x1e\xd0\xef?\xbb\xb5\x1e\xf8\xd2\x96\xb9?\\\x90\xb7yX\xe3\xa4\xbf\xd4\xd6\xc6K\xb5\x91\xb3\xbf\x98\x8b\xc5\xa2\xd8d\xed?\x01\xffd\x82\x06\xd2\xd8?\xa8\x16`\xa1v\x84\xb3?\x1b\xe3\x8fc\xcay\xd8\xbf\x10\x8f\n?uw\xed?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'`?\xe8\xdf\xcd\xf9\x87?\x8a&W\xca\x9dm\xd1?\x076\xaf\xfe\xfc\xd5\xd9?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/chess/seq-04/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.9834863409872407 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x1b8(G`\xf5\xef?\xff\xb4\xee)^<\xa6?8\xa1\xb0\xcc\x0c5\x9b\xbf\xb9,\x97e\xcf+\xa2\xbfA\xc8\xfc\xb1)\xfa\xee?\xa7i\xf9\x83\xb3\xc7\xcf?\xd1\x89~\xcb\x86\xb0\xa2?7\xddeN@\x9e\xcf\xbf/\xe29M\x81\xfc\xee?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xe0J)\x99\x07L\xa6?\xe9\x1f&\xa1\xa0\x0f\xcf?\xa5+\x9cp\x08r\xda?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/chess/seq-04/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.10646619573341112 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S"\x85L; ;\xbe\xef?\xb9\xeb\x02\xc2\xd4D\x91?\xa2\x13m\xa6\xde\n\xc0\xbf\xa1\xa3\x0b\x07\xe7\xdc\x80?\xbbt0c\x0c_\xef?\x02\x17\x8b(\xf59\xc9?\x07x\x00\x95\x16'\xc0?\x07\xe8\xab\xf2\xec'\xc9\xbf\xc2Ys\x1co\x1d\xef?" 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S"\x00\xbb 2\xbfQ\xc9\xbf\x00i_\xc6\x90\x1f\xf2?\xdcV\x1b\xfc\x0f\xb0'@" 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/chess/seq-04/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.29905808377426 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'Z\x97h6\xaa\xf5\xef?\xecn=\x89\xc9\x13\xa5?8%\x12\x1f\\r\x9d\xbf\x1c\xa5\r\x0c|\'\xa1\xbf\xc1i\x04\xaf\x81!\xef?\x80\xef\xad\xbe1Q\xcd?\x9f\'/\xa1\xa9&\xa3?Kw\xd7\x99\'(\xcd\xbfB\xa2BF\xc0"\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'`\x9b\x8eP\tK\x8d?\x84"@\xe24\xce\xc8?\xe5\x0f*Q\xeb\xa4\xd6?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/chess/seq-05/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.82311891793908 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xf2hr\xfdJ8\xd4?\x00\x0e\xa0\nc\x1c\xe2?,\x0c<\x8a!^\xe8\xbf\xd7FG\x80U\x01\xc4\xbf_c\xe1\xd1dS\xea?\xa1\xf1\xff*\xbe}\xe1?\xeaF\xb3N;\xf2\xed?+c6\x1b{{\xab\xbf\x0em\xd5;\xaeK\xd6?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x07\xc8k\xc5p\xf2\xe7\xbfR\xd5\x9d\x94-o\xc7\xbf\xbe\\ts\x93#\xe9?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/chess/seq-05/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.11196877882098322 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x18>\x08tG\xa1\xd3?\x10KG\xede\xbe\xe6?HUL\x91\x0eB\xe4\xbf|AV\x8f1\xd1\xcb\xbf\x89E,\x18(e\xe6?\x0e\xc3\xc6N\x13\xc6\xe5?c\xaf+\x97.\xa7\xed?vW f\x0c5\xb2\xbf\xc9`d#\x99\x9f\xd7?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'0\xa8\xf5;i\x83-\xc0\xf6\xa728\xdfh\t\xc0\xf2]\xd4\xed\x13)+@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/chess/seq-05/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.7220386279499709 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xcc\xb2\xe4\xe3\xe8\xfe\xd3?\x89\xbe\xf6\x8b\xfe\x14\xe3?\xa2x\x91]\xa1\xa9\xe7\xbf"\xc4!\xa9\x1a<\xca\xbf\x1d\xcfV\x88P\xad\xe9?\xcc\xfb\t=o\xef\xe1?Uh\x19\x0b\x9d\xae\xed?\'\x91laj\x1e\x98\xbf#\xed\x06j\xe5\xdd\xd7?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'8\xe1\xbd\xde\xad\xac\xe9\xbf>\xe2\x11\xd2l\x1c\xcb\xbf^\xdfgd\xc5\x1c\xe8?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/chess/seq-06/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.81319794866159 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x0f\xca\xf4f\x1b\xc5\xef?]\x84\xcfux\xdff?q[k\x91\x15\xa2\xbe\xbfu\xac\xdc\xd4B^\x87?~\x92\xd8\x0fc\xc6\xef?u\x91\x8dC\xb2*\xbe?f\xb3\x99\xa4~\x80\xbe?2\x11^N\xa8L\xbe\xbfT/\xd7\xae\xa5\x8b\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xd60n\xea+~\xb4?3>t\x87\x06\xff\xc6?\x16\xcc\xe0\x91\x88j\xe0?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/chess/seq-06/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.04902450205959052 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x9bF\x8c\xa5\xd9\xc0\xef?w\xd7\xa0\xd1\xf9\xef\xa3?\xadD\xc9\xe6Y\x1e\xbe\xbf\x0b\xc3\xbe\xa9\x16\x99\xa1\xbf\xa9\xee\x18\x06e\xf4\xef?,H\xfc\xbf\x1c\xcc\xa4?\tJ\xc5\xd9\x16{\xbe?\xdec\x943\x0b\x91\xa2\xbfz\x98\xe2pL\xc0\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x8c\x0e\xd5\xc6\xb9l!\xc0\x8e6\xb1\xd1Z\xb0%@0S\xeb\xbcm\xda\xfe\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/chess/seq-06/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.9671203054390496 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'u\x88K\xa3\xa9\xc2\xef?\xcb\xa9/[g@$?\x80I#p\xbfD\xbf\xbf\xbf\x00\xb4?\x03\xbe\x8a?\xed\x1e\xa2{\xf2\xcf\xef?\x8e\xa4\xde\x96\x1d|\xbb?A\xf2\xedi\xe1\x16\xbf?x\x8f\xe9\xec\xf4\xaf\xbb\xbfmh<\xff\xf3\x92\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x90_\xb3p@\x17\xb0?\xab\xc2l"\xddD\xc5?0\xf6\xed\xe2\x96D\xe0?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/chess/stats.txt: -------------------------------------------------------------------------------- 1 | 5.009650708326967017e-01 4.413125411911532625e-01 4.458285283490354689e-01 2 | 4.329720281018845096e-02 5.278270383679337097e-02 4.760929057962018374e-02 3 | -------------------------------------------------------------------------------- /data/7Scenes/crop_size.txt: -------------------------------------------------------------------------------- 1 | 224 224 2 | -------------------------------------------------------------------------------- /data/7Scenes/fire/pose_stats.txt: -------------------------------------------------------------------------------- 1 | 0.0000000 0.0000000 0.0000000 2 | 1.0000000 1.0000000 1.0000000 3 | -------------------------------------------------------------------------------- /data/7Scenes/fire/seq-01/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.3115300569951946 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'K\xf5k\xdd,V\xef?m\xdeG\xf0\x02\x03\xb0\xbf\xc9\x9f\x94\xb25\xa9\xc8\xbf\xb4\x00\xc9\x05\r\x15\xbe?\\\xc7\xf8F\x96g\xee?\xe4\xb9V`\x02|\xd2?\x9e\xafc+\x87\x1e\xc5?e\xb9\xde4\xd7\x8c\xd3\xbf\xce\x95m\x06p\x02\xee?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x18A\xd8\x0e\xbf\x19\xa1\xbf\xb0\xbf\xae\xa8\x8ew\xa0?\x04\xc2\xce\x16\xc3\xe8\xa7\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/fire/seq-01/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.17817184537042358 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xcc@\xe4W\x8aS\xee?M\xf7\x06\x01\xfc\xa1\xc3\xbf\xc1\xa9\xb2|\xdb\xe9\xd1\xbf\x89\xb0\xea\xd3I\xbd\xd1?\xfe\x803\xb1\xe0\x91\xea?\xb1k\\J}\xf1\xde?>\xf5\x82\x07UA\xc4?%\xec9\x96#%\xe1\xbf\xee\x99\x8e\xdfe\x8a\xea?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xc0K\xbc\xf0\x02\x80\xae?\x8cb>|\x11\xee\xf9?\xfcs\xa1\xf2\xff\xa0\x07\xc0' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/fire/seq-01/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.585713017107373 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'qv\x06\xb9\xae\xed\xef?\x97\x8d\xe6\x97\x0e\xe0\xa7\xbf5<`?\xd3\x83\xa8\xbfD\xccw\xdc\xab\xf5\xaf?\x16\xd2\xac\xc1\x9d\xff\xec?\x17*\xd9\n\xf3\xc3\xda?jo\x12\xd2\x19v\x98?\xc8\xb3\xf6\xa9\x98\xe5\xda\xbf\xf7\xf1c\xab\xdc\x06\xed?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x91t5\xb5\xe3\xc1\xc8?07w,\x18\x01\xcd?,\x13\xdc~\xd16\xb2\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/fire/seq-02/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.580566036025668 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x88Tw\x96\xd4\xae\xee?\t@\x9ca\x069\xc0\xbfK\xac\x15\xd5\xf1B\xd0\xbf\xa5|\xc3Cu\xe9\xc8?\xc9\xf0\x17\x9f\xdd<\xee?\xab\xf3\x80l\xda\xd6\xd0?4\x82I\x15\xaav\xca?\xb1\xba\xf2\x01\xa3O\xd3\xbf\xe7.\xca\x92U\xc8\xed?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'u\xe0\xc4\xff\x8cM\xc0\xbf\x06\xd0\t\x83\x93\xd5\xd0?\x9b\xc5nrY!\xc8\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/fire/seq-02/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.14193009867382275 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'G\xc5+\xa6M6\xef?\x81U\x07\xba\xe9\x01\xc3\xbf*\xbb\x98\xfb\xcd\xde\xc4\xbfi\xa4\x99Jw\xae\xc9?\x9cq\x82\x84\xed\xf0\xec?\x86\xe1U\x18V\x19\xd8?\x007um\xb0o\xb7?`m1\xeak\x99\xd9\xbf6I\xed\xe0\x94.\xed?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xbd\xf7]\x14\xef?]\x19d\xedC\xb4\xcb\xbf\x84\xb2\xda\x9eas\xb9?\x9b\x0b\x0f\x80\xa8\xb5\xc6?\x07\x1c\xb6\x0e\xf0\xf2\xed?\xfc!\x15F\xc9y\xd3?\xa8\xae\x05\x17 W\xc4\xbf\xec\r\x1f:P\xc9\xd1\xbf\xda&\x82\x11\xdeP\xee?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S"\x85t\x05\xd7\x8f\xc9\xb4?\xff\xb4\xa5\xbe\x19'\xd0?\xd8<\xf9\x9aX7\xa5\xbf" 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/fire/seq-04/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.3074401347881524 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xb4y\x82\\=\xf4\xe9?\xd2\xd26>\xf0\xbf\xc9?h\xa2\x826\xad\x93\xe1\xbfA\x81\xca=\xd7\xb6\xcc?\xd9i\x17\xd2\xe3S\xe8?\xf8\x08\x06\x14\x81\x82\xe3?R\xba\xd4\xa5\x94I\xe1?\xd6h\xc9\xc5F\xc4\xe3\xbf\x88\xd9\x80\x1a\x87I\xe2?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xf7I\xb4\xdf\x91/\xe2\xbf\xb6j\x82\x9d\xb2\xd1\xc9?\x90\xbb\x94\xbc=\x91\xcd?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/fire/seq-04/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.07045395390768382 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S')\x97\xdad\x13E\xeb?=\x98\x8bH\xde4\xe0?<\x99\xd2\x02\xc2\xd4\xc0\xbf\xcb\xe3\x13m\xd3a\xdc\xbf_\x82iHv\xa3\xea?\xd3\xd8\xa7\x1f\xb3B\xd5?\x1dhjl\xe5\xc5\xd1?b+\xb4\xbd\x88\xc5\xcc\xbf\xd9\x1e\xb7SS\xe3\xed?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xfe\x03?\xec]g$\xc0d\x98m\x81h2\xf2?\x12\x7f\xa9\x8dN\xbe%\xc0' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/fire/seq-04/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.4547005764112924 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x1b;\x11]\xcd\x01\xe3?\xf9n\xa4\xb0\\\xae\xda?\xea\xa5\xf1\xb8n\x04\xe6\xbfc;:\x05\xa8\xee\xb4\xbf\x1e\xc7\xb0\xb8=:\xec?\x82H\xba\xb6m\xb0\xdd?\xae\xa7\x12\x00;\x9c\xe9?\xb2\x80\r~]\x11\xcc\xbf\xdeHC\x0ck\xdb\xe1?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'fm\x90k\xaa\x88\xe8\xbf\xa0!i\xdb/]\xaf?\x82c/UC\xad\xc9?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/fire/stats.txt: -------------------------------------------------------------------------------- 1 | 5.222627479256024552e-01 4.620521564670138082e-01 4.212473626365915158e-01 2 | 5.550322239689903236e-02 5.943252514694064015e-02 5.525370066993806617e-02 3 | -------------------------------------------------------------------------------- /data/7Scenes/heads/pose_stats.txt: -------------------------------------------------------------------------------- 1 | 0.0000000 0.0000000 0.0000000 2 | 1.0000000 1.0000000 1.0000000 3 | -------------------------------------------------------------------------------- /data/7Scenes/heads/seq-01/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.668392761080799 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x8b\xc9\x8e>x\xa7\xe9?\x0e\xf0\x15\xed\xeb\x8f\xd9?tx&\x0e\x02v\xdc\xbf\x1a\xdb\x18D\xee\xb2}?\x80\xb7\xba\x8e\xfd\x98\xe7?\x8a\xed\xecZ\xca\x9c\xe5?\x9d-_\xcfJ \xe3?\xaa,}\xa3\x03n\xe1\xbf\xc0H\xe7\xd1K\xd3\xe2?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'1F"(:\xaa\xc3\xbf \xa0-\xb9.\x98\xda?\x0bp\xachx\xa5\xd5?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/heads/seq-01/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.040267326674993546 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xdaY\x14>\xd8\xbe\xed?\x03\xb8b\x89\xfc\x98\xbf?V\xda\x0b\x90R<\xd6\xbf\x08\xe8\xe7\xf8\xfc\x18\xcf?\xa1\x84\xe3\xa6\x94B\xca\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/heads/seq-02/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.7508276591681431 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xeeA\xfeC\r\x04\xef?TA\x81\x00%t\xc3?\xcd\x0c\xed\x95\xa6\xc6\xc8\xbf\x92T>\xa0\xab^\xb8\xbf\xc0\xee@q]\x9e\xee?\x0c;\x88\xb19\x93\xd1?Sv\x9d~s\x0c\xcd?\x19CF\xfd\xe9\xb5\xcf\xbfM\xf7\xe2L\xd0#\xee?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xd7D\xfbP\x82X\xc8\xbf\x98\x9c\xd8\x90%Z\xc0?E\x04>\xaaG\xad\xc2\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/heads/seq-02/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.0359139385381631 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xf6y\x04P\xc6\xc5\xed?W\xc1\xe8\xd6\xa1\x08\xc2?\xd4\xa1\x9d\xb1|\xa8\xd5?>a^V\xd1d\xc9\xbf)\x8c\xd6\x8a\xda\x08\xef?\x1d\xb8\xb0l2"\xc2?\xe2\xc9\x13\xc12\xba\xd3\xbf2\xf4\x85i\xffv\xc9\xbf\xec\t\xc7\xd9\xcd\xc4\xed?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S"\x93\x1a\xdc\xd8\x03G'\xc0u\x13{\x8bX\xf9\r@\x0e\xf4\x99\x94\xd7P\x1f\xc0" 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/heads/seq-02/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.8173179419225614 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xb8\x11AV\xf6\xf1\xef?\x07X6\xf5H~\xa1?\xc8>y\xe9\xcdR\xa8?_\xb8"k\x8fI\xa5\xbf\x03VjX\x94\x88\xef?\x99C\xef=\xa7\x1d\xc5?f\x0f~\xb7B\x15\xa5\xbfn7\x94\xe8\x1cU\xc5\xbf\xb7\xbb2(b\x86\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'FR|n\xf3\xee\xc2\xbf\xb0\x9cH\xb7Bj\xaf?\x02,\x10\xbdX7\xc4\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/heads/stats.txt: -------------------------------------------------------------------------------- 1 | 4.570619554738562518e-01 4.504317877348855137e-01 4.586057516467524908e-01 2 | 7.874170624948270691e-02 7.747845434384653673e-02 7.183367877515742239e-02 3 | -------------------------------------------------------------------------------- /data/7Scenes/office/pose_stats.txt: -------------------------------------------------------------------------------- 1 | 0.0000000 0.0000000 0.0000000 2 | 1.0000000 1.0000000 1.0000000 3 | -------------------------------------------------------------------------------- /data/7Scenes/office/seq-01/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.0210107558985713 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xb1_\n*\x9a0\xed?\x8b\xfd$\xe6\xee#\xc5\xbf\xb5\xdfz\to\x00\xd8?\xaf\x0f\xa5;\x07\x1f\xc5?\x03]\x13\xd0>\x8b\xef?\x19e_\xcd\x1e\xc6\xa0?2\xae}a\x83\x01\xd8\xbf.6m\x85\x17b\xa0?\x89\x9b4\x08[\xa5\xed?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'T`\x06NH\x86\xe3?@E\xedU\x93\xd3\xcb?\xf0~\x8fB;\x82\xb6\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-01/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.05938998394836351 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'~-I\xefrK\xef?\x01\xab\xcf\xe2\x87\xba\xbf\xbf\x9f\x11\xa7\xf2\xe5\x81\xc5?\xc0\xbf%\xf1E<\xc2?\x884\r\t`\x80\xef?\xd0Z\x859\x94a\xba\xbf\xc2\xe2\xe4\xf9\x99\x89\xc3\xbfXe\xed\x00\x85\xed\xbf?\x99c\xfc\x8aH_\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'?\xfb\xc0\x17\t\xa34@\x12\r\xc2/V\xf3%@\xb01\xb4<\x9ez\x16\xc0' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-01/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.0118185994085644 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'`\x8cm%\xc6{\xed?}<\xca\x02\xdc\x00\xc4\xbf\x91\x15U_M\xc7\xd6?\xc6sq\xe3\xe0\x1e\xc3?1.e0\xf1\x9a\xef?\x90\x0cd\xbe\xef\x0b\xa8?8"\x80\xa1\x9e\xf7\xd6\xbf\xe4a\x18\xc16C\x84?\x12(\xdb\xd6\xe6\xdd\xed?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'p2\xdc\xce\xa0X\xe4?\xbeJ\xcb\xcd\x01J\xcc?xJ\xe3W;\xbd\xc1\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-02/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F5.2178460846558945 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'(\xb2\xa0\xc1\x05)\xe3?o+\xba\xfb\xeaP\xe0?\xc4\xf8\x1a2\xf0\xc3\xe3\xbf\x00\xfe\x81,w8\xde\xbf\xa8IR\x07\xce\x1f\xeb?\xdd\x0f\x8c\xf3\xe5\xf8\xce?\x98x\xee\xe6\xa8\xb3\xe4?\xc5\xf8_]\xa6\xc9\xc2?\xae\xaf\xd3J\xfb\xf1\xe7?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xae\xf6c\xbb\x02g\xdc\xbf\xf0+:\xdb\x15\xc1\x9d\xbf\x9e\xd4\xee2V\xbd\xe3\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-02/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.040630750589648205 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x85h\xb1\xe8\x1b\x11\x94\xbf\x93e(m\x08\x7f\xa1\xbf\xf7d&8\xa4\xf9\xef?\x94\x92\x08\xb1\xb0\xda\xdd?\xef.\xabF\xefF\xec?\xe6-\xce\x93\x1a(\xa4?\xb0\xdc\x122VL\xec\xbfm\xd3\x0c\xe7e\xe1\xdd?_\x978\xcf#\x8cV\xbf' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'Yj\xc6T\xc7\xdd6@\xeaeL-\x9b=\x03@2\x87\xba\xda\x91\xdc4@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-02/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.9260746206614063 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'0\xe4fa\xb8}\xdb?\xbb\xd9\x94\x00\x00\x83\xd5\xbf\xd9+\xcb\x9f3\xd2\xea?l|V\xaf\xee%\xbc?\x0f+\xd7\xccL\x1a\xee?O\x03>\xde\x8d\x89\xd4?,\xcdj\x9c\xb1\xae\xec\xbfC\xbd\xdb\xe0\x8cc\xa7\xbfK\x01F\xf9\xf89\xdc?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'&B\x02m\x7f\x94\xd0?\xccx\x16O\xdf\x8e\xd6?k\xc47\xa0\xa1E\xc2\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-03/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F7.888320384162103 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x98\xb5\xe0\xd9\x12.\xed?\xce\xd7e\x85\n\xcb\xd1\xbff*y\xa0\xa1S\xd3?\xf6\xa0r\xeaS\xc9\xc5?\xf49a)B\x9e\xed?3|7#k\xa4\xd5?\xd0\xac\xec\xe4\xb4\xe7\xd7\xbf\xdd<\x01\xae\x0br\xd0\xbf7\x0c\x9e\x04\xb7\x85\xec?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'.P}=\xf6\x8d\xbe?\xe2\xe5z\x81\x04\xd0\xca?\xda\x0b",E\xc6\xa5\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-03/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.04505721983803032 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xcb\xd6j\xbd\x87\x8e\xe2?\xf6\xfd\xe2m\x99\r\xd9\xbfZ#\xc7Z\x03\xdd\xe6?3\xc0\xb4\xd05\xa7\xd6?\xe8\xa1\xf0\xd3\x94&\xed?\x08\x06;\xa0\xee\x1c\xcb?%\xe4\x8e\xd9\x1f{\xe7\xbf\xeb\x8b\x97\xb6\xca\xa5\xc0?\xd2J\x808\x9bV\xe5?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'Z\x18\xb9`\x1f}F@6r`\xce\xd6\xa5&@\x08r\x05\xa8\x1b\xb6\x0c\xc0' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-03/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.833415707453659 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'-\x0e\x94\n\x99\xd2\xe4?\x9c\x02\rsl\\\xd8\xbf\xaaR\xf4)i\x06\xe5?\x02"\xd5\xd1\'\xbd\xaa?T\n\x9b\xfdaW\xec?\xbf\xcfM\xda*\x87\xdd?\xf6D\x01\t\xb0=\xe8\xbf\xc3s\x94Z\x9f\x04\xd1\xbf\x08E/\xff\xfa\x13\xe3?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xd3\xfd&\xb4\xa6{\xee?\x8a\th\x88\x06A\xe2?\xd7l\x9c\x196\xab\xc0?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-04/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.5958414865382202 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xdf\xa0\x13u{\xe5\xef?\xed\x94v\t{\x95\xb2\xbf\xc8\x8e\x17\x1d\xaf\xb0\xa1\xbf\xb5)\xc9\x97\xa8u\xb3?p\xff!s\x8c\xb5\xef?C\x11H\xf9\xfah\xbc?| @\xb2+\xcf\x9a?\x9e7\xcc3\x8f\xfd\xbc\xbf\x90\x86y\xf0y\xc8\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xbc\x8cUAVK\xb4\xbf\xd2\xe5:\xeb,~\xcf?\x14i\x807\x1aM\xe3\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-04/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.0635068330430015 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xe1I\xddvP\xb8\xe0?\xa2\xb8\x0f\x1a~\xed\xd0\xbf\xb3\x85\xeb:A\xf0\xe9?\x1c\xd8X8C\x1a\xd5?\xf4\xea\x98\xe0s\x0f\xee?\xe3\xb1J\xe9H\x0f\xb8?\xa5[\xcf\xfaf)\xe9\xbf?\x0b\x03\x95\xcc\xec\xcb?\xd5\xf9\x892N\x7f\xe2?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'D\xe8\xbaL\x8bc3@\xf7\xdb\x88e\x0f\xc0#@*\xe2M\xe9\x9bn\xf2\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-04/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.9377989732168834 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x15\x04\x1e\x04\xdfs\xd9?\x14FC\xef\ng\xe0\xbf\xa8\x05V\x15\x00Z\xe8?g\xe0\xea\xf8/\xde\xb6?R\x03b7Y\x1b\xeb?P\xf7\xb0\xee\xb6\xc3\xe0?\x9e\x033\r\x978\xed\xbfVWp\xbb\xbb\xf7\xc1\xbf\xefw\xc8\xa3\xb3}\xd8?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x00\xda[\xba\xc7f\xda?\xece\x97\x06[\xa9\xd3?:7\xd0\n\xe18\xcb?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-05/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.4988035881914104 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'z\xf1\x13~\xa6~\xb9?U\x82\xcd\xcbA\x01\xe7\xbf\x81\xd5\xb7i\x98\x03\xe6?\x04\xfd[\xa8=\xc9\xbd?8 \x1aP\xd2=\xe6?\xf7`\xeb\x16\x1f\xb4\xe6?K\x94\xd4\xf9Z\x9f\xef\xbf\xe0_d\xdd\xfb8\x83?OP6\xa6\x11\x91\xc3?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'j%\x18\xfd\xa4\x85\xe4?\xb2l\x02\xca\xf5\xd1\xe5?\n9\x12_\xcf\xf3\xe0?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-05/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.05591769993052888 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xc4\xbf\x81\x97\x8f$\xe1?`nZ\x0e\xc0B\xd2\xbf>2\xe5xun\xe9?-3\x1e\xef];\xb7?$\xc3\nl\xdf\x90\xee?e\x9bI\xc0L\x08\xd2?\x14)\xad\xe2B\xdd\xea\xbf\x84\xb9P]y-\xb4\xbfj\x12K\x80\x004\xe1?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'F\t\xa5\xaa\xcc\xb5*@\x16a\xceN\x93\xd08@\x92\xa0\x94\xb3dI\x11\xc0' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-05/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F3.424836804185233 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S"\xbe\xd4@'\x97\x98\xd2?[\xbe\xf3\xee\xe3E\xd7\xbf^\xa3a\xc5qR\xec?\xa1\xa3\xeb\x0f/\x18\xc7?\xbdlh\x8a\x02\xbc\xed?\x05\xdf'3\x86\xa4\xd4?\xb1!\xc7F\xf3\x11\xee\xbfD\x04\xf7\x8c]\xe3\xb0?~\xdf\xcc\x8b\x7fz\xd5?" 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xf3e>\xb0y\xbc\xc8?\xa6\x96\x96\xd6\xa5\x9b\xc3?YY\x96Ba0\xd6?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-06/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.4187512751330214 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xf9\x15D\xdc5\xe3\xe6?irh!\x881\xe1?\xa8\xb5\xd9\xde\x93\x9a\xdc\xbfL\x99\xbc\x0ci\x81\xcc\xbfdx\x99\xce\x0c\x01\xe9?\xf6\xc0\xdf+\xaf\xa7\xe2?[\xbbZ\x16\xcf2\xe5?\xebDk\x12\xbfP\xd4\xbf\xe1\xde\x94%z\xb6\xe5?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'pt\xe2\x90F\xaf\xb1?)\xc6\x8e\x99:\x89\xf1?F\x04n\xd0\x03#\xd4\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-06/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.047619976541092617 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x9d\xdf\xfcJ&r\xe5?\x8fM\x01\xf7\xafu\xe5?$\xa7@\xb70Z\xd4?\xf2\xccSO\x88\xe5\xe3\xbf\x06\x02\x16H0~\xd1?\xbf\xb2\xd3<\x97|\xe7?\xbb$\xe7\x032\xf0\xd9?USI\xbbO\x11\xe6\xbf\xbbNZ,i4\xe3?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x92\xc0\xcb\x06\x9a\xc7"\xc0\xb5D\xde%I\x016@9\x8cNu8]>@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-06/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.0769930644521784 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x86\xc5\xac\xefM\x1f\xdf?\xd1Z\x11<>\xe1\xe3?\\\xd5\xf8\xc2\xc8\xa9\xe3\xbf\x029=\x89J\x96\xc0\xbfG\xe0\xc8\x11 \xe5\xe7?qza\xa8h\xe0\xe4?\xaf-a\xa3\x03\xa7\xeb?\xb9/16ej\xce\xbf\xa8\x8b\x8b\xdaUd\xdc?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'@\x05MG\x89\xb6\xd6\xbf\x08\xffC\xebH\x9f\xfa?\xdd\xf2\x18\xac\xb3\xfb\xe1\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-07/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.12163013412237 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S"!d\x8a\xac\xc30\xeb?\xda\xbe\t\x95\xbe\xbd\xb5?\xd8|~\xea\xee\xa6\xe0\xbf\xc7\xdf\xe8\xd5\xc1\xf3\xb4?Y\xda\x8a\xc6\x00\x85\xee??\t\x17%\xc1\x83\xd2?%\\@'\xfa\xaa\xe0?%\x8fuE-u\xd2\xbf\xa1!\x02\xf9\xc9\xb5\xe9?" 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'H\xfcp\xf4\xc9\xc0\xdd\xbf6@nY\xfa<\xd7?\x19\x06\xe3\x8e|5\xc0\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-07/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.09285106645808479 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'Z\xbb\xe4\xa6\xf7o\xea?S\x1d\xc1}\xe9I\xc9\xbf2h\xbf\x1e\x80\xe2\xe0?k\xbd+\x139@\xb8?\xccMu\x98\xa5\x19\xef?\xd2\xdd\x8a\xbb\x13\x98\xcb?\xfa_,-\xdd\xc5\xe1\xbf\xfcf&\x80;f\xc0\xbf_\x84\xd2\xb2\xf9J\xea?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x80\xd4/\x0e\rf\xa9\xbf\\\xee\x9b\x91\x9e\xd5"@\xe0\xb3_t\xb9\x9c\xca\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-07/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.651173775784821 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S's/\x95\x10\x8c?\xe4?\x1c\x15%\x031\xe8\xc1\xbfv[\xdb\xb9\x17_\xe8?\x88\x0e\x82\x19D\x88\xa9?\x1eb\xc0\x0f\xc8\xa4\xef?\xc2O\xf63v\xf2\xc1?\x7f(\x126O\xba\xe8\xbf\x8f\x1c\x80\x91\xa4\xfa\xa9\xbf\xe01\xe2\x91\xfa>\xe4?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xefw\x98.`\xda\xdd?V\x1f\xfbc\x90\xd5\xd1?5\xfd\x9e\x02\xea\x08\xcf?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-08/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.828378430554399 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'f\xe7\xde1\xcd\xca\xe5?\xe2?)\xde\xf7\xf2\xc9\xbf-\x94\xbf\x89Z\x84\xe6??\xb6\x91\x8a\xa4(\xbd?k\x1f|\x8a\xe9\xe7H\xed\x1a\xc8\xbf9\x94^\x04\xebi\xef?\xc0\x80\x0cO\x8e\x1d\xbe?lp\xa1\xb2\xa7:\xef?\xea\xcfx\xe6?fm\x10\xebN\xe8\xc3?k\xc4\xb50\xd7w\xe1\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-10/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.645613071115223 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'r)R\n\x9d\xbc\xed?\xe7v\xcf\xee+$\xb0?c\x80\xd1vHK\xd7\xbf\xa8v\xde4\xbe|\xa4?fr8\xa2\x85\xcb\xee?Q\xb8\xc0\xb885\xd1?\x82\x87\x95\xc5|\x80\xd7?a\xcc\xdf>F\xec\xd0\xbf\x95\xa4p\xddH\x89\xec?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'X%\x87aW\x16\xd4\xbf\x08i\x9c\xa2\xd5"\xd7?|"J\xd4\x92G\xb5\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-10/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.08453261458972033 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x1f\x88\xa4\xe5u\x88\xea?\xac\xb40\x0c\x02\xbf\xc4?\x17\xb1\xe8\xb0\xbd\x1e\xe1?\xd6#\x00\xde\x9a\xb0\xba?\xfa\xa9\xbb\x1eD\xa7\xec?\n\xcd\x00a\xc4\xb3\xdb\xbf\x84\xd4T\x8a\x19\x93\xe1\xbf\xc2\xe3\xef$\x0f\x8a\xda?2\xed\xc9F\xaa7\xe7?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xde\xa92\xe5\xb1\x9a*@\xc8%z]\xf3\xf7-@\x96~%\xc5\xc2p\x12\xc0' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/seq-10/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.2575117391960946 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xc6\xca\x9auZ\xb4\xea?\x1e\xb6n\xae\xc0\x91\xcd\xbf\x89\xd1&\x1b\xc8\x01\xe0?(\x85\x9e\xadqi\xc5?\xa7\x8a\xa19^\x14\xef?\xf2G\x19G\xeb\xb0\xc5?]\xfaR1\x9c\xcc\xe0\xbf\xe1n\xcf{V\x90\xad\xbf\xd9|6XH,\xeb?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xd3\x9b\xfap\xc1\xc8\xe0?\xbd_\xa7\xef\xfc\xaf\xd1?\xc2\x9d\xff\x9f\x91\xc4\xba?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/office/stats.txt: -------------------------------------------------------------------------------- 1 | 4.703657901067226921e-01 4.414751487847252132e-01 4.351020758221028628e-01 2 | 7.105139804377599844e-02 7.191485421006868495e-02 6.783299267371162289e-02 3 | -------------------------------------------------------------------------------- /data/7Scenes/pumpkin/pose_stats.txt: -------------------------------------------------------------------------------- 1 | 0.0000000 0.0000000 0.0000000 2 | 1.0000000 1.0000000 1.0000000 3 | -------------------------------------------------------------------------------- /data/7Scenes/pumpkin/seq-01/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F9.435130140746336 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x84E\xacV\xc6\xd3\xe5?$9q\xfa\xa7\x1b\xd1\xbf\xb5\x04l\xe4\xdd\xc7\xe5\xbf\x9f\x03k\xfa\x8c\x8b\xc3\xbf\xca\x1d\x9f\xc1kv\xeb?$~\xb7 G]\xdf\xbf!%w\xdbg\xe2\xe6?\x92}\xbe\x10\x9c\x0b\xdc?\xfc\x8b\n\xdd\x14m\xe1?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'3fi\xd4\x02K\xb0\xbf\xd3\xaai!\xe2t\x93?\xa0\x80H\x19$\xa5\xb5\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/pumpkin/seq-01/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.0858105709472784 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xd4\xb0\xbc>C\xd2\xef?\xc9\xb4\xca\x05(\x16\xb6?=\xdc\x04\x88\xd7\x1b\xaf?#T\x95\xe2\xd7%\xb8\xbf\'"@^\x1c\x84\xef?T\x16\x14;\x15\x9a\xc2?\xa3\x12;S\xff7\xa8\xbf\xd8LX1L;\xc3\xbfJUm\xa2\xbb\x99\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S"\x88'\xcb\x9f\t0(@E\xc3\xbf\x94\xc6\xa1\x1c@\x93\xf3(\xcc\xe8\xd2$@" 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/pumpkin/seq-01/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F3.3383920544653347 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'&\xa4\xc6\x18Q\xa7\xed?T\x10s&;"\xb9?k&\xe0\xe5`8\xd7?\xae\x15\xd9\xaaf\xe8\x9e\xbf1\x1d\xb4)Ki\xef?)\xbb\xc0\xab\xcb!\xc8\xbf\xa6\xad\'\xe1H\xfa\xd7\xbf\xb5\x85n9\xf6\xf5\xc4?\x85D)\xd9\xef3\xed?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'I[h.#O\xc2?\xf4\xae\xb7}"r\xc9?\xa0a@6\xe5F\xa7?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/pumpkin/seq-02/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.4360275657451846 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xdaU\xf12\xd8)\xef?Zx=\x85YL\xb2?\xf7c5ih\x99\xcb?\x99\xaa@\xff\xacT\xa5\xbf<\xe7-\xc6b\xa8\xef?a\xc1\xc4$\x81\xe4\xc1\xbf\\I~\xe7>\x95\xcc\xbf\xb7\xff;}gF\xc0?F\x81\xb8]\xea\xec\xee?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xb3\x8564\xffa\xb5?\x0e\xd0\xae\xd7\xf2\xd2\xd0?(\xb3\x10\xcc\xb8\xe8\xc0\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/pumpkin/seq-02/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.11682529655549437 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xb3\x1a\xe9\xd4\xbe\xb7\xec?\xe8\xf5\x10\xca\xc1/\xa6?\xb22\xe76\xf7\x18\xdc\xbf\xb2\xa4\x8c\xd6d\xbe\x94?W\x05\xa7\x1c\xa0\xae\xef?\x19\xbe\xc8I\x16\xcf\xc1?\xe6_\x0enK4\xdc?yv\xa0p\xe2\x1e\xc1\xbf.\xe4\x0c\xbf\x86g\xec?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x9b\x1cP*\xf5\x13\t@\x18\xe6\xfc\xf4[H\x0c\xc0\x91\x83\xb3\x10\xd5/\x16@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/pumpkin/seq-02/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F3.6157022687645366 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x0f!\xect\x04\xdc\xec?\xc7\x10\x930M\xac\xd4?O\x1a\x1c\xd4\x9d\\\xd2\xbff7\xbc\xff\xea\x12\xd3\xbf\xc5\x86\xea\xe9\xf0D\xee?\xc3\x8e\xb8\xaa&g\xc0?\x1a\xc3\xfe\x8d\x95\x04\xd4?\xba\xa6\x96\n\x85\xc9\x9e\xbfP2\x88\xa0\x12a\xee?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xc1o\x12\xcc\x89\xea\xc3\xbf\xd6 BV"a\xc8?`Y:\'I\x88\xd0?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/pumpkin/seq-03/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F6.759977438108334 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'x\xf3\xcb +\xea\xef?\xd9r\x0c\xb8\x89\x10\xac\xbf\xf9\xcdO\x10\xfb\xa6\xa8\xbf\n:\xf0\xf8\xd6r\xac?\xd1l\xb6\x1b\x7f\xf2\xef?\xf1s\x18\x8c\xefq\x8d?\xd7\x82XIH5\xa8?\x03\x94|\xf8>l\x91\xbf\x8c\xdf\xe0\xa2\xa6\xf5\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S"'Z9?\x04N\x9d?\xf8\x98\xf2E\xa8\x1c\x98\xbf\xf8\x07\x9d\xa6@\x0c\xb7?" 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/pumpkin/seq-03/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.051922998780411324 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xb6h.\xdd\xb5[\xef?\x92\xb7\xf9C%\x82\x93\xbf\xd7\xbb\xe6\x81\xb0c\xc9?\x05I\x0f\xe4d\x14\xac?\xee\xad\xdf\xc4\xc8r\xef?r{\x02\x8dX\x99\xc6\xbf\x8dX\x03\xbfm\x85\xc8\xbf\x8dg\xc3\xd8\xc8\x89\xc7?\xa4\xbd\x00\xcc\xe2\xd9\xee?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'^\x03G\xe8\xe5\xb4\x12@\xb42\x05X\xd5<\x17@\xf1d\xc2\x1e\x03\xc7\xd7?h\xef\xde'\xdaJ\xaa\xbf\xbf\xc7\x064\xf6\xa9\xed?" 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'{\x01\x1b\xb6\xb7\xa1\xda\xbf;\xa2PW\x00\xc1\xcb?p\xb9\xa7\x12\x1bL\x96\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/pumpkin/seq-06/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F3.422000992411104 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'h\xba~\xaf\x06\xd1\xef?[\x12m\x1d\x94 \xad?\xe2\x07%\x8a*.\xb7?\x08x\xfc^\x1b~\xba\xbf.o\xbf\xbe\xea4\xe7?\xfb=\xfeOY\xc8\xe5?CB\xd5W\x92\x96\x9b\xbfrm\x85\n#\xf5\xe5\xbf\xfe\xb2:b\x14C\xe7?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x00\x01)(\xd0\x9f\xc5\xbf\x0b^\xfb\x9e\xa1,\xe1?\xa0\xaa&q\xe6\xe1\xd2?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/pumpkin/seq-06/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.08433971167652124 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'9\xbb"\xcf\xdd*\xef?\xc2\x0e\xddN\xb9\xb8\xcc?\x80=@\xbdbA\xa0\xbf$\xab\xe7B\xdf=\xca\xbfd<7\xd3\xf6\xd3\xed?\xbe\xe2\x03p\xee\x1a\xd3?\x81\xc0\x11 Q\xb9\xb8?td\xe3P\n1\xd2\xbf\xd9\x85\xd1\x02&\x86\xee?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x02\x19\xafT\x00\xc3 \xc0\xffg#\xcc\nX#@\xc0\x160X\xc2\xe7\n\xc0' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/pumpkin/seq-06/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.2687485174957276 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x92\xfb\xd0\xa2\xb6\xfe\xef?\x96\x0cd,iB\x8a?\xc4\xa2\x85\x15L\x0e\x89?\xf7u\xab$yH\x89\xbf\x19\xf2\x14D_\xf9\xef?f\xf0k\xf2\xf1\x98\xa3\xbf1\xe8\xb1\x93j\n\x8a\xbf\x86ZlR\\\x84\xa3?\xff\xce\xcd b\xf9\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xfb\xd9\x96\xac\x81\xa8\xcd\xbf;0J\x8e\x1e6\xd8?b\x01\xe1\xe6\xca\xfa\xd2\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/pumpkin/seq-07/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.7465884652429087 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x08\x89!\xbd\x8d\xc5\xed?\xb6A\x9aS\xd3&\xb1?\x80\x08\xa6V\xc6\x11\xd7\xbf\xf8Zt\xe1\x05\x97\xb2\xbf\x86\x10$\xe8Z\xea\xef?N\x06\xfb\xe5M\xc9`\xbf$\xaf\xd0\xd3\xeb\xff\xd6?\xc2_2c\x81\xc1\x9c?\xba}4\xa4E\xd9\xed?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S"\xe0\x84\xbc\x91aH\xa4\xbf\x1e\xd6\x9a'\xf6\xf3\xcc?8:\xe8'\x8bD\x91\xbf" 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/pumpkin/seq-07/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.06798550020405109 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S"\r\xff\x85t\xdca\xef?\xcd,\xe4\xb6f\x1c\xa8\xbf\xf9P'\xdc\xd4J\xc8\xbf\xd6B\tG\x8e\x88\xa8?v\xa5 \x00\x97\xf6\xef?\xf8>0\x96C\x97/\xbf\xf5\x85\xc9P\x0fD\xc8?\xe1g=\x19\xdd#\x82\xbfX!{&\x1ek\xef?" 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'2"~B\x08\x18!\xc0N"~\xfc;O)@\x90\x9f\x9dQ:\x81\x0b@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/pumpkin/seq-07/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.303212729710353 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xd6\xe9[\x06\x1af\xef?0=\xe0bz\x8f\xa4\xbf\r\x87W\xe6I\'\xc8\xbfk\xc9\xc1\xbb~\xbc\\?\xeco\xb2Ys[\xef?\x99["\xb6t\x86\xc9\xbf\xddK\xdf\x18~\xb1\xc8?\xa9 5\x13\xda\x00\xc9?\xd4MWt8\xc5\xee?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'.w\x92\xf5\xe3n\xcc?\xb5"\xe0/\x1ao\xdd?wtC\x17\x0c\x17\xc7\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/pumpkin/seq-08/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F3.545795800698033 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S"\x83\xbf\x9d\xe1m\xc6\xec?[\x0f\xbb\xb5\x8ba\xb2?\xb0!\xad\xf1\xac\x9e\xdb\xbf \x1449Z\x90\x86\xbfB\xb05\xb5\xcd\xac\xef?\x86\x1d'\xfa,$\xc2?\xa0\xe51[\x98\xfd\xdb?hK\x9d\x0b\xb0h\xbf\xbf\xed~\xba\xf8\x18\x82\xec?" 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x84Lx\xe0\xefl\xb8\xbf\x1c@\x8f\x06t\xf0\xc7?u\x1e\xec2p\x96\xb4\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/pumpkin/seq-08/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.0908765866500599 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xccBin\xc5\x02\xef?\xeb\x84\xf6\xc7u\xc9\x82?}h4\xaa\xbd\x8e\xcf\xbf\xbfX\xd2\x86h\xdf\x99\xbf\x8a\x0b|\xbf\x85\xed\xef?\r0\xda\xb9k\xd7\xaf\xbfh(\xca,\xd3i\xcf?3\xc0"\x83\xf6\x05\xb1?\x7f\xe4\xeew\xc3\xf2\xee?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'0ZA\x0f$\x05\x16\xc0\xe8_\x80\x01\xc4^\x01@V/\x80t\xff\xf4!\xc0' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/pumpkin/seq-08/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F16.994646509579038 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'v\xa37\xf5\x98\xd2\xe7?y\xeb\xc6\xed\xf8g\xa7\xbf\xec\xd9\xad\xb0\xb6P\xe5\xbf\xab\x82\xff\x9f\xd8s\xae\xbf\x05\xb9\x02\x8c\x15\xa7\xef?\xfe\x91\xafG\xb42\xc1\xbf\x0b|\x0f\xd9\xcdG\xe5?\xd2\xa5\xa3\xef\xd5\xdf\xc1?\xf5\x0c\xc5\x10!z\xe7?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'x~\xa3\xbd\xccf\xa3\xbf\x1c8\xad6\xf4v\xa2?GeP\x7fX\x02\xb3?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/pumpkin/stats.txt: -------------------------------------------------------------------------------- 1 | 5.503370888799515859e-01 4.492568432042766124e-01 4.579284152018213705e-01 2 | 4.053158612557544727e-02 4.899782680513672939e-02 3.385843494567825074e-02 3 | -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/pose_stats.txt: -------------------------------------------------------------------------------- 1 | 0.0000000 0.0000000 0.0000000 2 | 1.0000000 1.0000000 1.0000000 3 | -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-01/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.323555204756673 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S"\xc0\xd2Or\xde\xfb\xea?\x9a\xa4\xa7\x8e \x81\xdf?x\x9cD\xcf/\xa3\xcb?\x9b-\xe2\xe9\xd5(\xe1\xbf0\xf0\xff\xd2\xfd\x8a\xe9?'4h\xcc\xf9\x8f\xd1?\xdd\xf4\xfe4\xc0\x14\xa3\xbf\x12W\x0cl18\xd6\xbfO>\xfe\xa8`\xfc\xed?" 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xf4\xd2\x1d\x19\x96\x13\xd4?\xfd\x89\xdf\xde\xec\x85\xe0?\x10f\xa0E\x8e*\x83\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-01/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.09675055612062754 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xa5$\xb1\x8c\x05\xae\xee?\xc4z\xb7b/\xea\xca?\x13\tg\x9d\xb4|\xc8\xbf]S{M\x006\xcd\xbfP\nb\xcf\xe8\x0e\xef?\x00W}\xb2\xd2\xaf\xb3\xbf@\xde\xb8\xecY\xb2\xc5?\xb0\xe3c(\x10\r\xbe?K\x99^\x1d\xfbO\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xd7\xa5\xf9\x82\xb0\xa5\x15@4KC\xf8\x9e\xbf\x08\xc0,\x8a\xbel\x01\n\x18@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-01/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.3493453685214294 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S"\x00\xe4\xca\x19\x16\x7f\xef?\xeb\xcf'\x15'\xeb\xc3?\xbf%\xd41\xf6n\xb5\xbf\x97\xb8eG\x1a\x9f\xc4\xbf\xa2c\xad\x89M\x84\xef?\x99D\x13\x96j9\xb0\xbf\x94S\xe7\xf6\xc7\x95\xb2?\x07\xea\x0c\t\tl\xb3?\xa8\x8c\xa5\x08\xb6\xd2\xef?" 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'L\xccA11\xca\xcf?\xf1\xfe\xfa\x91@\xbf\xc8?\xa0o\xb1\x8bt\xa5\xd5\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-02/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.760211586230587 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xbd\xdc\xee\x1c\xb6\xfe\xef?\xe0\xe7cp\xbc\x04\x8b\xbf\x1eY\xe9\xb6JG\x88\xbf\xeb9\xea\xc2\xb3\xe4\x87?61\x98b\x94\xc3\xef?W\xe9\xc3\x8e\n\xe4\xbe\xbf\x8f\x7fD\xcf\x12\\\x8b?\xe8\xe9\xff\xb9\xbb\xd9\xbe?\x9a\x9bu\xb6\x8f\xc3\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x10\x88V\xdc\x833\xd0\xbf\xb8\xbeeo\xea\xbd\xa8?\xe0g\xa8_\x1c\xdd\xc2?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-02/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.12176965584159122 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xfa\xb8\n\x96\xfe\xfc\xed?\x95\xf2\xda\x96\xe9u\xd4\xbf\xc7\xfd\n8\xa6\xe8\xc1?\x81\xe6\x05\t5\xdd\xd4?\x9e\x089$\xf2=\xee?\xf4\x87\xc5\x8a\xaf\xb0\x98\xbf\xf9\\\xb9\xab`\xe0\xbf\xbf\x9d_\xf1\x07\tv\xb1?\xfc\x11Tl\x04\xad\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xb9\xff;\x9c\xee\xb2\x11\xc0PoT\xa8\xa7\xa3\x1a@\xc4\x94\x03k\xc1\xeb\x13\xc0' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-02/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.5298824263037214 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xf0x\x1e\xe4\xa1?\xef?\xa7\x8e\xa8\xa6.\r\xb3\xbfQ\x9f\x1c\x8c\xe4\xe0\xc9?{_a\x7f\xe5\x04\xab?\xc0t"\xa7g\xc2\xef?t/b\x8a\xa4E\xbc?\xb6$\x9c\x97d\xbc\xca\xbf#x\x88\xb8x\xe0\xb8\xbf\x05\x8d\xc4\xe5\xa7#\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xa0\xd4w\x15\x10\\\xae\xbfdlO-_;\xc3?0l\xa7\x96\x9f\x80\xac?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-03/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.5561761540071233 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x83\x909\xb7\x16\xd7\xeb?\xb6\xf3g\xdc\xc8^\xb9?\xc2\xccK\x19\x1f\xe9\xde\xbf\xfd\x8e\xadNj\x01\xd1\xbf\x99\xdf=\xe5\xc6k\xed?\x8c\x96\n\x80\x0f\x8f\xd2\xbfI\x1b\xd93\x88\x94\xda?\x06\\\x1b\xb0\x0e\\\xd8?\xe2\xf1\x89shp\xea?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'Q\xdc\xa3\xddR>\xd4?l\x0f\xa9\x8bCO\x94\xbfpW\x10\x8d\xb4\xf7\xb9\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-03/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.15547013380219796 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xdf\xa8\xea\xba\xbb\x02\xea??\\vN\xdcT\xbd?\x83\xb9\x08\x90\x95F\xe2\xbf\xf0O\x18D3\xff\xd1\xbf\xfc)\xb6SV\xf2\xed?~\xfeI\xddA2\xcb\xbf\xb8\x1bML\xf1R\xe0?=\xd9\xf5M\xd3T\xd5?>\x84\xac\xfcd_\xe9?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xdb&\x94s\xd7\xf5\x13@\x83\x0fk\xac\x16\xee\xef?P\xb1\xf0\x7f\x12\xa0\xfe\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-03/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F3.5437590805920283 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x82\xc1\xe6\xbd\x027\xec?\x1c\x03\xc3\xd8O\x95\xb9?\x07\x12\xb6\x86F\x82\xdd\xbf\xa3\x8b?Z\xf0.\xd0\xbf4Z\x99\x01\x0f\x9b\xed?\x85s\xc6\xd9!\x1d\xd2\xbf\xad\x18\xf0\xdc\xa3}\xd9?\xf5\x0e\x90T\xd7n\xd7?\xd7\x97\x05\x18\x95\xe9\xea?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xbfo\xb8\x93*\xf2\xce?\xa0\x8a\xa2r6tQ\xbf\xe0\xbc\xda\xf6\x94\x0f\xb2\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-04/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.933570887521167 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'@\xf2\xe4\xdc\xa47\xef?\xf7\x16\x86\r\xab\n\xc2\xbf@\x11(r\x00\x97\xc5?GP\xce\n\x0c\xcc\xc6?\xc2\xfa\x0c\xb9Q\x9c\xee?\xeb\xc1z\x87(\x88\xcd\xbf\x03/\x08\xe3k}\xc0\xbf\xce)q\x19\xd0S\xd0?$\xcc\x88\x92O\xaa\xee?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'j\xcf|\x1d\xb1L\xd6\xbf\xb0H%.\xc6j\x9c\xbf0\x0f\x81\x83\xd1H\xbb\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-04/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.0742639011349277 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'b3}~\xc1\xa6\xea?\xf2\x8fo\xe9\x0e\xf2\xbb\xbf\xd0J\xef\xfd ]\xe1?\xd3L\xcdSq\xe8\xd8?\xaf\x13I\xf5\x9a\x00\xea?p\xa4S\x91\xc9\xc4\xdb\xbfeN?\xe0\xfa/\xd9\xbf@\x7f)\xf8HR\xe2?\x92\xbe\xc4\xd6\x06\x04\xe7?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xcb\xb6\xf5\xd0 \\%\xc0\x87\x07\xde\xd8/\xe8\x06@\x15\x8d\x9c\x85M\x078\xc0' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-04/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.605935311292224 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'F\x87\x8d\xf5j\xfd\xef?:\xcc\x9by6\x19B?\xb1Zk\xcc\xd4\xb3\x99\xbf\xd0S\x1dx\x1d\xbaM?\x0c\x0bU\xa1(\xf2\xef?+}]%5\xbf\xad?\x01 \xa6@ \xb1\x99?\x1f\xba\xbe\xb4\xca\xbf\xad\xbfE\t\xce\xa7\x93\xef\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xe9S\xb9\x1c\xc6\xaa\xe1\xbff\xe8D\xbd\xaf.\xc7?R\x7f\xcc~h\xf4\xc4\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-05/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F7.421919460484256 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x97\x89\xdd\x8e\xbe\xca\xed?:\xe6f\xe9\x04\xa2\xd2\xbf\x835\xdbI\xd5.\xcc?\xad\xd9\xf3;2\x02\xd4?R\xa8\x89]\xa4P\xee?h\xcf\x96\x88"\xbc\xb1\xbfS\xb8\xba\'\x06\x1e\xc8\xbfr\xc7\xbc}\x08\x11\xc1?\xd3\xab\n%\xc9"\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'XQ!a\xeaw\xa2\xbf\x17$I\r\x9f\xed\xa9?\xa7*\xe9H\xf4\x95\xcb\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-05/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.05752902147202484 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xb1;F\x02\xe5v\xed?\xc7\x15\xe4\xcf\xad\xb8\xd8\xbf\x82\x01\xdfGs\xfd\xab?Xa\xec\t\xd8\xc4\xd8?\xe3\xc2aV\x94\x81\xed?4kW/\xf5\xf2j\xbf&\x91p\xf7y(\xa9\xbfL\xfej\xaeM\xc4\x98?\xbd\x92^\x85\xb4\xf3\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'}c\xde\x89_\xb4\x17@\xc6\xfd\xc7\xce\xbdw$@\xec\xc2\xfb\xc9\xcdz:\xc0' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-05/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.94946359062942 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xc1\x17\xfd\xc6\xf9\x01\xef?\xe7\xaf\x1a\x12]\x89\xcb\xbf \x97q\xa2+\x1e\xbf\xbf\xe3"kOj\xf9\xc9?\x1aT\x82\'\n\'\xef?EQ\xa1=L\xf5\xba\xbf\xa5T\x84\x92\xee\x0b\xc2?\xdet\x8b\xe3\xc4\xce\xb3?\xd4\xc8\xf1H]\x95\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\n\xc9X]\xecq\xd3\xbfj\xb1H.\x11\xd2\xd2?\xb0\xf4U\xe0\xa2\x16\xe6\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-06/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.9674393970406734 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'y\xd9\xa4\xde\xf3\xd7\xef?\x16\xde\xa8~=\xa2\xa3\xbf2\x11\xf5\x9ckL\xb7?\xfdC\xee\x96\xc3\x11\x9f?\xccI1\x10\x98\xdc\xef?7\xbe9)\x8bx\xb6?i\x17\xa9[<\x0f\xb8\xbf:S\x9f\x00@\xae\xce]\x9b\xa1\xfb\x1b@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-06/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.288755712576329 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xd6.\x94;\xccf\xe9?\x7fx\x94\xd3\xc4\xb3\xd8\xbfw#\xeeZ\xa4\x14\xde?KY\xb6\xa9\x1f`\xd1?\x9b\xfd\xda,US\xed?\xc8:\x9d\x04\x9f\xd1\xd2?\\\n.,Aj\xe1\xbfz\xc5\x95\x05<\x16\xbb\xbf\xcf\x1ceh\xbc\xa1\xea?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x03?c\xd8\x06\xf9\xc8?a\x03!\x05P8\xca?\x01\xed,\xda\xb5\xa3\xb4\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-07/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.58934796302191 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'(\xc9:\x94_\xff\xe6?\xce\x90_0^\xcc\xd9\xbf\xe6\xea\x19Ry!\xe2\xbf\xacu\xca\x1d\xa2`\xe5?,\x06&\x91\x8bK\xc6?\rJ\x8foz&\xe7?\x88\xd7\xfc>\x01\xb2\xc8\xbf\xeb\x04\x02\xd6\xeb\xbf\xec\xbfD\xd7\xb2\xe2\xf3>\xd9?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xbcr\xd1\xae\xe6\x84\xcb\xbf\xe8Y!\x90\xda\xcc\xf9?8V\x89Qhu\xf6?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-07/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.04438869976905504 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x1d\xec\\\xc5\xe1\xef\xeb?\xf1Z\xd9\x89\xb3]\xd7\xbfg\x85\xe9\xe1\xe3\xb0\xd4?\x19\xa8\xde\xcc\xb2\x04\xd8?\x9e\x98\x8a\xf7\x84\xa4\xed?\xdcF=G\xbb\xb9\xa0?\x1c\xe5\x03\x92\x16\xee\xd3\xbf\xa2\xf6\xb6\xaa]\xc2\xb7?\x9dM\xb8PsC\xee?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'@\\\x8e\xea.\x9e\x14@B\xbcl\x05\xc5\xe31@\xb2\x10W\\-\x18;\xc0' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-07/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.240042615665372 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'3\xd6\xf4\x15\xc7\xec\xed?\xa9@\xe0\x0c\x11"\xc3\xbf\xb4\xdb\x1bj\xe7\x8d\xd4?\xb9\x10\xcb\xd3p1\xc2?\xb3\xb2~-\xf1\xa3\xef?>\xa9\x0f\x12\xfe\xb8\xa7?}9\xe3\xab>\xc4\xd4\xbf4\xfaaJ\x9b\xffb?\x96P\x97\x10\xbcD\xee?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'?K\xdd\xec\x03\x89\xd2\xbf~\xd8\x8f\xa5\xdba\xce?\x0e\xf0)\xde\x9b\xee\xd3\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-08/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.2451003320593224 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xebl\xc0\xb9\x81\x86\xef?\x17\xd5\x84-yE\xbf?`\x04\x8ad\x00\xd9\xbe\xbf\xb5<=\x0c\x9f\x15\xbe\xbf\xdc\x1b\x9d\xe0\xeb\xbe\xef?\xcb\xec\x1e){\xfb\xa6?$\x0b\xb6?\xce\x00\xc0?\xc8\x92@\x11O\xc8\x9e\xbf5\xb9\xbf\xb9\xfd\xbb\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xcbvi\xbe<\xbd\xe1?\x93^\x0c\xef\x14\xee\xd0?j\xc6\x10\x9b!\x82\xd0\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-08/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.048465893580978366 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'*dO?\x99\xee\xed?ch\x81\xc6\xf5\x1a\xcb?\x96\xf3#(\xbe \xd2\xbf\xc4\xaa_\xfe\xae\xcf\xc8\xbfF2\xbf\x8b\x93B\xef?G\xdasv\x1e\x18\xb7?\r\x8es?l\xee\xd2?\x91\xe3f"`/\x9e\xbf\x93\x81{\xc3\xac\x8d\xee?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S"\x8e\x1a'j\xa3\xb57@Lk\xfe;'\xe5!@\xb8k\x110\x94w\x1d\xc0" 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-08/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F23.509334786222677 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x05\xf0/v\x85\x16\xec?"%\xb0\x82!\xad\xd0?`\xb0\x1ai\x88\xbb\xd9\xbf\x05\xc6\xee\xed\xbdd\xd2\xbf\xb4\x82\x02\x0c2\xa6\xee?\xaf\xc4\xcf}ow{\xbf*\xbdmP\xd4\x88\xd8?`s=d\xbc\x16\xbf?\x1c>\x0f\x98vL\xed?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'g\x19\xb3\xefb\x16\x8c\xbf\xc6V\x9e\rQ\x9d\x9b?\xca\x91%H\x17\x1e\x9a\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-11/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F3.562063379488417 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xfe"!\xf3\xc1\xe7\xef?\x81c\xd4s\xb6\xa6\xb2?S\xf9\xca\x8e\x89\x1e\x99\xbf\xc0M\x0b\xa2\x00\xff\xb2\xbf\xf3\xdf\x91\xf4\xe6\xda\xef?\x82W\x9d\xec\xf1k\xae\xbf\xff\x06\xe16\x9d\x92\x94?\xbc\xc5E\x8d{C\xaf?\xa8\x1ba\xa0\x0e\xef\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xe5\x17\xa6u\x89Z\xd0?&\xe0\xca\xa4\x07\xc6\xbe\xbfr\xa7\x7fM\xd1\xbe\xb7?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-11/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.10527181219152991 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xb85\x1d\x97\x8c\n\xed?\xe2A\xdf\x93\xf6\xbe\xcd?\xb6\xa2\x94h[c\xd6\xbfeC^8A\x97\xcc\xbf\xb9\x93\x03\xe8e\x1e\xef?%+\x1e^\xe6\x08\xb1?\x000\xf1\x8c\xe0\xc2\xd6?\xb2\x8c\xbb=P,\x92?c\xeb\xe0\xa9\t\xe7\xed?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x10\xfc\xc5\x1f\x07\x92\xc0?0\xd6\xc6y\x1d/\x12\xc09YU@\x02\xb1\x1f@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-11/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.0573097578600685 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x1e\x99\xeef\xde\xf2\xef?\xd6@\xabb\xb2\xc8\xab?\xbdWES w\x90\xbfD\x98\x88~y\x10\xac\xbf\xdb\x02\x18\xffi\xee\xef?y\xcd\x87aVY\xa2\xbf\xcaP\x88T\x8a\xe0\x8c?Z\x99n\x85T\xc5\xa2?q\x10Z\x87\xad\xf9\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xc5O\xf8\x1eV\xe1\x92?\xbc\xd5H\x1a\xe3b\xb4\xbf\xd8j\x95\x1e\xdd)\xa0\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-12/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F6.589877561928222 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xf7\r\x14O\xf9:\xe4?\x116B\xd5\xde\xe5\xe5?\xaf\xcc\xeb2\x97A\xd7?\xecX\xda\xd0\xa2\x18\xe7\xbf\x16\xaf\xa8\xd1z_\xd6?9\xbc\x17\xe2\xba\x1d\xe3?\xea\xa3\xa6\x0fk\x08\xd2??B\x87\xb7Uz\xe4\xbf\x05\xa1\xfc\n\x88\xe0\xe6?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'KNu\x11\xefI\xdf\xbf\xc4\xc7\xed\xe1=\x95\xba?|\xb4\xa06\xa1m\xdf?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-12/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.17369800443002814 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S"\x10\x8a\x04*\xeb\xe2\xee?\xb9#'{0\x97\xc0\xbf\x19\xdb\xc9\xe1\xac\x12\xcd\xbfE\x7f\x10N\xca\x03\xc5?\xa5\x1a\xaf/r>\xef?\x83\xd8}\xca\x11\xfc\xc1?\x97kj\x01\x13\x0e\xca?\xd8|\x88\xd6\xc5!\xc6\xbf\xdae\xc5\x9cl\xd6\xee?" 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x06\x8f\xa8Ei\xe6#\xc0\xa8\xaeq\xd1\xb1c\x17\xc0@\xc6K\xa0\x94\x06\t@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-12/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.7430078626679164 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xdc\xa3\xd719\xdd\xef?6\xe5\xf6d\xe3\xb1\x8f?.|\xe2li:\xb7\xbf\xa9\xe2\xa8\x99`\xb3P?\x97m\xef\r\xb2{\xef?\xaa\xf7\xa1vJ\xe9\xc6?&\xdcm\xd0\xea\x8f\xb7?\xb74\xd1\x1al\xd3\xc6\xbf\xd3\x08V\xf3YY\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'~\xfd\xfb\xba\xa1\x19\xb9?Ph\xfa\xa8n\xc9\xb2?\x145\x02\xe0q\x99\xb8\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-13/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.1014518988956654 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'a\x08\x96\xc9_\xd0\xed?\xce\xcf\xb1z\x18\xf3\x8e\xbfBq_\x18\x90:\xd7\xbf*DJ\xbd\xd3\xa4\x8b\xbfE_\xe79u\xe7\xef?i\xfe\xdc9O\x7f\xb3\xbf\x17\xa0\xe5\xe7\x9a;\xd7?\x11`\xd8\xa2fk\xb3?P\x90\x1cn\xd6\xb7\xed?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'`!\xef\xd7\x94\xdf\xe3\xbf\xdfy\xf1>\xfe-\xc3\xbf\x8f\xba0\xa4_s\xd6\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-13/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.11941181192768101 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S"\x0e0\x0c\x89\x19L\xe9? )\xea\xad\xb6\xd9\xb6\xbf\xaa?\x87'Lc\xe3?\x85\xbeE\x19\x96\xa7\xaf?k\xc7p\xbag\xde\xef?cjB\x97\xad\xe8\xb0?\x87\x7f\x11\x86=\x7f\xe3\xbf\xaa@2\x13\x029\x8e\xbf\xf5\x15\xf1\xd6\xbf^\xe9?" 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x94\xb5\x18\xe2V\xf4\xf1?\xf2\xf7\x1a\x0f\xa1}\r\xc0\xc2V\xe8$j\x10\x1d@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-13/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.9099940243177242 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'{\xfe0$&\xb0\xef?Mn\x9eWP\xces?\x81\x97LvI\xd1\xc1?\xe8\xbf\x1c\xfb\xcf18?\xf6S\xddaI\xfa\xef? \xf5E\xb5)\x1e\xa3\xbf\x88\x92\xeb\xa9\x05\xd4\xc1\xbf\xb7\xef p1\xf5\xa2?t\x1df\tz\xaa\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'hf\xabl\xc6\x8a\x92?p\xe7\xc8\x87\xc8\xe3\x99\xbf\x980,\xefk\xa9\xc0\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-14/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.0468806792688583 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xd7\x96\xe2~\xa9\xf8\xef?r\x0e\xdb\x8ct\xbe\x9a\xbf\x8a\xab\xa3\xfe\x12\x0c\xa1\xbf+\x85\x97\x7f\xd1k\x97?6,\xf9.J\xd9\xef?\x81O\x16\xdf{(\xb8\xbft\xbd\x8c\x9c~:\xa2?l\xbc1?\t\xf1\xb7?\xdf\xae2N\xe1\xd6\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xb8\x829\xe1@\x84\x99?\xcaT\x99[l\xe7\xc0\xbf\xe0\xe8\xcc\x02G\xdb\x8a?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-14/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.057478651878023014 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xa4;ja4\x87\xef?\xc5\x83\x04\xb5w\x9d\xb8\xbf\xfc\xbb\x90\xa9^\x1d\xc2?\xda\xf1\xf8\xed\x1c\xd6\xb2?\xfb\xda3\x81\x10\x84\xef?\xd5\t\xf4\xff\x02\x15\xc4?\xa14`\xc1\x88\xc5\xc3\xbf(^\xc8*\xfds\xc2\xbfd\xe1\xf3\xd3\rG\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S':\x9b\xed\x12WP\x1c\xc0\x90\xf6BV\x00c\xe4\xbf\xf8\x94&\x87\xa8B\xf7\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/seq-14/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.6399724641960933 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S">\xf6=\xac\x00\xff\xef?\xfd>\x16i~\xed\x89?-\xcd'5z\xae\x82?'\xe0L\x81\x08\xaf\x87\xbfX\xcc\x84\xf5X\xcc\xef?3\xd4\xd2\xc9\xa7\x8c\xbc\xbf\xa8\r\xb5P\x8bt\x85\xbfL\x02\xc32\xda\x84\xbc?2\xc0-F\x8e\xcc\xef?" 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x01\x1a\x12\xb9\xc1|\xb4?\xadN\xe2\xa8\x80\xcc\xb3\xbf@\xb8\x1ar\xa5+\x92?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/redkitchen/stats.txt: -------------------------------------------------------------------------------- 1 | 5.262172203420504291e-01 4.400453064527823366e-01 4.320846191351511711e-01 2 | 4.872459633076364760e-02 6.484063059696282272e-02 5.724255797232574716e-02 3 | -------------------------------------------------------------------------------- /data/7Scenes/stairs/pose_stats.txt: -------------------------------------------------------------------------------- 1 | 0.0000000 0.0000000 0.0000000 2 | 1.0000000 1.0000000 1.0000000 3 | -------------------------------------------------------------------------------- /data/7Scenes/stairs/seq-01/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F3.8701098733025963 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xa9\xd3>\xaal\x08\xe6?\xef{\xfc\xc2\xb7\xfb\xda\xbfp\xc61,\xc5\xe1\xe2\xbf\xdc\xc3\xb5\tW\xb8\xe6?\xa7\xa26\xc45\xd8\xe1?\xc5t\xbf\xf8\xb5\x85\xdb?\x18\x83\x9a\xfe\xee\xe8\xc2?\x95R\xc5\x16\x93\xe1\xe6\xbf%\xf0\x98*\x97\xdd\xe5?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xff\x94\x95\xa7\x93\xe1\xd0?\x10\xb8sZ=\xdf\xc2?\xac4\r\xbb\xc5\x05\xd8?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/stairs/seq-01/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.10559150839206508 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'W\x02\x130?\xfa\xeb?\t&5z\xbc\x1a\xd4\xbfF\xb6nu\xa0\xae\xd7?r\xbf\xcc\x95\xa4\x1b\xcb?Z\x91#v\xb8\xd9\xed?\xf3\x8fl\xdc6\xa8\xd2?\x01Y\xfe\x8a\xbe\xf3\xdb\xbf\x9bhlW\xc4\x97\xc6\xbf4R\xed%!:\xec?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'1\x04)\x9c\xdf\xfc/@.)\xc1\xd9oL\x08@\x8cF\xe0\x1d\xd1\x92!@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/stairs/seq-01/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.707354168054361 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xf6\x9c\xd8\xc3\x1eM\xee?v\xd6v\xdcbg\xd0\xbfv6u\xe3\xea\xd6\xc8?"\x13!\xc7uG\xc9?\x02\xa3\x9b\xa3\x10\x15\xee?zA\xc0\x9f\x1b\xca\xd1?sP\x13\xbc.<\xd0\xbfI\xcb^\xb3\xda\xc8\xcc\xbf\xea\x9a<\x15\xec\x1a\xee?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xfc+\xed\xea\x19g\xd1?\xdf\xbd\xa9\x10h1\xe0?\xd0\xd7)\xbcA\xed\x9f\xbf' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/stairs/seq-02/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.8053543851293312 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\\\x1f\xb1\xed\xa5r\xeb?\x85\xcaUd\xab\xf2\xd8??\xd1\x1e\xc8\xf8r\xd5\xbf\xce,\xa5[\xb9\xef\xc5\xbf]\xb5\xc2\x8b`\x9b\xea?\x1b\xca\x98\x14Q\xe9\xe0?$\xb8\xa8\x96\xcb\x04\xdf?\x96=\xe2\x08\xdeU\xd9\xbf\xc6\xf43\xa2\xb1\xf5\xe8?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'@\xd9\xd9\x8d\x82t\x90\xbf\xc5<\xa8B\x1c\xff\xda?\x88\x8c"ep\xec\xd4?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/stairs/seq-02/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.06043046547194479 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S"\x94\xf1h\xd0\x87\x91\xed?O\x89\xe2\xc3\xd5N\xd2?\xae\xcb\xbf>\xaa<\xd0\xbfZL*\xb8a\xb4\xc5\xbf\x8d\x0f\x89UW\xd7\xec?\x0f\xe2\xff\x92\xa1\x83\xd9?\xc51\x83\xf5\xcb\xee\xd5?'\x9c\xcd\x87}\xd2\xd4\xbf\x0b\x89\xf8E\xaf3\xec?" 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'8\x83\x06\xed\x9f^\xf2?@\xeex\xefP/1@\x86<\xd3\xb6\xfe\x8b\x14@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/stairs/seq-02/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.5934841087044593 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'"\x9b\x14\xe3"6\xe3?(@\x7f\xe4\xc8\xc0\xe0?\xc6\x83\xd9\x9b|X\xe3\xbf2\x1d&A\xcc\x10\xd6\xbf\xd4\x0e\x86\x03\xa9?\xeb?\xd1`\xe6+\x08H\xd9?\x9a\x7f\x1f\x05O\x17\xe7?D\xdb\xa2-\xc9h\x9d\xbf\xf3=\xa14\x90"\xe6?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xeaG\xb1\xd2\x10\xf5\xd3\xbf\xf2\xdc\xedU\xd2J\xc2?\xf8\xd0S\xc0\xb7\x97\xcf?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/stairs/seq-03/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.497034876939162 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xca\xc6\xaf?"F\xdc?\x07(\x13\x01mP\xd2\xbf\xd9\xcb\xe0\xa1U5\xeb?>.\xaa\xb8 \xb7\xa7\xbf\'\xc80%\x1f\x0e\xee?L0\xf1\x02I\xc5\xd5?,f\xbe4n\xab\xec\xbf(\x1fUW\xd9F\xc8\xbf\\\xfaY\x7f\x10\xb5\xd9?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'`\xda\xf3M\xd7\xff\xd0?\xea\xd6k\xe2\x8f\x84\xc0?\x97A\xa0\xb7{\x9e\xe1?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/stairs/seq-03/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.04731980467827147 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xc7@\x91\x1c\xea\xb8\xd8?\x94Gs\xfc\xcb\xdf\xad\xbf&\x98\xb5\xaa\xfet\xed?\xc1\xc5gM\xca\xd8\xce\xbf\xc6z[$Q\x9f\xee?\xa1%W\xdcX\xb5\xc4?\xd3\xcc9t\xab}\xec\xbf&G\x9c\x91\x8a2\xd2\xbf\x82\xf1X`\x0f\xc2\xd6?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xfa\xcb|hs*%@\xb5\x1e\xa6\x89"m*@\xf8\x8a\x10\x93\xd6)@@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/stairs/seq-03/orbslam_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.170609443198614 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xad\x9cr?J\xef\xe0?\xfaG\xa6\x8dy\x9a\xd1\xbf\x89|\xf9\xfc|\xaf\xe9?\x81aa\xbe\xf3$\xba\xbf\xd8\xed\xf2\xec"d\xed?\xd3\xa7\x1b9\xcfs\xd8?\xe5D\xee\xc7M\xf4\xea\xbf\x99Fp\xf4\xd0/\xd2\xbf\xaf,!FxO\xdd?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x8c\x11Inv@\xc1?&}\xd7\x8c\xb8\x08\xd1?5\xc1\xe66;\xd3\xd3?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/stairs/seq-04/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F3.222918176459946 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xd2\x0ej(\x99\x00\xef?O0\xc9\xe1\x8e\xad\xb4?\x8d\xfaY\xb9\xd2\xfa\xcd?\xb7\x81\xa6\xf8\xba,\xc4\xbf\x85\x03\x08\x87B\xc5\xed?a\x05\xfc\xc5*1\xd5?\xc1\xbef\xa2\xb2w\xc8\xbf\xa3\xd3\xb2U\xdc\xe4\xd6\xbfX\x92\xa7\xf5\xf1?\xed?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'MC\xcb\x98\xfew\xc3?\xfdp\xea\x9eF\xc8\xd0?\x85\x11\x8f\x7f\xdb\x93\xd8?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/stairs/seq-04/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.057511550118362315 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S"\x00\x99\xa7\xf5K\xf0\xef?}\x8d\xd6u\xd3\xd3\xa3\xbf\r'\x16\xf4~\xb7\xa8?\x8d}e\xb1\x97\xae\x95?_(R\xe8\xd6J\xee?\xdcK\xf0J?\x95\xd4?)\xf0\xd81D\xc6\xad\xbf\x06C\xdc@fz\xd4\xbf\x8a\xa3\x19\xfd\xb0B\xee?" 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xa33\xb3\xaf\x9f\xd7 @\x1bW\xc7\xef\x9a\xdd0@\xe3\xa7\x94At\xd50@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/stairs/seq-05/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F2.9135276637773537 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xe7\x95\x10\xa2\x0bM\xe9?#\xffh\xec\x88\xb1\xcd?~\x9e)\xb2\xb0!\xe2\xbfr\xfe.\x03!\xd3\xca?1\xa34"H\x8b\xe8?\xcb\xd5-c\x16h\xe3?1q1\x80\xafh\xe2?\xbaL\x04\x1c\xcb$\xe3\xbf<\xb6j\xe4\xa5\xd9\xe1?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xe6Ic\xf6D\xbe\xd0\xbf@w\xc0s**\xcb?B\xa4\x14*p\xff\xe5?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/stairs/seq-05/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.07403175834465003 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x90\xb1\xa0\x1f)\x96\xec?\xe9&.2\x97\xeb\xc1\xbfm\xe7T$\x93T\xdb\xbfh:.ZV\xab\xcf?+N\xe6\x97\x8cI\xee?\xfb\xb8\xe2_\x17\x88\xca?\x8d\xc8-\xcf\xa6\x02\xd8?\x1c\xbbzL\xdb\x9c\xd2\xbf\x90\x81`\x90=*\xec?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'y\xfa|>\xf4\xa7+\xc0Oa\xd3\x94\x9d\x00!@\xd4\x94\x10\xd7\x9f1*@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/stairs/seq-06/dso_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F11.388087957391614 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x12\xde\xa2\x18\x06\x8a\xe9?h\xa1\xaf\xe7\xfa\xc6\xc6?1c\xc2L\xbak\xe2\xbfJ\\\xa5_?-\xa4\xbf\xe9\x0b@\xdd\x1d\x00\xef?j}\xb2\x98\xaaV\xcf?\x8bab\xdfT=\xe3?v\xa2\x17\xe5\x88\x1b\xc6\xbf\xfc|}\x04@\xf7\xe8?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'n\xd8W\xad\xce\xcd\xb8?Y\xa8C\x02\ne\xc0?\xab\x92f\xf8\xdbp\xbd?' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/stairs/seq-06/libviso2_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.05810074854657499 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xc5\x9d\xe5\x9e\xfd*\xe2?\x03WO>\x05o\xc3?N\xddS\xe2\xfc\xe3\xe9\xbf\xf1\x19vo\xbc\x82\xad\xbfo\tb{\xc4\x9b\xef?M\xb0\x94\x07k\x8c\xc2?_*\x07\xdf\x1fG\xea?\x1aB\t6:?\xa2\xbf\xd1@\x9d\x84\xc59\xe2?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'M|\xc9]\xce\xc3\xff\xbf \x00\xeb\x8a \xf4\x1f@\x02P\x00\xa2R\x80\r@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/7Scenes/stairs/stats.txt: -------------------------------------------------------------------------------- 1 | 4.472714732115506964e-01 4.312183359438830910e-01 4.291487246732026972e-01 2 | 3.258580609153208241e-02 2.618736971489385446e-02 1.208855922484347589e-02 3 | -------------------------------------------------------------------------------- /data/README.txt: -------------------------------------------------------------------------------- 1 | add data info here 2 | -------------------------------------------------------------------------------- /data/RobotCar/crop_size.txt: -------------------------------------------------------------------------------- 1 | 224 300 -------------------------------------------------------------------------------- /data/RobotCar/full/2014-11-28-12-07-13/gps_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.9998711821592811 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x10\xe0\xe7\xae\x9d\xff\xef?\xe0\xec>\x85\xc8\xd5V?\xfd@\x10v\xcd\x9f\x83\xbf\xf0wk\x17\x04\x9aV\xbf+\x06^\xaa\xfb\xff\xef?\xd2\xf5s\xfbhxX?%\xa5\xc21\xe2\xa0\x83?!\x10n\x89\xac@X\xbfw\x9e\x8ba\x9d\xff\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x00@\xfd\x15\x95\x0ex@\x80/\xb2\xf4\x0b\x8a\xbf\xc0\x04\x15\x80/\x84]\xea@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/RobotCar/full/2014-11-28-12-07-13/stereo_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.9557421002210669 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'*\xc8\xee\x9d\x16\xcb\xed?o\xab\xa2\xee\x8f\x82\xd6?8\xfb\x96\xaa\xf9\xe4\xb8\xbf\xfd1\xfa\xea\x0e\xdb\xd5\xbf\xae\x86\xbb\xac\xf5\xe0\xed?\xcc`\xf6\x95\xc5\x87\xbb?6`R\xea\xacv\xc0?\x16\x9a\xc3\x92l!\xb1\xbfC\xaf,xp\xa9\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x98ny\xf4WxT\xc1\xb5\xa8\xfa\x97\x95\xb9D\xc1( \xc1\x05\xa5Z\x1fA' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/RobotCar/full/2014-12-02-15-30-08/gps_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.9997101836847657 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xc7\x88\xba\x92\xfc\xff\xef?\tr\xa86_\x122?\x8b\xc6\x86\xb4\xabE]?\xc33\x80\xae\xaa\xba1\xbf\xe7l\xd7\xf2\xf6\xff\xef?\x90\xd8\x0c\x99V\xf7g\xbf\xf0\x91\xae\xa5\x05I]\xbf\x8a9\xc1\x8bP\xf6g?\xe3\xa4\x9f\xad\xf3\xff\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x00@\x81<\xa08\x97\xc0\x00\x9c\t\x98\x11{\x9b\xc0\xceF\xdf\xe5\xfb\x90\xc0\xc0' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/RobotCar/full/2014-12-02-15-30-08/stereo_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.9545244551096635 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xec#5\x1e\xbcO\x9e?\x01V\xaf$\xeb\xe3\xef?C]3\xcb\xc7\xc6\xb3\xbf\x03\x8b\xc8\xeb\xd3/\xef\xbf\x15J\xcc\x87\xdb\x85\xa7?\x1e\xd2\x10\xa5\x19\x10\xcc?\xc2\x9c\xe1\x0f\xc6k\xcc?\x03\x1b\x87.\xd0\x9c\xb1?%\xcb\xfe\xcb\x99\x1f\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x9b\xe7\xb4\x14\xb8\xc6\x1bAa\x8d\x1b\xa29\xf5V\xc1\x1c\x84D#\xc1\xa1\x13A' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/RobotCar/full/2014-12-09-13-21-02/gps_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.0003136462172129 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x0f7\x17\x97\xfd\xff\xef?\xbe\x99C\xc5%v)?Z\xe1\xf2Q\x05\xa2X\xbf\xe5]\x94\x90\xdf\xe8(\xbf\x02b\xbc\xbd\xf7\xff\xef?\xa7\xf62\x8f\x11\xf0f?U\xc80\xfeF\xa4X?\xcd\xe4\xc8nv\xeff\xbf\x0c\x1f\xa6h\xf5\xff\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x00p\xb9\xb87\t\x9e@\x00\xac\xea\x13o\xa7\x8c\xc0Q\xd2F)\x12\xb9\xba@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/RobotCar/full/2014-12-09-13-21-02/stereo_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.9552602456573667 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xad%n\xd19\x94\xe5\xbf\xb7\xe5\x1d\xf8d\xa0\xe7\xbfvG\xeb#\x9fW\x87?m\x98\x88\xa0;\x89\xe7?\x00:?&\x89r\xe5\xbf\xdevy \x85`\xb9?I4,\xc7\xf0\xc7\xb0\xbfK\nB?FB\xb3?\xf7J\xa9\xc4\x1d\xd7\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\xf1e\x8b\x0f\r@KA>\\%\xc1\xfe\x91RA\xfe\xcc\xe7\xf5J9\x00\xc1' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/RobotCar/full/2014-12-12-10-45-15/gps_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.9998152977605073 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'`\xe4\xd1:\xff\xff\xef?\xb5\x9f\x14\xcd\x85Z-?\x89\x9a\xfe\x7f\xc3\x1bK\xbf%\x11}\x0e\x96\x8c-\xbf\xa0\xee\xe6\x88\xfc\xff\xef?\xbc{~\xdb\xe3\x8d]\xbfCn[\n]\x18K?Sqpg\xab\x8e]?O\xe7\xd3\xde\xfb\xff\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x00\x00M\xc0o\xab\x8c\xc0\x00 \xd87M\xd9\x95\xc0\xae\xdcQ\x94\xf2\xb9\xb6@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/RobotCar/full/2014-12-12-10-45-15/stereo_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.9720734931913142 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xb5\xaa,\xd9pu\xe4?$\xc8\x15\xb2\x88\x99\xe8?Tr\xd3\xea\x89K\x91?>4\xcd\xa1\x97-\xe8\xbf\x04\xabRO\xc9\xf7\xe3?\xa4\xe6\xde\xf0\xee\x84\xc9?-\xb4\xe8\x15\xcbD\xc2?\x8c/`\xd2\xe6\xf2\xc1\xbf\xa6w\x0c3YZ\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'g\xdeIQ\t\x1bI\xc1\x1c\xff\xdb\xeaH\xd2R\xc1\x02\xf8\x00\xdd\xe8\xb3\x0b\xc1' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/RobotCar/full/pose_stats.txt: -------------------------------------------------------------------------------- 1 | 5735463.5530597 620011.0471804 104.4224044 2 | 369.8005511 265.4193959 3.1115201 3 | -------------------------------------------------------------------------------- /data/RobotCar/full/stats.txt: -------------------------------------------------------------------------------- 1 | 0.5545220 0.5545220 0.5545220 2 | 0.0902526 0.0902526 0.0902526 3 | -------------------------------------------------------------------------------- /data/RobotCar/loop/2014-05-14-13-46-12/gps_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.9917963598572489 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'd\x87\x15\xf1_\xff\xef?$X\xe5\xb8\xb0\xc8\x88\xbf\xbd\xe8j\xa6\xd7ad\xbfU\xcfo8F\xc4\x88?\xc1\xd8@'.\x19\x88TA\x0b'R\xf7\xaa\x88(A" 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/RobotCar/loop/2014-05-14-13-50-20/gps_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.0010056158940257 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\xb6y\xfe\x99`\xff\xef?M9Vw;D\x85\xbf\xf7\x02\x11!\xad9{\xbfJ\xf8\xd4\xb3j0\x85?\x1f\xdb+\xbcm\xff\xef?\xb8iK\xb57Tw\xbf"b\xb4\xbb4w{?\x93F\xd3T\xa7\x0bw?\xdaxG\xa8\xaf\xff\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x00\x80\x05\xf1\xb2\x90j\xc0\xa0\xa9\x81\x16\x8fa\xed@\xfbgpW\x91L\xe4@' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/RobotCar/loop/2014-05-14-13-50-20/stereo_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.9379110123027492 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x8b\xf1{A\xea7\xc7?\xa0x7\x85\x17\x1c\xef\xbf`\x1c[\x18J\xf8\xc2\xbf\xa3\x9c\xac\xdd\xf6u\xef?ov5\xc0%d\xc7?\xcd\x88\x81)\x0e\xbbr?\xee\xec\xe7I=.\x97?\x01\xb0}\xd7\xbc\xd3h'A" 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/RobotCar/loop/2014-06-23-15-41-25/gps_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.9919690690136908 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'xy\x89\xd9o\xfe\xef?E\xe7\xf6\xd1\xf4B\x93\xbf\xfa0\n\xeb]\x94u\xbf\xacW"Q\xb3!\x93?\xfaa\xa2\xa8^\xfc\xef?\xac\xb6\\\xeb\xff\xef?T\xa0\x94\x89g/m\xbf\xd1\xafw\xa2H\xa8e?%\xdd\xc4\xb7\xe2Gm?:X\x90\x14\xde\xff\xef?\x05s\xed\xe8\xf6\x1er\xbf\n\xc0\xd6\xdd#\x87e\xbfhFn\xcd\xd3(r?\xe7?\xe2%\xe4\xff\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x00\xab*-j\xd1\xd9\xc0\x00c\x8c\xbf\x12}\xd1@\xd1V\xeaN\xe8t\xc8\xc0' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/RobotCar/loop/2014-06-26-08-53-56/stereo_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.0028617048147734 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x00\x00\x00\x00\x00\x00\xf0?\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf0?\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf0?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/RobotCar/loop/2014-06-26-09-24-58/gps_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F0.999746000512406 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'0\xafD\xd0\x8e\xff\xef?\xc1\xa8\xf4C\x1eK\x80\xbf\xb0{rIQ^{?\xaf#\x15X_d\x80?\xf9\xa1\x8aB\x86\xff\xef?\xa6\xa2h\xed\xd9\x8b}\xbf\x91]\x08\x08\xbc!{\xbf\x89\x0e5o\x85\xc3}?j\xb2$\x9f\x9a\xff\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'\x00\xa4w\xeaz\xe1\xb7\xc0p\xc7w\xea\xc9:\xe6@\x90\x18\xe6\xc8\xaa\x8e\xe0\xc0' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/RobotCar/loop/2014-06-26-09-24-58/stereo_vo_stats.pkl: -------------------------------------------------------------------------------- 1 | (dp0 2 | S's' 3 | p1 4 | F1.0095706979014991 5 | sS'R' 6 | p2 7 | cnumpy.core.multiarray 8 | _reconstruct 9 | p3 10 | (cnumpy 11 | ndarray 12 | p4 13 | (I0 14 | tp5 15 | S'b' 16 | p6 17 | tp7 18 | Rp8 19 | (I1 20 | (I3 21 | I3 22 | tp9 23 | cnumpy 24 | dtype 25 | p10 26 | (S'f8' 27 | p11 28 | I0 29 | I1 30 | tp12 31 | Rp13 32 | (I3 33 | S'<' 34 | p14 35 | NNNI-1 36 | I-1 37 | I0 38 | tp15 39 | bI00 40 | S'\x02"gp\xa2\xa6\xe2?6@c\x01]\xb7\xe9\xbfd\x9f\xc8\x80`\xcb\xbe\xbfO\x84\xb6\x9b\xe3\xfc\xe9?\xbd<\x1cTa\x98\xe2?\xcd\xf8\xcf\x12\x9d\x01\xab?\xe5\xcdc\x13#,\x9c?*\xb9\xabv\x82p\xc0\xbf\xa5BQ,\x07\xb9\xef?' 41 | p16 42 | tp17 43 | bsS't' 44 | p18 45 | g3 46 | (g4 47 | (I0 48 | tp19 49 | g6 50 | tp20 51 | Rp21 52 | (I1 53 | (I3 54 | tp22 55 | g13 56 | I00 57 | S'f\xc5\xebI\x84\x12M\xc1 \xf1\xfd\x80\xa4\x0ePA\xe8![\xa3\xc4\xdd#A' 58 | p23 59 | tp24 60 | bs. -------------------------------------------------------------------------------- /data/RobotCar/loop/pose_stats.txt: -------------------------------------------------------------------------------- 1 | 5736292.7439845 620252.9973381 110.5609640 2 | 110.9041306 98.5296895 1.3837798 3 | -------------------------------------------------------------------------------- /data/RobotCar/loop/stats.txt: -------------------------------------------------------------------------------- 1 | 0.4924442 0.4984831 0.5621617 2 | 0.0934229 0.0932571 0.1091389 3 | -------------------------------------------------------------------------------- /data/RobotCar/loop_1seq/2014-05-14-13-46-12: -------------------------------------------------------------------------------- 1 | ../loop/2014-05-14-13-46-12/ -------------------------------------------------------------------------------- /data/RobotCar/loop_1seq/2014-05-14-13-50-20: -------------------------------------------------------------------------------- 1 | ../loop/2014-05-14-13-50-20/ -------------------------------------------------------------------------------- /data/RobotCar/loop_1seq/2014-06-23-15-36-04: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-23-15-36-04/ -------------------------------------------------------------------------------- /data/RobotCar/loop_1seq/2014-06-23-15-41-25: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-23-15-41-25/ -------------------------------------------------------------------------------- /data/RobotCar/loop_1seq/2014-06-26-08-53-56: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-26-08-53-56/ -------------------------------------------------------------------------------- /data/RobotCar/loop_1seq/2014-06-26-09-24-58: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-26-09-24-58/ -------------------------------------------------------------------------------- /data/RobotCar/loop_1seq/pose_stats.txt: -------------------------------------------------------------------------------- 1 | 5736290.7907001 620253.7133153 109.5086475 2 | 110.7421744 99.5028043 0.8291971 3 | -------------------------------------------------------------------------------- /data/RobotCar/loop_1seq/stats.txt: -------------------------------------------------------------------------------- 1 | ../loop/stats.txt -------------------------------------------------------------------------------- /data/RobotCar/loop_2seq/2014-05-14-13-46-12: -------------------------------------------------------------------------------- 1 | ../loop/2014-05-14-13-46-12/ -------------------------------------------------------------------------------- /data/RobotCar/loop_2seq/2014-05-14-13-50-20: -------------------------------------------------------------------------------- 1 | ../loop/2014-05-14-13-50-20/ -------------------------------------------------------------------------------- /data/RobotCar/loop_2seq/2014-06-23-15-36-04: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-23-15-36-04/ -------------------------------------------------------------------------------- /data/RobotCar/loop_2seq/2014-06-23-15-41-25: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-23-15-41-25/ -------------------------------------------------------------------------------- /data/RobotCar/loop_2seq/2014-06-26-08-53-56: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-26-08-53-56/ -------------------------------------------------------------------------------- /data/RobotCar/loop_2seq/2014-06-26-09-24-58: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-26-09-24-58/ -------------------------------------------------------------------------------- /data/RobotCar/loop_2seq/pose_stats.txt: -------------------------------------------------------------------------------- 1 | 5736292.7439845 620252.9973381 110.5609640 2 | 110.9041306 98.5296895 1.3837798 3 | -------------------------------------------------------------------------------- /data/RobotCar/loop_2seq/stats.txt: -------------------------------------------------------------------------------- 1 | ../loop/stats.txt -------------------------------------------------------------------------------- /data/RobotCar/loop_3seq/2014-05-14-13-46-12: -------------------------------------------------------------------------------- 1 | ../loop/2014-05-14-13-46-12/ -------------------------------------------------------------------------------- /data/RobotCar/loop_3seq/2014-05-14-13-50-20: -------------------------------------------------------------------------------- 1 | ../loop/2014-05-14-13-50-20/ -------------------------------------------------------------------------------- /data/RobotCar/loop_3seq/2014-06-23-15-36-04: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-23-15-36-04/ -------------------------------------------------------------------------------- /data/RobotCar/loop_3seq/2014-06-23-15-41-25: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-23-15-41-25/ -------------------------------------------------------------------------------- /data/RobotCar/loop_3seq/2014-06-26-08-53-56: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-26-08-53-56/ -------------------------------------------------------------------------------- /data/RobotCar/loop_3seq/2014-06-26-09-24-58: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-26-09-24-58/ -------------------------------------------------------------------------------- /data/RobotCar/loop_3seq/pose_stats.txt: -------------------------------------------------------------------------------- 1 | 5736294.2775666 620251.9658176 109.8545303 2 | 110.1789729 98.3771539 1.6626225 3 | -------------------------------------------------------------------------------- /data/RobotCar/loop_3seq/stats.txt: -------------------------------------------------------------------------------- 1 | ../loop/stats.txt -------------------------------------------------------------------------------- /data/RobotCar/loop_4seq/2014-05-14-13-46-12: -------------------------------------------------------------------------------- 1 | ../loop/2014-05-14-13-46-12/ -------------------------------------------------------------------------------- /data/RobotCar/loop_4seq/2014-05-14-13-50-20: -------------------------------------------------------------------------------- 1 | ../loop/2014-05-14-13-50-20/ -------------------------------------------------------------------------------- /data/RobotCar/loop_4seq/2014-06-23-15-36-04: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-23-15-36-04/ -------------------------------------------------------------------------------- /data/RobotCar/loop_4seq/2014-06-23-15-41-25: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-23-15-41-25/ -------------------------------------------------------------------------------- /data/RobotCar/loop_4seq/2014-06-26-08-53-56: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-26-08-53-56/ -------------------------------------------------------------------------------- /data/RobotCar/loop_4seq/2014-06-26-09-24-58: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-26-09-24-58/ -------------------------------------------------------------------------------- /data/RobotCar/loop_4seq/pose_stats.txt: -------------------------------------------------------------------------------- 1 | 5736295.5115817 620251.8312549 110.1648065 2 | 109.9763512 98.6662899 1.6227967 3 | -------------------------------------------------------------------------------- /data/RobotCar/loop_4seq/stats.txt: -------------------------------------------------------------------------------- 1 | ../loop/stats.txt -------------------------------------------------------------------------------- /data/deepslam_data/.gitignore: -------------------------------------------------------------------------------- 1 | RobotCar_download 2 | 7Scenes_download 3 | -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/full/2014-11-28-12-07-13: -------------------------------------------------------------------------------- 1 | ../../RobotCar_download/2014-11-28-12-07-13 -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/full/2014-12-02-15-30-08: -------------------------------------------------------------------------------- 1 | ../../RobotCar_download/2014-12-02-15-30-08 -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/full/2014-12-09-13-21-02: -------------------------------------------------------------------------------- 1 | ../../RobotCar_download/2014-12-09-13-21-02 -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/full/2014-12-12-10-45-15: -------------------------------------------------------------------------------- 1 | ../../RobotCar_download/2014-12-12-10-45-15 -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/full/test_split.txt: -------------------------------------------------------------------------------- 1 | 2014-12-12-10-45-15 2 | # 2014-12-09-13-21-02 3 | -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/full/train_split.txt: -------------------------------------------------------------------------------- 1 | 2014-11-28-12-07-13 2 | 2014-12-02-15-30-08 3 | -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop/2014-05-14-13-46-12: -------------------------------------------------------------------------------- 1 | ../../RobotCar_download/2014-05-14-13-46-12 -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop/2014-05-14-13-50-20: -------------------------------------------------------------------------------- 1 | ../../RobotCar_download/2014-05-14-13-50-20 -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop/2014-06-23-15-36-04: -------------------------------------------------------------------------------- 1 | ../../RobotCar_download/2014-06-23-15-36-04 -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop/2014-06-23-15-41-25: -------------------------------------------------------------------------------- 1 | ../../RobotCar_download/2014-06-23-15-41-25 -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop/2014-06-26-08-53-56: -------------------------------------------------------------------------------- 1 | ../../RobotCar_download/2014-06-26-08-53-56 -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop/2014-06-26-09-24-58: -------------------------------------------------------------------------------- 1 | ../../RobotCar_download/2014-06-26-09-24-58 -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop/test_split.txt: -------------------------------------------------------------------------------- 1 | # 2014-05-14-13-50-20 2 | # 2014-05-14-13-46-12 3 | # 2014-06-23-15-36-04 4 | 2014-06-23-15-41-25 5 | -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop/train_split.txt: -------------------------------------------------------------------------------- 1 | 2014-06-26-09-24-58 2 | 2014-06-26-08-53-56 3 | -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_1seq/2014-05-14-13-46-12: -------------------------------------------------------------------------------- 1 | ../loop/2014-05-14-13-46-12/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_1seq/2014-05-14-13-50-20: -------------------------------------------------------------------------------- 1 | ../loop/2014-05-14-13-50-20/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_1seq/2014-06-23-15-36-04: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-23-15-36-04/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_1seq/2014-06-23-15-41-25: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-23-15-41-25/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_1seq/2014-06-26-08-53-56: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-26-08-53-56/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_1seq/2014-06-26-09-24-58: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-26-09-24-58/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_1seq/test_split.txt: -------------------------------------------------------------------------------- 1 | 2014-06-23-15-36-04 2 | # 2014-05-14-13-50-20 3 | # 2014-05-14-13-46-12 4 | # 2014-06-26-08-53-56 5 | -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_1seq/train_split.txt: -------------------------------------------------------------------------------- 1 | 2014-06-26-09-24-58 2 | -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_2seq/2014-05-14-13-46-12: -------------------------------------------------------------------------------- 1 | ../loop/2014-05-14-13-46-12/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_2seq/2014-05-14-13-50-20: -------------------------------------------------------------------------------- 1 | ../loop/2014-05-14-13-50-20/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_2seq/2014-06-23-15-36-04: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-23-15-36-04/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_2seq/2014-06-23-15-41-25: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-23-15-41-25/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_2seq/2014-06-26-08-53-56: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-26-08-53-56/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_2seq/2014-06-26-09-24-58: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-26-09-24-58/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_2seq/test_split.txt: -------------------------------------------------------------------------------- 1 | 2014-06-23-15-36-04 2 | # 2014-05-14-13-50-20 3 | # 2014-05-14-13-46-12 4 | -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_2seq/train_split.txt: -------------------------------------------------------------------------------- 1 | 2014-06-26-09-24-58 2 | 2014-06-26-08-53-56 3 | -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_3seq/2014-05-14-13-46-12: -------------------------------------------------------------------------------- 1 | ../loop/2014-05-14-13-46-12/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_3seq/2014-05-14-13-50-20: -------------------------------------------------------------------------------- 1 | ../loop/2014-05-14-13-50-20/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_3seq/2014-06-23-15-36-04: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-23-15-36-04/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_3seq/2014-06-23-15-41-25: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-23-15-41-25/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_3seq/2014-06-26-08-53-56: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-26-08-53-56/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_3seq/2014-06-26-09-24-58: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-26-09-24-58/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_3seq/test_split.txt: -------------------------------------------------------------------------------- 1 | 2014-06-23-15-36-04 2 | # 2014-05-14-13-46-12 3 | -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_3seq/train_split.txt: -------------------------------------------------------------------------------- 1 | 2014-06-26-09-24-58 2 | 2014-06-26-08-53-56 3 | 2014-05-14-13-50-20 4 | -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_4seq/2014-05-14-13-46-12: -------------------------------------------------------------------------------- 1 | ../loop/2014-05-14-13-46-12/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_4seq/2014-05-14-13-50-20: -------------------------------------------------------------------------------- 1 | ../loop/2014-05-14-13-50-20/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_4seq/2014-06-23-15-36-04: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-23-15-36-04/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_4seq/2014-06-23-15-41-25: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-23-15-41-25/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_4seq/2014-06-26-08-53-56: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-26-08-53-56/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_4seq/2014-06-26-09-24-58: -------------------------------------------------------------------------------- 1 | ../loop/2014-06-26-09-24-58/ -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_4seq/test_split.txt: -------------------------------------------------------------------------------- 1 | 2014-06-23-15-36-04 2 | -------------------------------------------------------------------------------- /data/deepslam_data/RobotCar/loop_4seq/train_split.txt: -------------------------------------------------------------------------------- 1 | 2014-06-26-09-24-58 2 | 2014-06-26-08-53-56 3 | 2014-05-14-13-50-20 4 | 2014-05-14-13-46-12 5 | -------------------------------------------------------------------------------- /dataset_loaders/.gitignore: -------------------------------------------------------------------------------- 1 | robotcar_sdk 2 | -------------------------------------------------------------------------------- /dataset_loaders/README.md: -------------------------------------------------------------------------------- 1 | ## License 2 | 3 | Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 4 | Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 5 | 6 | ## Notes for Writing Data Loader 7 | 8 | Follow the style used in `dataset_loaders/robotcar.py` and 9 | `dataset_loaders/seven_scenes.py`. They handle the reading of dataset-specific images and camera poses. 10 | Camera poses are given to `utils.process_poses()` for MapNet-specific pre-processing. `utils.process_poses()` 11 | accepts poses in the for form of a row-major flattned 12 element vector formed from the first 3 rows of 12 | the world-to-camera 4x4 matrix. 13 | 14 | Importantly, the dataloader will need to 15 | define the `self.gt_idx` attribute for use with the higher-level datasets in 16 | `dataset_loaders/composite.py`. 17 | 18 | 19 | The `gt_idx` attribute is used when `real == True` 20 | (i.e. some SLAM/integration of VO is used to get poses for the images) and the 21 | VO library skips some images. In this case, length of the dataset will be 22 | smaller than if `real == False` (i.e. using the dataset-provided ground truth 23 | poses). `gt_idx` is a list whose i-th element is the index of the i-th image 24 | if it were part of an instance of this class with `real == False`. 25 | -------------------------------------------------------------------------------- /dataset_loaders/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/geomapnet/13615aa1427199839eb80b149f58d839076557fb/dataset_loaders/__init__.py -------------------------------------------------------------------------------- /dataset_loaders/time_imload.py: -------------------------------------------------------------------------------- 1 | """ 2 | Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | """ 5 | 6 | import timeit 7 | import numpy as np 8 | 9 | repeat = 5 10 | number = 50 11 | 12 | setup = '' 13 | setup += 'import utils;' 14 | setup += 'und_im_filename = "/media/TB/test.png";' 15 | t = timeit.Timer(stmt='utils.load_image(und_im_filename)', setup=setup) 16 | times = t.repeat(repeat=repeat, number=number) 17 | times = np.asarray(times) 18 | print 'Normal image load' 19 | print 'Times = ', times 20 | print 'min = {:8.7f} seconds'.format(np.min(times)) 21 | 22 | setup = '' 23 | setup += 'from robotcar_sdk.image import load_image;' 24 | setup += 'from robotcar_sdk.camera_model import CameraModel;' 25 | setup += 'c = CameraModel("../data/robotcar_camera_models/", "stereo/centre");' 26 | setup += 'raw_im_filename = "/media/TB/deepslam_data/RobotCar/overcast/2015-08-14-14-54-57/stereo/centre/1439560497946501.png";' 27 | t = timeit.Timer(stmt='load_image(raw_im_filename)', setup=setup) 28 | times = t.repeat(repeat=repeat, number=number) 29 | times = np.asarray(times) 30 | print 'Demosaic image load' 31 | print 'Times = ', times 32 | print 'min = {:8.7f} seconds'.format(np.min(times)) 33 | 34 | t = timeit.Timer(stmt='load_image(raw_im_filename, model=c)', setup=setup) 35 | times = t.repeat(repeat=repeat, number=number) 36 | times = np.asarray(times) 37 | print 'Demosaic + undistort image load' 38 | print 'Times = ', times 39 | print 'min = {:8.7f} seconds'.format(np.min(times)) 40 | -------------------------------------------------------------------------------- /dataset_loaders/utils.py: -------------------------------------------------------------------------------- 1 | """ 2 | Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | """ 5 | 6 | from torchvision.datasets.folder import default_loader 7 | 8 | def load_image(filename, loader=default_loader): 9 | try: 10 | img = loader(filename) 11 | except IOError as e: 12 | print 'Could not load image {:s}, IOError: {:s}'.format(filename, e) 13 | return None 14 | except: 15 | print 'Could not load image {:s}, unexpected error'.format(filename) 16 | return None 17 | 18 | return img 19 | -------------------------------------------------------------------------------- /environment.yml: -------------------------------------------------------------------------------- 1 | # Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 2 | # Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 3 | name: mapnet_release 4 | channels: 5 | - pytorch 6 | dependencies: 7 | - configparser 8 | - ipython 9 | - numpy 10 | - pip 11 | - python=2.7 12 | - scikit-learn 13 | - scipy 14 | - pytorch=0.4.1 15 | - torchvision 16 | - matplotlib 17 | - pip: 18 | - colour-demosaicing 19 | - transforms3d 20 | - visdom 21 | -------------------------------------------------------------------------------- /figures/7Scenes_heads_mapnet+pgo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/geomapnet/13615aa1427199839eb80b149f58d839076557fb/figures/7Scenes_heads_mapnet+pgo.png -------------------------------------------------------------------------------- /figures/RobotCar_loop_mapnet+pgo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/geomapnet/13615aa1427199839eb80b149f58d839076557fb/figures/RobotCar_loop_mapnet+pgo.png -------------------------------------------------------------------------------- /figures/mapnet.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/geomapnet/13615aa1427199839eb80b149f58d839076557fb/figures/mapnet.png -------------------------------------------------------------------------------- /figures/train.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/geomapnet/13615aa1427199839eb80b149f58d839076557fb/figures/train.png -------------------------------------------------------------------------------- /models/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/geomapnet/13615aa1427199839eb80b149f58d839076557fb/models/__init__.py -------------------------------------------------------------------------------- /models/posenet.py: -------------------------------------------------------------------------------- 1 | """ 2 | Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | """ 5 | 6 | """ 7 | implementation of PoseNet and MapNet networks 8 | """ 9 | import torch 10 | import torch.nn as nn 11 | import torch.nn.functional as F 12 | import torch.nn.init 13 | import numpy as np 14 | 15 | import os 16 | os.environ['TORCH_MODEL_ZOO'] = os.path.join('..', 'data', 'models') 17 | 18 | import sys 19 | sys.path.insert(0, '../') 20 | 21 | #def trace_hook(m, g_in, g_out): 22 | # for idx,g in enumerate(g_in): 23 | # g = g.cpu().data.numpy() 24 | # if np.isnan(g).any(): 25 | # set_trace() 26 | # return None 27 | 28 | def filter_hook(m, g_in, g_out): 29 | g_filtered = [] 30 | for g in g_in: 31 | g = g.clone() 32 | g[g != g] = 0 33 | g_filtered.append(g) 34 | return tuple(g_filtered) 35 | 36 | class PoseNet(nn.Module): 37 | def __init__(self, feature_extractor, droprate=0.5, pretrained=True, 38 | feat_dim=2048, filter_nans=False): 39 | super(PoseNet, self).__init__() 40 | self.droprate = droprate 41 | 42 | # replace the last FC layer in feature extractor 43 | self.feature_extractor = feature_extractor 44 | self.feature_extractor.avgpool = nn.AdaptiveAvgPool2d(1) 45 | fe_out_planes = self.feature_extractor.fc.in_features 46 | self.feature_extractor.fc = nn.Linear(fe_out_planes, feat_dim) 47 | 48 | self.fc_xyz = nn.Linear(feat_dim, 3) 49 | self.fc_wpqr = nn.Linear(feat_dim, 3) 50 | if filter_nans: 51 | self.fc_wpqr.register_backward_hook(hook=filter_hook) 52 | 53 | # initialize 54 | if pretrained: 55 | init_modules = [self.feature_extractor.fc, self.fc_xyz, self.fc_wpqr] 56 | else: 57 | init_modules = self.modules() 58 | 59 | for m in init_modules: 60 | if isinstance(m, nn.Conv2d) or isinstance(m, nn.Linear): 61 | nn.init.kaiming_normal_(m.weight.data) 62 | if m.bias is not None: 63 | nn.init.constant_(m.bias.data, 0) 64 | 65 | def forward(self, x): 66 | x = self.feature_extractor(x) 67 | x = F.relu(x) 68 | if self.droprate > 0: 69 | x = F.dropout(x, p=self.droprate) 70 | 71 | xyz = self.fc_xyz(x) 72 | wpqr = self.fc_wpqr(x) 73 | return torch.cat((xyz, wpqr), 1) 74 | 75 | class MapNet(nn.Module): 76 | """ 77 | Implements the MapNet model (green block in Fig. 2 of paper) 78 | """ 79 | def __init__(self, mapnet): 80 | """ 81 | :param mapnet: the MapNet (two CNN blocks inside the green block in Fig. 2 82 | of paper). Not to be confused with MapNet, the model! 83 | """ 84 | super(MapNet, self).__init__() 85 | self.mapnet = mapnet 86 | 87 | def forward(self, x): 88 | """ 89 | :param x: image blob (N x T x C x H x W) 90 | :return: pose outputs 91 | (N x T x 6) 92 | """ 93 | s = x.size() 94 | x = x.view(-1, *s[2:]) 95 | poses = self.mapnet(x) 96 | poses = poses.view(s[0], s[1], -1) 97 | return poses 98 | -------------------------------------------------------------------------------- /scripts/.gitignore: -------------------------------------------------------------------------------- 1 | cmds 2 | -------------------------------------------------------------------------------- /scripts/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NVlabs/geomapnet/13615aa1427199839eb80b149f58d839076557fb/scripts/__init__.py -------------------------------------------------------------------------------- /scripts/align_vo_poses_7scenes.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # 3 | #Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 4 | #Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 5 | # 6 | 7 | scenes=("chess" "fire" "heads" "office" "pumpkin" "redkitchen" "stairs") 8 | n_seqs=(6 4 2 10 8 14 6) 9 | source ~/miniconda2/bin/activate pytorch 10 | PYTHON=python 11 | 12 | for ((i=0;i<${#scenes[@]};++i)); 13 | do 14 | scene=${scenes[i]} 15 | 16 | for ((seq=1;seq<=${n_seqs[i]};++seq)); 17 | do 18 | set -x 19 | $PYTHON align_vo_poses.py --dataset 7Scenes --scene $scene --subsample 10 --seq $seq --vo_lib dso 20 | set +x 21 | done 22 | done 23 | -------------------------------------------------------------------------------- /scripts/calc_pose_stats.py: -------------------------------------------------------------------------------- 1 | """ 2 | Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | """ 5 | 6 | """ 7 | script to calculate pose translation stats (run first for every dataset) 8 | """ 9 | import set_paths 10 | from dataset_loaders.seven_scenes import SevenScenes 11 | from dataset_loaders.robotcar import RobotCar 12 | import argparse 13 | import os.path as osp 14 | 15 | # config 16 | parser = argparse.ArgumentParser(description='Calculate pose translation stats') 17 | parser.add_argument('--dataset', type=str, choices=('7Scenes', 'RobotCar'), 18 | help='Dataset') 19 | parser.add_argument('--scene', type=str, help='Scene name') 20 | args = parser.parse_args() 21 | data_dir = osp.join('..', 'data', 'deepslam_data', args.dataset) 22 | 23 | # dataset loader 24 | # creating the dataset with train=True and real=False saves the stats from the 25 | # training split 26 | kwargs = dict(scene=args.scene, data_path=data_dir, train=True, real=False, 27 | skip_images=True, seed=7) 28 | if args.dataset == '7Scenes': 29 | dset = SevenScenes(**kwargs) 30 | elif args.dataset == 'RobotCar': 31 | dset = RobotCar(**kwargs) 32 | else: 33 | raise NotImplementedError 34 | 35 | print 'Done' 36 | -------------------------------------------------------------------------------- /scripts/calc_pose_stats_7scenes.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # 3 | #Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 4 | #Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 5 | # 6 | 7 | scenes=("chess" "fire" "heads" "office" "pumpkin" "redkitchen" "stairs") 8 | 9 | set -x 10 | for scene in "${scenes[@]}" 11 | do 12 | python calc_pose_stats.py --dataset 7Scenes --scene ${scene} 13 | done 14 | set +x 15 | -------------------------------------------------------------------------------- /scripts/configs/README.md: -------------------------------------------------------------------------------- 1 | [![License CC BY-NC-SA 4.0](https://img.shields.io/badge/license-CC4.0-blue.svg)](https://raw.githubusercontent.com/NVIDIA/FastPhotoStyle/master/LICENSE.md) 2 | ![Python 2.7](https://img.shields.io/badge/python-2.7-green.svg) 3 | # MapNet: Geometry-Aware Learning of Maps for Camera Localization 4 | 5 | ## License 6 | 7 | Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 8 | Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 9 | 10 | 11 | ## Hyperparameters 12 | Most parameters in the config files are self-explanatory. Here are some notes: 13 | 14 | - `beta` is the initial value of Gamma (Eq. 3 of the paper) for absolute pose 15 | 16 | - `gamma` is the initial value of Gamma (Eq. 3 of the paper) for relative pose 17 | 18 | - `steps` is the size of tuples of images to use for training (parameter `s` 19 | described in Section 3.5 of the paper) 20 | 21 | - `skip` is the spacing between these images (parameter `k` described in 22 | Section 3.5 of the paper) 23 | 24 | - `real` is a flag indicating whether the poses should be GPS/SLAM/integration 25 | of visual odometry (true) or from ground truth (false) 26 | 27 | - `color_jitter` is the intensity of color jittering (brightness, hue, contrast and saturation) data augmentation. 28 | NOTE: Set `color_jitter = 0` in `mapnet.ini` while training it on the 7 Scenes dataset. 29 | 30 | - `s_abs_trans`, `s_abs_rot`, `s_rel_trans`, `s_rel_rot` are the covariance 31 | values for absolute and relative translations and rotations passed to the PGO 32 | algorithm (see Appendix in our 33 | [arXiv paper](https://arxiv.org/pdf/1712.03342.pdf)). To reproduce results from 34 | our paper, use the following values: 35 | 36 | 7 Scenes: 37 | 38 | Scene | `s_abs_trans`| `s_abs_rot`| `s_rel_trans`| `s_rel_rot` 39 | ---|:---:|:---:|:---:|:---: 40 | chess | 1 | 1 | 35 | 35 41 | fire | 1 | 1 | 10 | 10 42 | heads | 1 | 1 | 1 | 1 43 | office | 0.1 | 0.1 | 20 | 10 44 | pumpkin | 1 | 1 | 500 | 500 45 | redkitchen | 1 | 1 | 35 | 35 46 | stairs | 1 | 1 | 2 | 4 47 | 48 | RobotCar 49 | 50 | Scene | `s_abs_trans`| `s_abs_rot`| `s_rel_trans`| `s_rel_rot` 51 | ---|:---:|:---:|:---:|:---: 52 | loop | 1 | 1 | 20 | 20 53 | full | 1 | 1 | 1 | 10 54 | 55 | ## Which files to use? 56 | ### Training 57 | Use the files according to their name e.g. use `mapnet++_7Scenes.ini` if you 58 | want to train a MapNet++ model on the 7 Scenes dataset. 59 | ### Inference 60 | If you want to perform pose-graph optimization (PGO) during inference on any 61 | of the trained models, use the `pgo_inference_*.ini` files. The inference of a 62 | MapNet++ model (without PGO) should be done with `mapnet.ini`. 63 | -------------------------------------------------------------------------------- /scripts/configs/mapnet++_7Scenes.ini: -------------------------------------------------------------------------------- 1 | ;;; 2 | ;Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | ;Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | ;;; 5 | 6 | [training] 7 | n_epochs = 5 8 | batch_size = 20 9 | do_val = no 10 | seed = 7 11 | shuffle = yes 12 | num_workers = 5 13 | snapshot = 1 14 | val_freq = 1 15 | max_grad_norm = 5 16 | 17 | [optimization] 18 | opt = adam 19 | lr = 1e-5 20 | weight_decay = 0.0000 21 | 22 | [logging] 23 | visdom = no 24 | print_freq = 20 25 | 26 | [hyperparameters] 27 | beta = -3.0 28 | gamma = -3.0 29 | dropout = 0.5 30 | skip = 77 31 | variable_skip = no 32 | real = yes 33 | steps = 3 34 | vo_lib = dso 35 | color_jitter = 0 36 | -------------------------------------------------------------------------------- /scripts/configs/mapnet++_RobotCar.ini: -------------------------------------------------------------------------------- 1 | ;;; 2 | ;Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | ;Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | ;;; 5 | 6 | 7 | [training] 8 | n_epochs = 5 9 | batch_size = 20 10 | do_val = no 11 | seed = 7 12 | shuffle = yes 13 | num_workers = 5 14 | snapshot = 1 15 | val_freq = 1 16 | max_grad_norm = 5 17 | 18 | [optimization] 19 | opt = adam 20 | lr = 1e-5 21 | weight_decay = 0.0000 22 | 23 | [logging] 24 | visdom = no 25 | print_freq = 20 26 | 27 | [hyperparameters] 28 | beta = -3.0 29 | gamma = -3.0 30 | dropout = 0.5 31 | skip = 10 32 | variable_skip = no 33 | real = yes 34 | steps = 3 35 | vo_lib = stereo 36 | color_jitter = 0 37 | -------------------------------------------------------------------------------- /scripts/configs/mapnet.ini: -------------------------------------------------------------------------------- 1 | ;;; 2 | ;Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | ;Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | ;;; 5 | 6 | 7 | [training] 8 | n_epochs = 300 9 | batch_size = 20 10 | do_val = yes 11 | seed = 7 12 | shuffle = yes 13 | num_workers = 5 14 | snapshot = 50 15 | val_freq = 50 16 | max_grad_norm = 0 17 | 18 | [optimization] 19 | opt = adam 20 | lr = 1e-4 21 | weight_decay = 0.0005 22 | ;momentum = 0.9 23 | ;lr_decay = 0.1 24 | ;lr_stepvalues = [60, 80] 25 | 26 | [logging] 27 | visdom = no 28 | print_freq = 20 29 | 30 | [hyperparameters] 31 | beta = -3.0 32 | gamma = -3.0 33 | dropout = 0.5 34 | skip = 10 35 | variable_skip = no 36 | real = no 37 | steps = 3 38 | color_jitter = 0.7 39 | -------------------------------------------------------------------------------- /scripts/configs/pgo_inference_7Scenes.ini: -------------------------------------------------------------------------------- 1 | ;;; 2 | ;Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | ;Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | ;;; 5 | 6 | 7 | [training] 8 | n_epochs = 300 9 | batch_size = 20 10 | do_val = yes 11 | seed = 7 12 | shuffle = yes 13 | num_workers = 5 14 | snapshot = 100 15 | val_freq = 50 16 | 17 | [optimization] 18 | opt = adam 19 | lr = 1e-4 20 | weight_decay = 0.0005 21 | ;momentum = 0.9 22 | ;lr_decay = 0.1 23 | ;lr_stepvalues = [60, 80] 24 | 25 | [logging] 26 | visdom = no 27 | print_freq = 20 28 | 29 | [hyperparameters] 30 | beta = -3.0 31 | dropout = 0.5 32 | skip = 150 33 | variable_skip = no 34 | real = yes 35 | steps = 7 36 | vo_lib = dso 37 | s_abs_trans = 1 38 | s_abs_rot = 1 39 | s_rel_trans = 1 40 | s_rel_rot = 1 41 | -------------------------------------------------------------------------------- /scripts/configs/pgo_inference_RobotCar.ini: -------------------------------------------------------------------------------- 1 | ;;; 2 | ;Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | ;Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | ;;; 5 | 6 | 7 | [training] 8 | n_epochs = 300 9 | batch_size = 20 10 | do_val = yes 11 | seed = 7 12 | shuffle = yes 13 | num_workers = 5 14 | snapshot = 100 15 | val_freq = 50 16 | 17 | [optimization] 18 | opt = adam 19 | lr = 1e-4 20 | weight_decay = 0.0005 21 | ;momentum = 0.9 22 | ;lr_decay = 0.1 23 | ;lr_stepvalues = [60, 80] 24 | 25 | [logging] 26 | visdom = no 27 | print_freq = 20 28 | 29 | [hyperparameters] 30 | beta = -3.0 31 | dropout = 0.5 32 | skip = 10 33 | variable_skip = no 34 | real = yes 35 | steps = 7 36 | vo_lib = stereo 37 | s_abs_trans = 1 38 | s_abs_rot = 1 39 | s_rel_trans = 20 40 | s_rel_rot = 20 41 | -------------------------------------------------------------------------------- /scripts/configs/posenet.ini: -------------------------------------------------------------------------------- 1 | ;;; 2 | ;Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | ;Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | ;;; 5 | 6 | 7 | [training] 8 | n_epochs = 300 9 | batch_size = 64 10 | do_val = no 11 | seed = 7 12 | shuffle = yes 13 | num_workers = 5 14 | snapshot = 50 15 | val_freq = 50 16 | 17 | [optimization] 18 | opt = adam 19 | lr = 1e-4 20 | weight_decay = 0.0005 21 | ;momentum = 0.9 22 | ;lr_decay = 0.1 23 | ;lr_stepvalues = [60, 80] 24 | 25 | [logging] 26 | visdom = no 27 | print_freq = 20 28 | 29 | [hyperparameters] 30 | beta = -3.0 31 | dropout = 0.5 32 | -------------------------------------------------------------------------------- /scripts/dataset_mean.py: -------------------------------------------------------------------------------- 1 | """ 2 | Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | """ 5 | 6 | """ 7 | Computes the mean and std of pixels in a dataset 8 | """ 9 | import os.path as osp 10 | import numpy as np 11 | import argparse 12 | import set_paths 13 | from dataset_loaders.seven_scenes import SevenScenes 14 | from dataset_loaders.robotcar import RobotCar 15 | from torchvision import transforms 16 | from torch.utils.data import DataLoader 17 | from common.train import safe_collate 18 | 19 | parser = argparse.ArgumentParser(description='Dataset images statistics') 20 | parser.add_argument('--dataset', type=str, choices=('7Scenes', 'RobotCar'), 21 | help='Dataset', required=True) 22 | parser.add_argument('--scene', type=str, help='Scene name', required=True) 23 | args = parser.parse_args() 24 | 25 | data_dir = osp.join('..', 'data', args.dataset) 26 | crop_size_file = osp.join(data_dir, 'crop_size.txt') 27 | crop_size = tuple(np.loadtxt(crop_size_file).astype(np.int)) 28 | 29 | data_transform = transforms.Compose([ 30 | transforms.Resize(256), 31 | transforms.RandomCrop(crop_size), 32 | transforms.ToTensor()]) 33 | 34 | # dataset loader 35 | data_dir = osp.join('..', 'data', 'deepslam_data', args.dataset) 36 | kwargs = dict(scene=args.scene, data_path=data_dir, train=True, real=False, 37 | transform=data_transform) 38 | if args.dataset == '7Scenes': 39 | dset = SevenScenes(**kwargs) 40 | elif args.dataset == 'RobotCar': 41 | dset = RobotCar(**kwargs) 42 | else: 43 | raise NotImplementedError 44 | 45 | # accumulate 46 | batch_size = 8 47 | num_workers = batch_size 48 | loader = DataLoader(dset, batch_size=batch_size, num_workers=num_workers, 49 | collate_fn=safe_collate) 50 | acc = np.zeros((3, crop_size[0], crop_size[1])) 51 | sq_acc = np.zeros((3, crop_size[0], crop_size[1])) 52 | for batch_idx, (imgs, _) in enumerate(loader): 53 | imgs = imgs.numpy() 54 | acc += np.sum(imgs, axis=0) 55 | sq_acc += np.sum(imgs**2, axis=0) 56 | 57 | if batch_idx % 50 == 0: 58 | print 'Accumulated {:d} / {:d}'.format(batch_idx*batch_size, len(dset)) 59 | 60 | N = len(dset) * acc.shape[1] * acc.shape[2] 61 | 62 | mean_p = np.asarray([np.sum(acc[c]) for c in xrange(3)]) 63 | mean_p /= N 64 | print 'Mean pixel = ', mean_p 65 | 66 | # std = E[x^2] - E[x]^2 67 | std_p = np.asarray([np.sum(sq_acc[c]) for c in xrange(3)]) 68 | std_p /= N 69 | std_p -= (mean_p ** 2) 70 | print 'Std. pixel = ', std_p 71 | 72 | output_filename = osp.join('..', 'data', args.dataset, args.scene, 'stats.txt') 73 | np.savetxt(output_filename, np.vstack((mean_p, std_p)), fmt='%8.7f') 74 | print '{:s} written'.format(output_filename) 75 | -------------------------------------------------------------------------------- /scripts/dataset_mean_7Scenes.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # 3 | #Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 4 | #Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 5 | # 6 | 7 | scenes=("chess" "fire" "heads" "office" "pumpkin" "redkitchen" "stairs") 8 | 9 | set -x 10 | for scene in "${scenes[@]}" 11 | do 12 | python dataset_mean.py --dataset 7Scenes --scene ${scene} 13 | done 14 | set +x 15 | -------------------------------------------------------------------------------- /scripts/make_robotcar_symlinks.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # 3 | #Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 4 | #Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 5 | # 6 | 7 | set -x 8 | # change the following line 9 | ROBOTCAR_SDK_ROOT=/data/robotcar-dataset-sdk 10 | 11 | ln -s ${ROBOTCAR_SDK_ROOT}/models/ ../data/robotcar_camera_models 12 | ln -s ${ROBOTCAR_SDK_ROOT}/python/ ../dataset_loaders/robotcar_sdk 13 | set +x 14 | -------------------------------------------------------------------------------- /scripts/plot_vo_poses.py: -------------------------------------------------------------------------------- 1 | """ 2 | Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | """ 5 | 6 | """ 7 | script to plot the poses from integration of VO against GT poses for debugging 8 | """ 9 | import set_paths 10 | from dataset_loaders.composite import OnlyPoses 11 | from common.pose_utils import quaternion_angular_error, qexp 12 | import argparse 13 | import numpy as np 14 | import matplotlib.pyplot as plt 15 | from mpl_toolkits.mplot3d import Axes3D 16 | from torch.utils.data import DataLoader 17 | import os 18 | import os.path as osp 19 | import cPickle 20 | 21 | # config 22 | parser = argparse.ArgumentParser(description='Plot VO poses and calculate error') 23 | parser.add_argument('--dataset', type=str, choices=('7Scenes', 24 | 'RobotCar'), help='Dataset') 25 | parser.add_argument('--vo_lib', type=str, choices=('orbslam', 'libviso2', 'dso', 26 | 'gps', 'stereo'), 27 | help='VO library to use', required=True) 28 | parser.add_argument('--scene', type=str, help='Scene name') 29 | parser.add_argument('--val', action='store_true', help='Plot graph for val') 30 | parser.add_argument('--output_dir', type=str, default=None, 31 | help='Output directory') 32 | parser.add_argument('--subsample', type=int, default=10, 33 | help='subsample factor') 34 | args = parser.parse_args() 35 | data_dir = osp.join('..', 'data', args.dataset) 36 | 37 | # read mean and stdev for un-normalizing poses 38 | pose_stats_file = osp.join(data_dir, args.scene, 'pose_stats.txt') 39 | pose_m, pose_s = np.loadtxt(pose_stats_file) # mean and stdev 40 | 41 | # error criterions 42 | t_criterion = lambda t_pred, t_gt: np.linalg.norm(t_pred - t_gt) 43 | q_criterion = quaternion_angular_error 44 | 45 | # dataset loader 46 | train = not args.val 47 | data_dir = osp.join('..', 'data', 'deepslam_data', args.dataset) 48 | kwargs = dict(scene=args.scene, data_path=data_dir, train=train, 49 | vo_lib=args.vo_lib) 50 | dset = OnlyPoses(dataset=args.dataset, **kwargs) 51 | 52 | # loader 53 | batch_size = 25 54 | loader = DataLoader(dset, batch_size=batch_size, shuffle=False, num_workers=4) 55 | 56 | # collect poses and losses 57 | real_pose = np.empty((0, 6)) 58 | gt_pose = np.empty((0, 6)) 59 | for (rp, gp) in loader: 60 | assert len(rp) == len(gp) 61 | real_pose = np.vstack((real_pose, rp.numpy())) 62 | gt_pose = np.vstack((gt_pose, gp.numpy())) 63 | 64 | # un-normalize and convert to quaternion 65 | real_pose[:, :3] = (real_pose[:, :3] * pose_s) + pose_m 66 | gt_pose[:, :3] = (gt_pose[:, :3] * pose_s) + pose_m 67 | q = [qexp(p[3:]) for p in real_pose] 68 | real_pose = np.hstack((real_pose[:, :3], np.asarray(q))) 69 | q = [qexp(p[3:]) for p in gt_pose] 70 | gt_pose = np.hstack((gt_pose[:, :3], np.asarray(q))) 71 | 72 | # visualization loop 73 | T = np.asarray([[1, 0, 0], [0, 0, -1], [0, 1, 0]]) 74 | fig = plt.figure() 75 | ax = fig.add_subplot(111, projection='3d') 76 | plt.subplots_adjust(left=0, bottom=0, right=1, top=1) 77 | for r,g in zip(real_pose[::args.subsample], gt_pose[::args.subsample]): 78 | ax.scatter(r[0], r[1], zs=r[2], c='r') 79 | ax.scatter(g[0], g[1], zs=g[2], c='g') 80 | pp = np.vstack((r, g)) 81 | ax.plot(pp[:, 0], pp[:, 1], zs=pp[:, 2], c='b') 82 | ax.view_init(azim=-137, elev=52) 83 | 84 | # error calculation loop 85 | t_loss = [] 86 | q_loss = [] 87 | for (r, g) in zip(real_pose, gt_pose): 88 | t_loss.append(t_criterion(r[:3], g[:3])) 89 | q_loss.append(q_criterion(r[3:], g[3:])) 90 | t_loss = np.mean(np.asarray(t_loss)) 91 | q_loss = np.mean(np.asarray(q_loss)) 92 | print 'Median t-Loss = {:f}, Median q-Loss = {:f}'.format(t_loss, q_loss) 93 | 94 | if train: 95 | print 'Visualizing TRAIN data' 96 | else: 97 | print 'Visualizing VAL data' 98 | 99 | plt.show(block=True) 100 | if args.output_dir is not None: 101 | experiment_name = '{:s}_{:s}_{:s}'.format(args.dataset, args.scene, 102 | args.vo_lib) 103 | image_filename = osp.join(osp.expanduser(args.output_dir), 104 | '{:s}.png'.format(experiment_name)) 105 | fig.savefig(image_filename) 106 | print '{:s} saved'.format(image_filename) 107 | result_filename = osp.join(osp.expanduser(args.output_dir), 108 | '{:s}.pkl'.format(experiment_name)) 109 | with open(result_filename, 'wb') as f: 110 | cPickle.dump({'targ_poses': gt_pose, 'pred_poses': real_pose}, f) 111 | print '{:s} written'.format(result_filename) 112 | -------------------------------------------------------------------------------- /scripts/process_7_scenes.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # 3 | #Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 4 | #Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 5 | # 6 | 7 | DATA_ROOT=/media/TB/7scenes 8 | scenes=( "chess" "fire" "office" "redkitchen" "heads" "pumpkin" "stairs" ) 9 | 10 | for scene in "${scenes[@]}" 11 | do 12 | unzip ${DATA_ROOT}/${scene}.zip -d ${DATA_ROOT} 13 | rm ${DATA_ROOT}/${scene}.zip 14 | 15 | for seq in ${DATA_ROOT}/${scene}/*.zip 16 | do 17 | unzip ${seq} -d ${DATA_ROOT}/${scene}/ 18 | rm ${seq} 19 | 20 | done 21 | done 22 | -------------------------------------------------------------------------------- /scripts/process_robotcar_gps.py: -------------------------------------------------------------------------------- 1 | """ 2 | Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | """ 5 | 6 | """ 7 | Generates a GPS VO file for the RobotCar dataset 8 | """ 9 | 10 | import argparse 11 | import os.path as osp 12 | import csv 13 | 14 | parser = argparse.ArgumentParser('GPS INS generation script') 15 | parser.add_argument('--scene', required=True, type=str, 16 | help='Scene identifier') 17 | parser.add_argument('--seq', required=True, type=str, 18 | help='Sequence identifier') 19 | args = parser.parse_args() 20 | 21 | data_dir = osp.join('..', 'data', 'deepslam_data', 'RobotCar', args.scene, 22 | args.seq) 23 | gps_file = osp.join(data_dir, 'gps', 'gps.csv') 24 | out_file = osp.join(data_dir, 'gps', 'gps_ins.csv') 25 | 26 | with open(gps_file, 'r') as fin, open(out_file, 'w') as fout: 27 | reader = csv.reader(fin) 28 | writer = csv.writer(fout) 29 | next(fin) 30 | header = 'timestamp,ins_status,latitude,longitude,altitude,northing,easting,' \ 31 | 'down,utm_zone,velocity_north,velocity_east,velocity_down,roll,' \ 32 | 'pitch,yaw\n' 33 | fout.write(header) 34 | for inrow in reader: 35 | outrow = [] 36 | outrow.append(inrow[0]) # timestamp 37 | outrow.append('INS_SOLUTION_GOOD') # ins_status 38 | outrow.append(inrow[2]) # latitude 39 | outrow.append(inrow[3]) # longitude 40 | outrow.append(inrow[4]) # altitude 41 | outrow.append(inrow[8]) # northing 42 | outrow.append(inrow[9]) # easting 43 | outrow.append(inrow[10]) # down 44 | outrow.append(inrow[11]) # utm_zone 45 | outrow.extend([0,0,0,0,0,0]) 46 | writer.writerow(outrow) 47 | print '{:s} written'.format(out_file) 48 | -------------------------------------------------------------------------------- /scripts/process_robotcar_images.py: -------------------------------------------------------------------------------- 1 | """ 2 | Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | """ 5 | 6 | """ 7 | Script to demosaic and undistort images and save them in a 'centre_processed' 8 | folder. 9 | The RobotCar dataset must use the SDK image loader function for this script to 10 | work! 11 | """ 12 | import set_paths 13 | from dataset_loaders.robotcar import RobotCar 14 | import argparse 15 | import os.path as osp 16 | from torch.utils.data import DataLoader 17 | from common.train import safe_collate 18 | from torchvision import transforms 19 | import numpy as np 20 | from PIL import Image 21 | 22 | parser = argparse.ArgumentParser(description='Demosaic and undistort RobotCar ' 23 | 'images') 24 | parser.add_argument('--scene', type=str, required=True) 25 | parser.add_argument('--n_cores', type=int, default=4) 26 | parser.add_argument('--val', action='store_true') 27 | args = parser.parse_args() 28 | if args.val: 29 | print 'processing VAL data using {:d} cores'.format(args.n_cores) 30 | else: 31 | print 'processing TRAIN data using {:d} cores'.format(args.n_cores) 32 | 33 | # create data loader 34 | batch_size = args.n_cores 35 | data_dir = osp.join('..', 'data', 'deepslam_data', 'RobotCar') 36 | transform = transforms.Compose([transforms.Scale(256), 37 | transforms.Lambda(lambda x: np.asarray(x))]) 38 | dset = RobotCar(scene=args.scene, data_path=data_dir, train=(not args.val), 39 | transform=transform, undistort=True) 40 | loader = DataLoader(dset, batch_size=batch_size, num_workers=args.n_cores, 41 | collate_fn=safe_collate) 42 | 43 | # gather information about output filenames 44 | base_dir = osp.join(data_dir, args.scene) 45 | if args.val: 46 | split_filename = osp.join(base_dir, 'test_split.txt') 47 | else: 48 | split_filename = osp.join(base_dir, 'train_split.txt') 49 | with open(split_filename, 'r') as f: 50 | seqs = [l.rstrip() for l in f if not l.startswith('#')] 51 | 52 | im_filenames = [] 53 | for seq in seqs: 54 | seq_dir = osp.join(base_dir, seq) 55 | ts_filename = osp.join(seq_dir, 'stereo.timestamps') 56 | with open(ts_filename, 'r') as f: 57 | ts = [l.rstrip().split(' ')[0] for l in f] 58 | im_filenames.extend([osp.join(seq_dir, 'stereo', 'centre_processed', '{:s}.png'. 59 | format(t)) for t in ts]) 60 | assert len(dset) == len(im_filenames) 61 | 62 | # loop 63 | for batch_idx, (imgs, _) in enumerate(loader): 64 | for idx, im in enumerate(imgs): 65 | im_filename = im_filenames[batch_idx*batch_size + idx] 66 | im = Image.fromarray(im.numpy()) 67 | try: 68 | im.save(im_filename) 69 | except IOError: 70 | print 'IOError while saving {:s}'.format(im_filename) 71 | 72 | if batch_idx % 50 == 0: 73 | print 'Processed {:d} / {:d}'.format(batch_idx*batch_size, len(dset)) 74 | -------------------------------------------------------------------------------- /scripts/reverse_vo_poses.py: -------------------------------------------------------------------------------- 1 | """ 2 | Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | """ 5 | 6 | """ 7 | script reverses the poses in a sequence which needed to be reversed to run VO 8 | """ 9 | import numpy as np 10 | import os.path as osp 11 | import argparse 12 | import os 13 | 14 | # config 15 | parser = argparse.ArgumentParser(description='Reverse poses') 16 | parser.add_argument('--dataset', type=str, choices=('KITTIOdometry', '7Scenes'), 17 | help='Dataset') 18 | parser.add_argument('--vo_lib', type=str, choices='dso', 19 | help='VO library to use', required=True) 20 | parser.add_argument('--scene', type=str, help='Scene name') 21 | parser.add_argument('--seq', type=str, help='sequence identifier e.g. 1, 2, etc' 22 | 'for 7Scenes or 2014-06-26-08-53-56' 23 | 'for Robotcar') 24 | args = parser.parse_args() 25 | data_dir = osp.join('..', 'data', 'deepslam_data', args.dataset) 26 | aux_data_dir = osp.join('..', 'data', args.dataset) 27 | 28 | if args.dataset == 'KITTIOdometry': 29 | # find the number of frames in GT poses file 30 | gt_pose_filename = osp.join(data_dir, 'poses', '{:s}.txt'.format(args.scene)) 31 | gt_poses = np.loadtxt(gt_pose_filename) 32 | N = len(gt_poses) 33 | 34 | # reverse poses 35 | real_pose_filename = osp.join(aux_data_dir, '{:s}_poses'.format(args.vo_lib), 36 | '{:s}.txt'.format(args.scene)) 37 | real_poses = np.loadtxt(real_pose_filename) 38 | frame_idx, real_poses = real_poses[:, 0].astype(int), real_poses[:, 1:] 39 | elif args.dataset == '7Scenes': 40 | seq_dir = osp.join(data_dir, args.scene, 'seq-{:02d}'.format(int(args.seq))) 41 | # find the number of frames in GT poses file 42 | p_filenames = [n for n in os.listdir(osp.join(seq_dir, '.')) if 43 | n.find('pose') >= 0] 44 | gt_poses = [np.loadtxt(osp.join(seq_dir, 'frame-{:06d}.pose.txt'. 45 | format(i))).flatten()[:12] for i in 46 | xrange(len(p_filenames))] 47 | N = len(gt_poses) 48 | 49 | # reverse poses 50 | real_pose_filename = osp.join(aux_data_dir, args.scene, 51 | '{:s}_poses'.format(args.vo_lib), 52 | 'seq-{:02d}.txt'.format(int(args.seq))) 53 | real_poses = np.loadtxt(real_pose_filename) 54 | frame_idx, real_poses = real_poses[:, 0].astype(int), real_poses[:, 1:] 55 | else: 56 | raise NotImplementedError 57 | 58 | assert max(frame_idx) < N 59 | 60 | fmt = '%d ' + '%8.7f '*real_poses.shape[1] 61 | frame_idx = N - 1 - frame_idx 62 | order = np.argsort(frame_idx) 63 | out_data = np.hstack((frame_idx[order, np.newaxis], real_poses[order])) 64 | # out_filename = real_pose_filename[:-4] + '_reversed' + real_pose_filename[-4:] 65 | out_filename = real_pose_filename 66 | np.savetxt(out_filename, out_data, fmt=fmt) 67 | print '{:s} saved'.format(out_filename) 68 | -------------------------------------------------------------------------------- /scripts/set_paths.py: -------------------------------------------------------------------------------- 1 | """ 2 | Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | """ 5 | 6 | import sys 7 | import os.path as osp 8 | sys.path.insert(0, '../') 9 | #sys.path.insert(0, osp.expanduser('~/usr/lib/python2.7/dist-packages/')) 10 | -------------------------------------------------------------------------------- /scripts/test_vo.py: -------------------------------------------------------------------------------- 1 | """ 2 | Copyright (C) 2018 NVIDIA Corporation. All rights reserved. 3 | Licensed under the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). 4 | """ 5 | 6 | import numpy as np 7 | import transforms3d.quaternions as txq 8 | import transforms3d.euler as txe 9 | 10 | # predicted poses 11 | tp1 = np.random.rand(3) 12 | tp2 = np.random.rand(3) 13 | qp1 = txe.euler2quat(*(2 * np.pi * np.random.rand(3))) 14 | qp2 = txe.euler2quat(*(2 * np.pi * np.random.rand(3))) 15 | 16 | # relatives 17 | t_rel = txq.rotate_vector(v=tp2-tp1, q=txq.qinverse(qp1)) 18 | q_rel = txq.qmult(txq.qinverse(qp1), qp2) 19 | 20 | # vo poses 21 | trand = np.random.rand(3) 22 | qrand = txe.euler2quat(*(2 * np.pi * np.random.rand(3))) 23 | tv1 = txq.rotate_vector(v=tp1, q=qrand) 24 | qv1 = txq.qmult(qrand, qp1) 25 | tv2 = txq.rotate_vector(v=t_rel, q=qv1) + tv1 26 | qv2 = txq.qmult(qv1, q_rel) 27 | 28 | # aligned vo 29 | voq = txq.qmult(txq.qinverse(qv1), qv2) 30 | vot = txq.rotate_vector(v=tv2-tv1, q=txq.qinverse(qv1)) 31 | vot = txq.rotate_vector(v=vot, q=qp1) 32 | 33 | print 'translation' 34 | print np.allclose(tp1 + vot, tp2) 35 | 36 | print 'rotation' 37 | print np.allclose(txq.qmult(qp1, voq), qp2) 38 | --------------------------------------------------------------------------------