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@@ -61,3 +61,6 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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 example_trumi_dataset/raw_videos/GX010169.MP4 filter=lfs diff=lfs merge=lfs -text
+example_trumi_generated_dataset/dataset_mcap/episode_000000.mcap filter=lfs diff=lfs merge=lfs -text
+example_trumi_generated_dataset/dataset_mcap/episode_000001.mcap filter=lfs diff=lfs merge=lfs -text
+example_trumi_generated_dataset/demos/mapping_C3534250760071_2026.03.31_20.57.03.956942_mapping.mp4/map_atlas.osa filter=lfs diff=lfs merge=lfs -text

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example_trumi_generated_dataset/demos/demo_C3534250760071_2026.03.31_20.59.03.643175_GX010168.MP4/detect_aruco_stderr.txt

@@ -0,0 +1,2 @@
+INFO: Processing 673 frames (stride=2)...
+INFO: Done: 337 frames processed, 645 tag detections total.

example_trumi_generated_dataset/demos/demo_C3534250760071_2026.03.31_20.59.03.643175_GX010168.MP4/detect_aruco_stdout.txt

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example_trumi_generated_dataset/demos/demo_C3534250760071_2026.03.31_20.59.03.643175_GX010168.MP4/raw_video.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6d246fec2eb84cd266fbfa7c515a6547fb5c23fd32b8471ace251af51c916ce5
+size 17637030

example_trumi_generated_dataset/demos/demo_C3534250760071_2026.03.31_20.59.03.643175_GX010168.MP4/slam_stderr.txt

@@ -0,0 +1,3 @@
+IMU.InsertKFsWhenLost optional parameter does not exist...
+System.LoadAtlasFromFile optional parameter does not exist...
+System.SaveAtlasToFile optional parameter does not exist...

example_trumi_generated_dataset/demos/demo_C3534250760071_2026.03.31_20.59.03.643175_GX010168.MP4/slam_stdout.txt

@@ -0,0 +1,156 @@
+
+ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
+ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
+This program comes with ABSOLUTELY NO WARRANTY;
+This is free software, and you are welcome to redistribute it
+under certain conditions. See LICENSE.txt.
+
+Input sensor was set to: Monocular-Inertial
+Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro13_maxlens_fisheye_setting_v1_720.yaml
+	-Loaded camera 1
+	-Loaded image info
+	-Loaded IMU calibration
+	-Loaded ORB settings
+	-Loaded viewer settings
+	-Loaded Atlas settings
+	-Loaded misc parameters
+----------------------------------
+SLAM settings: 
+	-Camera 1 parameters (Kannala-Brandt): [ 948.163 948.163 1353.79 1008.91 -0.0560438 -0.0599787 0.0694283 -0.0286672 ]
+	-Original image size: [ 2704 , 2028 ]
+	-Current image size: [ 960 , 720 ]
+	-Camera 1 parameters after resize: [  336.626 336.626 480.635 358.192 -0.0560438 -0.0599787 0.0694283 -0.0286672 ]
+	-Sequence FPS: 60
+	-Gyro noise: 0.00181
+	-Accelerometer noise: 0.01754
+	-Gyro walk: 2.58e-05
+	-Accelerometer walk: 0.000629
+	-IMU frequency: 200
+	-Features per image: 1250
+	-ORB scale factor: 1.2
+	-ORB number of scales: 8
+	-Initial FAST threshold: 20
+	-Min FAST threshold: 7
+
+
+Loading ORB Vocabulary. This could take a while...
+Vocabulary loaded!
+
+Initialization of Atlas from file: /map/map_atlas.osa
+Starting to read the save binary file
+End to load the save binary file
+Change to map with id: 0
+Atlas loaded!
+There are 1 cameras in the atlas
+Camera 0 is fisheye
+Discard points further than 20 m from current camera
+Video opened using backend FFMPEG
+There are 673 frames in total
+Video: 119.88 fps  |  SLAM: 59.9401 fps (skip=2)  |  IMU/frame: 3.33667
+line 1873 keyframes 46MapPoints1082
+line 1877
+mlFrameTimes.size()= 0
+KeyFrame::nNextId=614
+Relocalized!!
+INIT_RELOCALIZE success!
+vpKFs.back()->mpImuPreintegrated0x58279389cc60
+pKFCur->mTimeStamp0
+vpKFs.front()->mTimeStamp-61.2779
+vpKFs.back()->mTimeStamp-0.016675
+pKFcur->GetMapPointMatches().size()3910
+1691 pKFcur->GetVelocity() 0
+0
+0
+pKFcur->mnId614
+ORB-SLAM3 processing at: 17.9987 FPS  (frame 0/673)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 25.71748173595882 FPS  (frame 100/673)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 31.891880910741548 FPS  (frame 200/673)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 31.592221754903061 FPS  (frame 300/673)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 32.008249422107063 FPS  (frame 400/673)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 31.570023353609074 FPS  (frame 500/673)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 24.087852057808341 FPS  (frame 600/673)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+Shutdown
+mpLocalMapper is not finished
+mpLoopCloser is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+
+Saving camera trajectory to /data/camera_trajectory.csv ...
+There are 1 maps in the atlas
+  Map 0 has 55 KFs
+
+CSV camera trajectory saved!

example_trumi_generated_dataset/demos/demo_C3534250760071_2026.03.31_20.59.03.643175_GX010168.MP4/tag_detection.pkl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:958d77f39e00d97590777899ac15d945b7a500afc69755b477164c2c9d27183c
+size 127363

example_trumi_generated_dataset/demos/demo_C3534250760071_2026.03.31_20.59.16.589442_GX010169.MP4/camera_trajectory.csv

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+frame_idx,timestamp,state,is_lost,is_keyframe,x,y,z,q_x,q_y,q_z,q_w
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example_trumi_generated_dataset/demos/demo_C3534250760071_2026.03.31_20.59.16.589442_GX010169.MP4/detect_aruco_stderr.txt

@@ -0,0 +1,2 @@
+INFO: Processing 811 frames (stride=2)...
+INFO: Done: 406 frames processed, 782 tag detections total.

example_trumi_generated_dataset/demos/demo_C3534250760071_2026.03.31_20.59.16.589442_GX010169.MP4/detect_aruco_stdout.txt

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example_trumi_generated_dataset/demos/demo_C3534250760071_2026.03.31_20.59.16.589442_GX010169.MP4/raw_video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89eb58fe77ca43c9004447115c659ec59a41f609967d5145d3b78516b69103db
+size 20663006

example_trumi_generated_dataset/demos/demo_C3534250760071_2026.03.31_20.59.16.589442_GX010169.MP4/slam_stderr.txt

@@ -0,0 +1,3 @@
+IMU.InsertKFsWhenLost optional parameter does not exist...
+System.LoadAtlasFromFile optional parameter does not exist...
+System.SaveAtlasToFile optional parameter does not exist...

example_trumi_generated_dataset/demos/demo_C3534250760071_2026.03.31_20.59.16.589442_GX010169.MP4/slam_stdout.txt

@@ -0,0 +1,189 @@
+
+ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
+ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
+This program comes with ABSOLUTELY NO WARRANTY;
+This is free software, and you are welcome to redistribute it
+under certain conditions. See LICENSE.txt.
+
+Input sensor was set to: Monocular-Inertial
+Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro13_maxlens_fisheye_setting_v1_720.yaml
+	-Loaded camera 1
+	-Loaded image info
+	-Loaded IMU calibration
+	-Loaded ORB settings
+	-Loaded viewer settings
+	-Loaded Atlas settings
+	-Loaded misc parameters
+----------------------------------
+SLAM settings: 
+	-Camera 1 parameters (Kannala-Brandt): [ 948.163 948.163 1353.79 1008.91 -0.0560438 -0.0599787 0.0694283 -0.0286672 ]
+	-Original image size: [ 2704 , 2028 ]
+	-Current image size: [ 960 , 720 ]
+	-Camera 1 parameters after resize: [  336.626 336.626 480.635 358.192 -0.0560438 -0.0599787 0.0694283 -0.0286672 ]
+	-Sequence FPS: 60
+	-Gyro noise: 0.00181
+	-Accelerometer noise: 0.01754
+	-Gyro walk: 2.58e-05
+	-Accelerometer walk: 0.000629
+	-IMU frequency: 200
+	-Features per image: 1250
+	-ORB scale factor: 1.2
+	-ORB number of scales: 8
+	-Initial FAST threshold: 20
+	-Min FAST threshold: 7
+
+
+Loading ORB Vocabulary. This could take a while...
+Vocabulary loaded!
+
+Initialization of Atlas from file: /map/map_atlas.osa
+Starting to read the save binary file
+End to load the save binary file
+Change to map with id: 0
+Atlas loaded!
+There are 1 cameras in the atlas
+Camera 0 is fisheye
+Discard points further than 20 m from current camera
+Video opened using backend FFMPEG
+There are 811 frames in total
+Video: 119.88 fps  |  SLAM: 59.9401 fps (skip=2)  |  IMU/frame: 3.33667
+line 1873 keyframes 46MapPoints1082
+line 1877
+mlFrameTimes.size()= 0
+KeyFrame::nNextId=614
+Relocalized!!
+INIT_RELOCALIZE success!
+vpKFs.back()->mpImuPreintegrated0x589440b44920
+pKFCur->mTimeStamp0
+vpKFs.front()->mTimeStamp-61.2779
+vpKFs.back()->mTimeStamp-0.016675
+pKFcur->GetMapPointMatches().size()3866
+1691 pKFcur->GetVelocity() 0
+0
+0
+pKFcur->mnId614
+ORB-SLAM3 processing at: 20.0606 FPS  (frame 0/811)
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 28.591882387177435 FPS  (frame 100/811)
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 25.068979804830974 FPS  (frame 200/811)
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 32.978464172476841 FPS  (frame 300/811)
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
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+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 31.840054922821139 FPS  (frame 400/811)
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 29.785489373356494 FPS  (frame 500/811)
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+ORB-SLAM3 processing at: 28.439211427307427 FPS  (frame 600/811)
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+ORB-SLAM3 processing at: 31.857881227256062 FPS  (frame 700/811)
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+No IMU Preintegration for KeyFrame 615, skipping inertial edge.
+ORB-SLAM3 processing at: 36.767790591843038 FPS  (frame 800/811)
+Shutdown
+mpLocalMapper is not finished
+mpLoopCloser is not finished
+
+Saving camera trajectory to /data/camera_trajectory.csv ...
+There are 1 maps in the atlas
+  Map 0 has 57 KFs
+
+CSV camera trajectory saved!

example_trumi_generated_dataset/demos/demo_C3534250760071_2026.03.31_20.59.16.589442_GX010169.MP4/tag_detection.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dff4825648649439f1d143af44fdb09ece90e6009c5c4181fcdc4488e55219c
+size 154374

example_trumi_generated_dataset/demos/gripper_calibration_C3534250760071_2026.03.31_20.58.13.301217_GX010167.MP4/detect_aruco_stderr.txt

@@ -0,0 +1,2 @@
+INFO: Processing 1694 frames (stride=2)...
+INFO: Done: 847 frames processed, 2413 tag detections total.

example_trumi_generated_dataset/demos/gripper_calibration_C3534250760071_2026.03.31_20.58.13.301217_GX010167.MP4/detect_aruco_stdout.txt

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example_trumi_generated_dataset/demos/gripper_calibration_C3534250760071_2026.03.31_20.58.13.301217_GX010167.MP4/gripper_range.json

@@ -0,0 +1,7 @@
+{
+  "gripper_id": 0,
+  "left_finger_tag_id": 0,
+  "right_finger_tag_id": 1,
+  "max_width": 0.1235750317450082,
+  "min_width": 0.06690576617159837
+}

example_trumi_generated_dataset/demos/gripper_calibration_C3534250760071_2026.03.31_20.58.13.301217_GX010167.MP4/raw_video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33340e46002177a69d97909c66eab4a72403a5ffa238c7ba7e13949e24306ec5
+size 34872351

example_trumi_generated_dataset/demos/gripper_calibration_C3534250760071_2026.03.31_20.58.13.301217_GX010167.MP4/tag_detection.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffbf5b48968198aa9bba20a12201dfffc32f89c646dc0147a7ef1c25ebf554b0
+size 466019

example_trumi_generated_dataset/demos/mapping_C3534250760071_2026.03.31_20.57.03.956942_mapping.mp4/detect_aruco_stderr.txt

@@ -0,0 +1,2 @@
+INFO: Processing 7489 frames (stride=2)...
+INFO: Done: 3745 frames processed, 9324 tag detections total.

example_trumi_generated_dataset/demos/mapping_C3534250760071_2026.03.31_20.57.03.956942_mapping.mp4/map_atlas.osa

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ec1c4323b37bfcd6bfd07f982fe32d67ff0188ae3df9aed68323b08286f6349
+size 9847939

example_trumi_generated_dataset/demos/mapping_C3534250760071_2026.03.31_20.57.03.956942_mapping.mp4/raw_video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8540fcd91a83b20e29e1579fe378339bd16f375fb606ad467a33f004e4fa779e
+size 177584980

example_trumi_generated_dataset/demos/mapping_C3534250760071_2026.03.31_20.57.03.956942_mapping.mp4/slam_stderr.txt

@@ -0,0 +1,3 @@
+IMU.InsertKFsWhenLost optional parameter does not exist...
+System.LoadAtlasFromFile optional parameter does not exist...
+System.SaveAtlasToFile optional parameter does not exist...

example_trumi_generated_dataset/demos/mapping_C3534250760071_2026.03.31_20.57.03.956942_mapping.mp4/slam_stderr_mapping.txt

@@ -0,0 +1,3 @@
+IMU.InsertKFsWhenLost optional parameter does not exist...
+System.LoadAtlasFromFile optional parameter does not exist...
+System.SaveAtlasToFile optional parameter does not exist...

example_trumi_generated_dataset/demos/mapping_C3534250760071_2026.03.31_20.57.03.956942_mapping.mp4/slam_stdout.txt

@@ -0,0 +1,336 @@
+
+ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
+ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
+This program comes with ABSOLUTELY NO WARRANTY;
+This is free software, and you are welcome to redistribute it
+under certain conditions. See LICENSE.txt.
+
+Input sensor was set to: Monocular-Inertial
+Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro13_maxlens_fisheye_setting_v1_720.yaml
+	-Loaded camera 1
+	-Loaded image info
+	-Loaded IMU calibration
+	-Loaded ORB settings
+	-Loaded viewer settings
+	-Loaded Atlas settings
+	-Loaded misc parameters
+----------------------------------
+SLAM settings: 
+	-Camera 1 parameters (Kannala-Brandt): [ 948.163 948.163 1353.79 1008.91 -0.0560438 -0.0599787 0.0694283 -0.0286672 ]
+	-Original image size: [ 2704 , 2028 ]
+	-Current image size: [ 960 , 720 ]
+	-Camera 1 parameters after resize: [  336.626 336.626 480.635 358.192 -0.0560438 -0.0599787 0.0694283 -0.0286672 ]
+	-Sequence FPS: 60
+	-Gyro noise: 0.00181
+	-Accelerometer noise: 0.01754
+	-Gyro walk: 2.58e-05
+	-Accelerometer walk: 0.000629
+	-IMU frequency: 200
+	-Features per image: 1250
+	-ORB scale factor: 1.2
+	-ORB number of scales: 8
+	-Initial FAST threshold: 20
+	-Min FAST threshold: 7
+
+
+Loading ORB Vocabulary. This could take a while...
+Vocabulary loaded!
+
+Initialization of Atlas from file: /map/map_atlas.osa
+Starting to read the save binary file
+End to load the save binary file
+Change to map with id: 0
+Atlas loaded!
+There are 1 cameras in the atlas
+Camera 0 is fisheye
+Discard points further than 20 m from current camera
+Video opened using backend FFMPEG
+There are 7489 frames in total
+Video: 119.88 fps  |  SLAM: 59.9401 fps (skip=2)  |  IMU/frame: 3.33667
+line 1873 keyframes 46MapPoints1082
+line 1877
+mlFrameTimes.size()= 0
+KeyFrame::nNextId=614
+Relocalized!!
+INIT_RELOCALIZE success!
+vpKFs.back()->mpImuPreintegrated0x64428e5d38f0
+pKFCur->mTimeStamp0
+vpKFs.front()->mTimeStamp-61.2779
+vpKFs.back()->mTimeStamp-0.016675
+pKFcur->GetMapPointMatches().size()4256
+1691 pKFcur->GetVelocity() 0
+0
+0
+pKFcur->mnId614
+ORB-SLAM3 processing at: 13.9507 FPS  (frame 0/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 27.164452727550103 FPS  (frame 100/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 25.296470843818931 FPS  (frame 200/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 26.260629712043265 FPS  (frame 300/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 25.095575873324158 FPS  (frame 400/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 24.778894824122499 FPS  (frame 500/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 29.12320344054536 FPS  (frame 600/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 37.152676807638414 FPS  (frame 700/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 39.873309735511164 FPS  (frame 800/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 39.945006910086747 FPS  (frame 900/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 42.885054288404646 FPS  (frame 1000/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 39.139310897636612 FPS  (frame 1100/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 41.218718805158375 FPS  (frame 1200/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 35.559749393377345 FPS  (frame 1300/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 39.46083711193868 FPS  (frame 1400/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 41.729438174039963 FPS  (frame 1500/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 37.398080880081558 FPS  (frame 1600/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 44.778034833549746 FPS  (frame 1700/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 42.311475930059132 FPS  (frame 1800/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 28.847855314850975 FPS  (frame 1900/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 41.413883225770441 FPS  (frame 2000/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 42.752468933704684 FPS  (frame 2100/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 40.613651149774498 FPS  (frame 2200/7489)
+ORB-SLAM3 processing at: 41.921091008131391 FPS  (frame 2300/7489)
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+ORB-SLAM3 processing at: 36.637286249828627 FPS  (frame 2400/7489)
+ORB-SLAM3 processing at: 34.727796757097501 FPS  (frame 2500/7489)
+ORB-SLAM3 processing at: 43.624090514054934 FPS  (frame 2600/7489)
+ORB-SLAM3 processing at: 42.768987420272197 FPS  (frame 2700/7489)
+ORB-SLAM3 processing at: 41.759641027444189 FPS  (frame 2800/7489)
+ORB-SLAM3 processing at: 45.933234481950514 FPS  (frame 2900/7489)
+ORB-SLAM3 processing at: 45.075097140214972 FPS  (frame 3000/7489)
+ORB-SLAM3 processing at: 37.777472703698209 FPS  (frame 3100/7489)
+ORB-SLAM3 processing at: 44.534935474668039 FPS  (frame 3200/7489)
+ORB-SLAM3 processing at: 45.671858384720643 FPS  (frame 3300/7489)
+ORB-SLAM3 processing at: 43.626105949052125 FPS  (frame 3400/7489)
+ORB-SLAM3 processing at: 44.16938499785072 FPS  (frame 3500/7489)
+ORB-SLAM3 processing at: 40.98235861096525 FPS  (frame 3600/7489)
+ORB-SLAM3 processing at: 36.623266021113238 FPS  (frame 3700/7489)
+ORB-SLAM3 processing at: 38.191835066879818 FPS  (frame 3800/7489)
+ORB-SLAM3 processing at: 30.211013050190886 FPS  (frame 3900/7489)
+ORB-SLAM3 processing at: 41.604549340977698 FPS  (frame 4000/7489)
+ORB-SLAM3 processing at: 43.408262215768666 FPS  (frame 4100/7489)
+ORB-SLAM3 processing at: 32.687617773486842 FPS  (frame 4200/7489)
+ORB-SLAM3 processing at: 31.654566128430364 FPS  (frame 4300/7489)
+ORB-SLAM3 processing at: 37.826970660342397 FPS  (frame 4400/7489)
+ORB-SLAM3 processing at: 32.536524689202984 FPS  (frame 4500/7489)
+ORB-SLAM3 processing at: 33.646499246621239 FPS  (frame 4600/7489)
+ORB-SLAM3 processing at: 41.352477435193641 FPS  (frame 4700/7489)
+ORB-SLAM3 processing at: 45.256795884926269 FPS  (frame 4800/7489)
+ORB-SLAM3 processing at: 43.511840659639503 FPS  (frame 4900/7489)
+ORB-SLAM3 processing at: 46.195510951223312 FPS  (frame 5000/7489)
+ORB-SLAM3 processing at: 44.196902504284893 FPS  (frame 5100/7489)
+ORB-SLAM3 processing at: 44.685911220355251 FPS  (frame 5200/7489)
+ORB-SLAM3 processing at: 38.106047147697588 FPS  (frame 5300/7489)
+start VIBA 2
+No IMU Preintegration for KeyFrame 614, skipping inertial edge.
+end VIBA 2
+ORB-SLAM3 processing at: 40.878949744563791 FPS  (frame 5400/7489)
+ORB-SLAM3 processing at: 43.778001230424501 FPS  (frame 5500/7489)
+ORB-SLAM3 processing at: 45.82036903267015 FPS  (frame 5600/7489)
+ORB-SLAM3 processing at: 38.634946963103857 FPS  (frame 5700/7489)
+ORB-SLAM3 processing at: 39.242866961422457 FPS  (frame 5800/7489)
+ORB-SLAM3 processing at: 30.840090859842089 FPS  (frame 5900/7489)
+ORB-SLAM3 processing at: 38.89837015051102 FPS  (frame 6000/7489)
+ORB-SLAM3 processing at: 40.831319124360931 FPS  (frame 6100/7489)
+ORB-SLAM3 processing at: 40.320906026886782 FPS  (frame 6200/7489)
+ORB-SLAM3 processing at: 43.202424658319586 FPS  (frame 6300/7489)
+ORB-SLAM3 processing at: 40.242945049546307 FPS  (frame 6400/7489)
+ORB-SLAM3 processing at: 40.206807736272289 FPS  (frame 6500/7489)
+ORB-SLAM3 processing at: 43.019722994282851 FPS  (frame 6600/7489)
+ORB-SLAM3 processing at: 41.278587743933237 FPS  (frame 6700/7489)
+ORB-SLAM3 processing at: 44.566360179351079 FPS  (frame 6800/7489)
+ORB-SLAM3 processing at: 42.534966613666676 FPS  (frame 6900/7489)
+ORB-SLAM3 processing at: 38.24008571285772 FPS  (frame 7000/7489)
+ORB-SLAM3 processing at: 41.790788791944472 FPS  (frame 7100/7489)
+ORB-SLAM3 processing at: 40.086712369260198 FPS  (frame 7200/7489)
+ORB-SLAM3 processing at: 38.338976127738107 FPS  (frame 7300/7489)
+ORB-SLAM3 processing at: 39.01071632179503 FPS  (frame 7400/7489)
+Shutdown
+mpLocalMapper is not finished
+mpLoopCloser is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+
+Saving camera trajectory to /data/camera_trajectory.csv ...
+There are 1 maps in the atlas
+  Map 0 has 68 KFs
+
+CSV camera trajectory saved!

example_trumi_generated_dataset/demos/mapping_C3534250760071_2026.03.31_20.57.03.956942_mapping.mp4/slam_stdout_mapping.txt

@@ -0,0 +1,367 @@
+
+ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
+ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
+This program comes with ABSOLUTELY NO WARRANTY;
+This is free software, and you are welcome to redistribute it
+under certain conditions. See LICENSE.txt.
+
+Input sensor was set to: Monocular-Inertial
+Loading settings from /ORB_SLAM3/Examples/Monocular-Inertial/gopro13_maxlens_fisheye_setting_v1_720.yaml
+	-Loaded camera 1
+	-Loaded image info
+	-Loaded IMU calibration
+	-Loaded ORB settings
+	-Loaded viewer settings
+	-Loaded Atlas settings
+	-Loaded misc parameters
+----------------------------------
+SLAM settings: 
+	-Camera 1 parameters (Kannala-Brandt): [ 948.163 948.163 1353.79 1008.91 -0.0560438 -0.0599787 0.0694283 -0.0286672 ]
+	-Original image size: [ 2704 , 2028 ]
+	-Current image size: [ 960 , 720 ]
+	-Camera 1 parameters after resize: [  336.626 336.626 480.635 358.192 -0.0560438 -0.0599787 0.0694283 -0.0286672 ]
+	-Sequence FPS: 60
+	-Gyro noise: 0.00181
+	-Accelerometer noise: 0.01754
+	-Gyro walk: 2.58e-05
+	-Accelerometer walk: 0.000629
+	-IMU frequency: 200
+	-Features per image: 1250
+	-ORB scale factor: 1.2
+	-ORB number of scales: 8
+	-Initial FAST threshold: 20
+	-Min FAST threshold: 7
+
+
+Loading ORB Vocabulary. This could take a while...
+Vocabulary loaded!
+
+Initialization of Atlas from scratch 
+Creation of new map with id: 0
+Creation of new map with last KF id: 0
+There are 1 cameras in the atlas
+Camera 0 is fisheye
+Discard points further than 20 m from current camera
+Video opened using backend FFMPEG
+There are 7489 frames in total
+Video: 119.88 fps  |  SLAM: 59.9401 fps (skip=2)  |  IMU/frame: 3.33667
+line 1873 keyframes 0MapPoints0
+n_lost_frames=1
+ORB-SLAM3 processing at: 36.284 FPS  (frame 0/7489)
+init_success=0
+Reconstruct failed line 209 nGood=2
+ tag_init_success=0
+n_lost_frames=2
+init_success=0
+Reconstruct failed line 209 nGood=36
+ tag_init_success=0
+n_lost_frames=3
+init_success=0
+ tag_init_success=0
+n_lost_frames=4
+init_success=0
+ tag_init_success=0
+n_lost_frames=5
+init_success=0
+ tag_init_success=0
+n_lost_frames=6
+init_success=0
+ tag_init_success=0
+n_lost_frames=7
+init_success=0
+ tag_init_success=0
+n_lost_frames=8
+init_success=0
+ tag_init_success=0
+n_lost_frames=9
+init_success=0
+ tag_init_success=0
+n_lost_frames=10
+init_success=0
+ tag_init_success=0
+n_lost_frames=11
+init_success=0
+ tag_init_success=0
+n_lost_frames=12
+init_success=0
+ tag_init_success=0
+n_lost_frames=13
+init_success=0
+ tag_init_success=0
+n_lost_frames=14
+init_success=0
+ tag_init_success=0
+n_lost_frames=15
+init_success=0
+ tag_init_success=0
+n_lost_frames=16
+init_success=0
+ tag_init_success=0
+n_lost_frames=17
+init_success=0
+ tag_init_success=0
+n_lost_frames=18
+init_success=0
+ tag_init_success=0
+n_lost_frames=19
+Failed to init: n_keypoints 4150 time_since_init_frame0.30030000000000001
+n_lost_frames=20
+n_lost_frames=21
+init_success=0
+ tag_init_success=0
+n_lost_frames=22
+init_success=0
+ tag_init_success=0
+n_lost_frames=23
+init_success=0
+ tag_init_success=0
+n_lost_frames=24
+init_success=0
+ tag_init_success=0
+n_lost_frames=25
+init_success=0
+ tag_init_success=0
+n_lost_frames=26
+init_success=0
+ tag_init_success=0
+n_lost_frames=27
+init_success=0
+ tag_init_success=0
+n_lost_frames=28
+init_success=0
+ tag_init_success=0
+n_lost_frames=29
+init_success=0
+ tag_init_success=0
+n_lost_frames=30
+init_success=0
+ tag_init_success=0
+n_lost_frames=31
+init_success=0
+ tag_init_success=0
+n_lost_frames=32
+init_success=0
+ tag_init_success=0
+n_lost_frames=33
+init_success=0
+ tag_init_success=0
+n_lost_frames=34
+init_success=0
+ tag_init_success=0
+n_lost_frames=35
+init_success=0
+ tag_init_success=0
+n_lost_frames=36
+init_success=0
+ tag_init_success=0
+n_lost_frames=37
+init_success=0
+ tag_init_success=0
+n_lost_frames=38
+init_success=0
+ tag_init_success=0
+n_lost_frames=39
+Failed to init: n_keypoints 4262 time_since_init_frame0.30030000000000001
+n_lost_frames=40
+n_lost_frames=41
+init_success=0
+ tag_init_success=0
+n_lost_frames=42
+init_success=0
+ tag_init_success=0
+n_lost_frames=43
+init_success=0
+ tag_init_success=0
+n_lost_frames=44
+init_success=0
+ tag_init_success=0
+n_lost_frames=45
+init_success=0
+ tag_init_success=0
+n_lost_frames=46
+init_success=0
+ tag_init_success=0
+n_lost_frames=47
+init_success=0
+ tag_init_success=0
+n_lost_frames=48
+init_success=0
+ tag_init_success=0
+n_lost_frames=49
+init_success=0
+ tag_init_success=0
+n_lost_frames=50
+init_success=0
+ tag_init_success=0
+n_lost_frames=51
+ORB-SLAM3 processing at: 24.840525688121687 FPS  (frame 100/7489)
+init_success=0
+ tag_init_success=0
+n_lost_frames=52
+init_success=0
+ tag_init_success=0
+n_lost_frames=53
+init_success=0
+ tag_init_success=0
+n_lost_frames=54
+init_success=0
+ tag_init_success=0
+n_lost_frames=55
+init_success=0
+ tag_init_success=0
+n_lost_frames=56
+init_success=0
+ tag_init_success=0
+n_lost_frames=57
+init_success=0
+ tag_init_success=0
+n_lost_frames=58
+init_success=0
+ tag_init_success=0
+n_lost_frames=59
+Failed to init: n_keypoints 4087 time_since_init_frame0.30030000000000012
+n_lost_frames=60
+n_lost_frames=61
+init_success=0
+ tag_init_success=1
+First KF:0; Map init KF:0
+New Map created with 192 points
+TrackLocalMap() mnMatchesInliers<50 && !mpAtlas->isImuInitialized() = 46
+Fail to track local map!
+IMU is not or recently initialized. Reseting active map...
+SYSTEM-> Reseting active map in monocular case
+LM: Active map reset recieved
+LM: Active map reset, waiting...
+LM: Reseting current map in Local Mapping...
+LM: End reseting Local Mapping...
+LM: Reset free the mutex
+LM: Active map reset, Done!!!
+mnFirstFrameId = 61
+mnInitialFrameId = 0
+67 Frames set to lost
+line 1873 keyframes 0MapPoints0
+n_lost_frames=62
+init_success=0
+Reconstruct failed line 209 nGood=0
+ tag_init_success=0
+n_lost_frames=63
+init_success=0
+ tag_init_success=0
+n_lost_frames=64
+init_success=0
+Reconstruct failed line 209 nGood=18
+ tag_init_success=0
+n_lost_frames=65
+init_success=0
+ tag_init_success=0
+n_lost_frames=66
+init_success=0
+Reconsturct failed line 213 parallax=0.40782424807548523
+ tag_init_success=0
+n_lost_frames=67
+init_success=0
+Reconstruct failed line 209 nGood=4
+ tag_init_success=0
+n_lost_frames=68
+init_success=0
+Reconstruct failed line 209 nGood=10
+ tag_init_success=0
+n_lost_frames=69
+init_success=0
+Reconsturct failed line 213 parallax=0.28324031829833984
+ tag_init_success=0
+n_lost_frames=70
+init_success=0
+ tag_init_success=1
+First KF:2; Map init KF:0
+New Map created with 133 points
+ORB-SLAM3 processing at: 48.464060046582688 FPS  (frame 200/7489)
+ORB-SLAM3 processing at: 45.447275956177741 FPS  (frame 300/7489)
+ORB-SLAM3 processing at: 46.792042825949281 FPS  (frame 400/7489)
+ORB-SLAM3 processing at: 44.744773351838575 FPS  (frame 500/7489)
+ORB-SLAM3 processing at: 42.2334661787012 FPS  (frame 600/7489)
+ORB-SLAM3 processing at: 45.458415618747907 FPS  (frame 700/7489)
+ORB-SLAM3 processing at: 44.109566575428971 FPS  (frame 800/7489)
+ORB-SLAM3 processing at: 45.053211446975794 FPS  (frame 900/7489)
+ORB-SLAM3 processing at: 43.943739708925456 FPS  (frame 1000/7489)
+ORB-SLAM3 processing at: 41.973713122682653 FPS  (frame 1100/7489)
+ORB-SLAM3 processing at: 42.853378493937726 FPS  (frame 1200/7489)
+ORB-SLAM3 processing at: 41.049197791947229 FPS  (frame 1300/7489)
+ORB-SLAM3 processing at: 43.788241639806593 FPS  (frame 1400/7489)
+ORB-SLAM3 processing at: 43.25982321354126 FPS  (frame 1500/7489)
+ORB-SLAM3 processing at: 41.688042210310002 FPS  (frame 1600/7489)
+ORB-SLAM3 processing at: 43.518259826640659 FPS  (frame 1700/7489)
+ORB-SLAM3 processing at: 43.991440145576476 FPS  (frame 1800/7489)
+ORB-SLAM3 processing at: 40.845947344754052 FPS  (frame 1900/7489)
+ORB-SLAM3 processing at: 38.252048177230613 FPS  (frame 2000/7489)
+start VIBA 1
+end VIBA 1
+ORB-SLAM3 processing at: 47.101884626477108 FPS  (frame 2100/7489)
+ORB-SLAM3 processing at: 43.684905668125246 FPS  (frame 2200/7489)
+ORB-SLAM3 processing at: 42.226616230070199 FPS  (frame 2300/7489)
+ORB-SLAM3 processing at: 44.472381005917228 FPS  (frame 2400/7489)
+ORB-SLAM3 processing at: 45.391072229723854 FPS  (frame 2500/7489)
+ORB-SLAM3 processing at: 42.337868297645542 FPS  (frame 2600/7489)
+ORB-SLAM3 processing at: 44.940449186081274 FPS  (frame 2700/7489)
+ORB-SLAM3 processing at: 40.316117061232447 FPS  (frame 2800/7489)
+ORB-SLAM3 processing at: 48.954340188997044 FPS  (frame 2900/7489)
+ORB-SLAM3 processing at: 43.195344509437604 FPS  (frame 3000/7489)
+ORB-SLAM3 processing at: 43.639190821176982 FPS  (frame 3100/7489)
+ORB-SLAM3 processing at: 41.702463018360056 FPS  (frame 3200/7489)
+ORB-SLAM3 processing at: 47.519611700145738 FPS  (frame 3300/7489)
+ORB-SLAM3 processing at: 42.250680214826119 FPS  (frame 3400/7489)
+ORB-SLAM3 processing at: 44.264420064388794 FPS  (frame 3500/7489)
+ORB-SLAM3 processing at: 40.268878523411097 FPS  (frame 3600/7489)
+ORB-SLAM3 processing at: 44.898733824277045 FPS  (frame 3700/7489)
+ORB-SLAM3 processing at: 44.508881435728334 FPS  (frame 3800/7489)
+ORB-SLAM3 processing at: 31.576688471843639 FPS  (frame 3900/7489)
+ORB-SLAM3 processing at: 42.574759681447134 FPS  (frame 4000/7489)
+ORB-SLAM3 processing at: 41.060414775064686 FPS  (frame 4100/7489)
+ORB-SLAM3 processing at: 46.111453411800269 FPS  (frame 4200/7489)
+ORB-SLAM3 processing at: 45.195750478600402 FPS  (frame 4300/7489)
+ORB-SLAM3 processing at: 45.298793788248886 FPS  (frame 4400/7489)
+ORB-SLAM3 processing at: 42.655694029682984 FPS  (frame 4500/7489)
+ORB-SLAM3 processing at: 41.986727995280695 FPS  (frame 4600/7489)
+ORB-SLAM3 processing at: 44.464152933209022 FPS  (frame 4700/7489)
+ORB-SLAM3 processing at: 46.35591945158351 FPS  (frame 4800/7489)
+ORB-SLAM3 processing at: 42.401092455666898 FPS  (frame 4900/7489)
+ORB-SLAM3 processing at: 45.974415789306235 FPS  (frame 5000/7489)
+ORB-SLAM3 processing at: 41.906971719247764 FPS  (frame 5100/7489)
+ORB-SLAM3 processing at: 44.118940781881157 FPS  (frame 5200/7489)
+ORB-SLAM3 processing at: 46.588778924876337 FPS  (frame 5300/7489)
+ORB-SLAM3 processing at: 41.757180575211009 FPS  (frame 5400/7489)
+ORB-SLAM3 processing at: 40.92243757609527 FPS  (frame 5500/7489)
+ORB-SLAM3 processing at: 39.727311732269705 FPS  (frame 5600/7489)
+ORB-SLAM3 processing at: 45.837990664176445 FPS  (frame 5700/7489)
+ORB-SLAM3 processing at: 44.252195207584613 FPS  (frame 5800/7489)
+ORB-SLAM3 processing at: 42.094479881448471 FPS  (frame 5900/7489)
+ORB-SLAM3 processing at: 43.756705715150844 FPS  (frame 6000/7489)
+ORB-SLAM3 processing at: 44.906000290362201 FPS  (frame 6100/7489)
+ORB-SLAM3 processing at: 40.870368835460965 FPS  (frame 6200/7489)
+ORB-SLAM3 processing at: 48.118557195858358 FPS  (frame 6300/7489)
+ORB-SLAM3 processing at: 45.173498533419782 FPS  (frame 6400/7489)
+ORB-SLAM3 processing at: 41.093676981672715 FPS  (frame 6500/7489)
+ORB-SLAM3 processing at: 44.789053412021126 FPS  (frame 6600/7489)
+ORB-SLAM3 processing at: 45.954687024225386 FPS  (frame 6700/7489)
+ORB-SLAM3 processing at: 44.487967517377442 FPS  (frame 6800/7489)
+ORB-SLAM3 processing at: 47.720305562660585 FPS  (frame 6900/7489)
+ORB-SLAM3 processing at: 44.333486594196486 FPS  (frame 7000/7489)
+ORB-SLAM3 processing at: 42.801698148813713 FPS  (frame 7100/7489)
+ORB-SLAM3 processing at: 45.463956493539619 FPS  (frame 7200/7489)
+ORB-SLAM3 processing at: 42.151736556704734 FPS  (frame 7300/7489)
+ORB-SLAM3 processing at: 41.658038245495071 FPS  (frame 7400/7489)
+Shutdown
+mpLocalMapper is not finished
+mpLoopCloser is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+mpLocalMapper is not finished
+Starting to write the save binary file
+End to write save binary file
+
+Saving camera trajectory to /data/mapping_camera_trajectory.csv ...
+There are 1 maps in the atlas
+  Map 0 has 46 KFs
+
+CSV camera trajectory saved!

example_trumi_generated_dataset/demos/mapping_C3534250760071_2026.03.31_20.57.03.956942_mapping.mp4/tag_detection.pkl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b9b77e936534f41e841e8f702ee4d4dee0b80afe1ff2cb14346b3d6e25789de2
+size 1812992

example_trumi_generated_dataset/demos/mapping_C3534250760071_2026.03.31_20.57.03.956942_mapping.mp4/tx_slam_tag.json

@@ -0,0 +1,28 @@
+{
+  "tx_slam_tag": [
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+      0.006149970531528562
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+      0.604920350614427,
+      -0.7528552849756937,
+      0.5126261193305359
+    ],
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+      0.0,
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+      1.0
+    ]
+  ]
+}